Heavy load hydraulic cylinder rotary erection apparatus and method

Abstract

The present application relates to the technical field of hydraulic cylinder production, and particularly relates to a heavy-load hydraulic cylinder rotary vertical mounting device and method, the heavy-load hydraulic cylinder rotary vertical mounting device comprising a bearing beam with two horizontal and vertical stations, and a turnover mechanism for driving the bearing beam to switch between the horizontal and vertical stations, wherein the bearing beam is provided with a cylinder head clamping unit comprising a base A and a chuck A mounted on the base A, the chuck A being configured to be fixedly matched with the outer circumferential surface of one end of a cylinder barrel; and a rod head clamping unit arranged on one side of the cylinder head clamping unit and comprising a base B and a chuck B mounted on the base B; the present application is configured to switch the stations by the bearing beam and the units arranged thereon in cooperation with the turnover mechanism, thereby ensuring the assembly precision, significantly improving the automation degree of assembly, greatly reducing the labor intensity of workers, avoiding the safety hazards of traditional hoisting, and effectively improving the production efficiency of products.

Description

Technical Field

[0001] This invention relates to the field of hydraulic cylinder manufacturing technology, and in particular to a heavy-duty hydraulic cylinder rotary vertical assembly equipment and method. Background Technology

[0002] Hydraulic cylinders, as efficient hydraulic actuators, are capable of converting hydraulic energy into mechanical energy and driving linear reciprocating or oscillating motion. Their core components include the cylinder barrel, piston rod, and cylinder head. Thanks to their simple structure and stable operation, hydraulic cylinders can achieve smooth reciprocating motion without a reduction gear, and are highly favored due to their lack of transmission backlash, making them widely used in the hydraulic systems of various mechanical equipment.

[0003] In the field of hydraulic cylinder assembly, the equipment currently on the market is mainly divided into two categories: horizontal assembly and vertical assembly. Horizontal assembly uses a horizontal platform to support the piston rod, which is then inserted into the cylinder by horizontal pushing. The advantage of this method is that it is easy to integrate with gantry robots to form a highly efficient automated assembly line, significantly improving production efficiency. However, when dealing with large and heavy-duty hydraulic cylinders, the horizontal platform cannot fully support the piston rod, causing the piston rod end to sag due to its own weight, thus affecting the assembly accuracy with the cylinder.

[0004] In contrast, vertical assembly uses a crane to lift the piston rod and vertically place it into the cylinder. This method effectively reduces the impact of the piston rod's weight on assembly accuracy and significantly improves assembly quality. However, the drawback of vertical assembly is its heavy reliance on manual operation of the crane, which is not only labor-intensive but also lacks constraints in the lifting operation itself, posing higher safety risks. Furthermore, the lower level of automation limits the improvement of production efficiency. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the prior art by providing a heavy-duty hydraulic cylinder rotating vertical assembly equipment and method that does not require manual crane hoisting. It can simultaneously take into account the advantages of horizontal assembly and vertical assembly, significantly improve the degree of automation of assembly while ensuring assembly accuracy, greatly reduce the labor intensity of workers, avoid the safety hazards of traditional hoisting, and thus effectively improve the production efficiency of products.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: A heavy-duty hydraulic cylinder rotating vertical assembly device, characterized by: a support beam having two working positions, horizontal and vertical, and a tilting mechanism for driving the support beam to switch between the horizontal and vertical working positions, wherein the support beam is equipped with: The cylinder head clamping unit includes a base A and a chuck A mounted on the base A. The jaws of the chuck A are configured to form a fixed engagement with the outer peripheral surface of one end of the cylinder. The rod head clamping unit is located on one side of the cylinder head clamping unit, including a base B and a chuck B mounted on the base B. The jaws of the chuck B are configured to rotate with the radial through hole at one end of the piston rod. The chuck A and the chuck B are arranged opposite each other. The cylinder clamping unit is located between the cylinder head clamping unit and the rod head clamping unit. It includes a base C and a centering clamping mechanism set on the base C. The upper surface of the base C has a downward-facing receiving groove C that mates with the cylinder. The multiple clamping ends of the centering clamping mechanism are located on the inscribed circle coaxial with the chuck A and can extend into the receiving groove C to clamp and fix the cylinder in conjunction with the chuck A. The support tightening unit is located between the cylinder clamping unit and the rod head clamping unit. It includes a base D and a support frame mounted on the base D. A swing block is rotatably mounted on the top of the support frame. One side of the swing block is provided with a receiving groove D that mates with the piston rod or cylinder head, facing the rotation center. The bottom of the receiving groove D is provided with a support surface for supporting the piston rod. The swing blocks on both sides of the receiving groove D are provided with a centering clamping mechanism for clamping the cylinder head. The base B and the base D are both slidably mounted on the bearing beam along the axial direction of the chuck A.

[0007] The technical problem to be solved by the present invention can be further achieved through the following steps: the chuck A is specifically a three-jaw pneumatic chuck, and the three jaws of the chuck A are configured to form line / surface contact with the outer peripheral surface of the cylinder. The chuck A is rotatably mounted on the base A, and the base A is provided with a drive motor A that is connected to the chuck A in a transmission manner.

[0008] The technical problem to be solved by the present invention can be further achieved through the following steps: the chuck B is specifically a two-jaw pneumatic chuck, and each of the two jaws of the chuck B is fixedly provided with a clamping protrusion for clamping into the radial through hole at the end of the piston rod. The chuck B forms a rotational engagement with the radial through hole at the end of the piston rod through the clamping protrusion.

[0009] The technical problem to be solved by the present invention can be further achieved through the following steps: the chuck B is rotatably mounted on the base B, a sensor for identifying the position of the radial through hole is fixedly mounted on the side of the chuck B facing the chuck A, and a drive motor B that is connected to the chuck B in a transmission manner is provided on the base B.

[0010] The technical problem to be solved by the present invention can be further achieved through the following steps: the base B includes a fixed base and a movable base. The fixed base is slidably disposed on the bearing beam, and the movable base is disposed on one side of the fixed base and connected to the chuck B. A two-degree-of-freedom servo adjustment mechanism for driving the movable base to slide and adjust along the radial direction of the chuck B is provided on the fixed base.

[0011] The technical problem to be solved by the present invention can be further achieved through the following steps: the receiving groove C is U-shaped, and the centering clamping mechanism is a self-centering linkage mechanism driven by the drive motor C.

[0012] The technical problem to be solved by the present invention can be further achieved through the following steps: the base D is equipped with a lifting adjustment mechanism for adjusting the height of the support frame.

[0013] The technical problem to be solved by the present invention can be further achieved through the following steps: the receiving groove D is U-shaped, the supporting surface of the receiving groove D is arc-shaped, and a drive motor D for driving the swing block to swing back and forth is installed on the support frame. The output end of the drive motor D is connected to the swing block through a gear and rack structure.

[0014] The technical problem to be solved by the present invention can be further achieved through the following steps: a guide rail is fixedly installed on the bearing beam along its length direction; the bases A, B, C and D are all slidably installed on the guide rail by sliders and are respectively connected to a power mechanism.

[0015] This invention also provides a method for rotating and vertically assembling a heavy-duty hydraulic cylinder, characterized in that the method utilizes the aforementioned heavy-duty hydraulic cylinder rotating and vertically assembling equipment, and specifically includes the following steps: 1) Component installation: The truss robot grabs the cylinder and places it at the rear end of the load-bearing beam, and clamps and fixes the cylinder through the cylinder head clamping unit and the cylinder body clamping unit; the truss robot grabs the piston rod and places it at the front end of the load-bearing beam, and horizontally positions the piston rod through the rod head clamping unit and the support tightening unit. 2) Horizontal docking: The rod head clamping unit and the support tightening unit move synchronously, so that the rear end of the piston rod extends into the cylinder to complete the docking; 3) Tilting and repositioning: The tilting mechanism drives the load-bearing beam to rotate 90° and switch to the vertical position; 4) Vertical loading: The support tightening unit moves down to make room, and the rod head clamping unit moves down to load the piston rod into place; 5) Cylinder head tightening: After the piston rod is loaded, the cylinder head reaches the front end of the cylinder. The rod head clamping unit releases the piston rod and moves upward to make room. The support tightening unit moves to the cylinder head position. The centering clamping mechanism, together with the swing block, rotates back and forth to tighten the cylinder head.

[0016] Compared with the prior art, the beneficial effects of the present invention are: by setting up a load-bearing beam and its various units, and cooperating with the flipping mechanism to switch work positions, the degree of automation of assembly is significantly improved while ensuring assembly accuracy, greatly reducing the labor intensity of workers, avoiding the safety hazards of traditional hoisting, and thus effectively improving the production efficiency of products. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the horizontal workstation of the present invention; Figure 2 This is a schematic diagram of the vertical workstation of the present invention; Figure 3 This is a schematic diagram of the structure of the head clamping unit of the present invention; Figure 4 This is a schematic diagram of the structure of the rod head clamping unit of the present invention; Figure 5 This is a schematic diagram of the structure of the cylinder clamping unit of the present invention; Figure 6 This is a schematic diagram of the structure of the support tightening unit of the present invention; In the diagram: 1- Rod head clamping unit; 2- Cylinder head clamping unit; 3- Cylinder body clamping unit; 4- Support tightening unit; 5- Bearing beam; 6- Head frame positioner; 7- Tail frame positioner; 8- Two-degree-of-freedom servo adjustment mechanism; 9- Clamping protrusion; 10- Sensor; 11- Gear disk B; 12- Screw drive mechanism B; 13- Chuck A; 14- Gear disk A; 15- Screw drive mechanism A; 16- Drive motor C; 17- Centering clamping mechanism; 18- Gear and rack drive mechanism D; 19- Lifting adjustment mechanism; 20- Arc rack D; 21- Centering clamping mechanism; 22- Base A; 23- Base B (fixed base); 24- Movable base; 25- Clamping protrusion; 26- Accommodating groove C; 27- Accommodating groove D. Detailed Implementation

[0018] The specific technical solutions of the present invention are further described below to enable those skilled in the art to further understand the present invention, without constituting a limitation on its rights.

[0019] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the unit or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention.

[0020] Please refer to Figure 1-2A heavy-duty hydraulic cylinder tilting and vertical assembly device is disclosed, which adopts a pit installation method and achieves vertical assembly by tilting and repositioning. It includes a load-bearing beam 5 with both horizontal and vertical positions, and a tilting mechanism that drives the load-bearing beam 5 to switch between the horizontal and vertical positions. The tilting mechanism includes a head frame positioner 6 and a tail frame positioner 7 symmetrically arranged on the left and right sides of the load-bearing beam 5. The head frame positioner 6 uses a motor-driven gear slewing bearing, while the tail frame positioner 7 uses a toothless slewing bearing in a non-powered mode. The supporting beam 5 is a main frame made of square steel tubes welded together. Guide rails, sensors 10, steel rulers, etc. are installed on it. The two sides of the supporting beam 5 are connected to the head frame positioner 6 and the tail frame positioner 7. The supporting beam 5 is equipped with a cylinder head clamping unit 2, a rod head clamping unit 1, a cylinder body clamping unit 3, and a support tightening unit 4. The cylinder head clamping unit 2 is used to clamp and fix the end of the cylinder. The rod head clamping unit 1 is used to form a hinge with the free end of the piston rod. The cylinder body clamping unit 3 is used to cooperate with the cylinder head clamping unit 2 to completely fix the cylinder. The support tightening unit 4 is used to support the piston rod from below when the supporting beam 5 is in a horizontal position, and to rotate and tighten the cylinder head onto the cylinder when the supporting beam 5 is in a vertical position.

[0021] Please refer to Figure 3 The cylinder head clamping unit 2 includes a base A22 and a chuck A13 mounted on the base A22. The axis of the chuck A13 is parallel to the extension direction of the guide rail on the bearing beam 5. The jaws of the chuck A13 are configured to form a fixed fit with the outer peripheral surface of one end of the cylinder. Specifically, the chuck A13 is a three-jaw pneumatic chuck. All three jaws of the chuck A13 are configured to form line / surface contact with the outer peripheral surface of the cylinder to achieve a fixed fit. A gear disk A14 is fixedly connected to the side of the chuck A13 facing the base A22. The gear disk A14 is rotatably mounted on the base A22. The base A22 is equipped with a drive motor A. The output end of the drive motor A is fitted with a drive gear A that is connected to the gear disk A14. The drive motor A drives the chuck A13 to rotate to adjust the position of the jaws A, avoiding positions on the outer peripheral surface of the cylinder that are inconvenient to clamp, eliminating the need for manual rotation of the cylinder.

[0022] Please refer to Figure 4The rod head clamping unit 1 is located on one side of the cylinder head clamping unit 2, including a base B23 and a chuck B9 mounted on the base B23. The jaws of the chuck B9 are configured to rotate with the radial through hole at one end of the piston rod. The chuck A13 is positioned opposite to the chuck B9. Specifically, the chuck B9 is a two-jaw pneumatic chuck. Each of the two jaws of the chuck B9 is fixedly provided with a clamping protrusion 25 for clamping into the radial through hole at the end of the piston rod. The chuck B9 rotates with the radial through hole at the end of the piston rod through the clamping protrusion 25. A gear disk B11 is coaxially fixedly connected to one side of the chuck B9. The gear disk B11 is rotatably mounted on the base B23. A drive motor B that drives the gear disk B11 to rotate is mounted on the base B23. The output end of the drive motor B is fitted with a drive gear B that meshes with the gear disk B11. A gear is fixedly mounted on the other side of the chuck B9. A sensor 10 is used to identify the position of the radial through hole; the base B23 includes a fixed seat and a movable seat 24. The fixed seat is slidably mounted on the bearing beam 5, and the movable seat 24 is located on one side of the fixed seat and connected to the chuck B9. A two-degree-of-freedom servo adjustment mechanism 8 is provided on the fixed seat to drive the movable seat 24 to slide and adjust radially along the chuck B9. The two-degree-of-freedom servo adjustment mechanism 8 consists of two mutually perpendicular guide rail slider mechanisms. The slider in one guide rail slider mechanism is fixedly connected to the slide rail in the other guide rail slider mechanism. The two guide rail slider mechanisms are each connected to the power motor through a gear and rack mechanism.

[0023] Please refer to Figure 5 The cylinder clamping unit 3 is located between the cylinder head clamping unit 2 and the rod head clamping unit 1. It includes a base C and a centering clamping mechanism 17 set on the base C. The upper surface of the base C has a downward-facing receiving groove C26 that mates with the cylinder. Multiple clamping ends of the centering clamping mechanism 17 are located on the inscribed circle coaxial with the chuck A13 and can extend into the receiving groove C26 to clamp and fix the cylinder in conjunction with the chuck A13. The receiving groove C26 is U-shaped, and the centering clamping mechanism 17 is a self-centering linkage mechanism driven by the drive motor C16.

[0024] Please refer to Figure 6The support tightening unit 4 is located between the cylinder clamping unit 3 and the rod head clamping unit 1. It includes a base D and a support frame mounted on the base D. A swing block is rotatably mounted on the top of the support frame. One side of the swing block is provided with a receiving groove D27 that cooperates with the piston rod or cylinder head, facing the rotation center. The bottom of the receiving groove D27 is provided with a support surface for supporting the piston rod. The swing blocks on both sides of the receiving groove D27 are provided with a centering clamping mechanism 21 for clamping the cylinder head. The centering clamping mechanism 21 includes two opposing cylinders and a clamping plate fixed to the output end of the cylinder. Specifically, the base D is equipped with a lifting adjustment mechanism 19 for adjusting the height of the support frame. The lifting adjustment mechanism 19 is a lifting cylinder. A drive motor D that drives the swing block to swing back and forth is installed on the support frame. A drive gear D is sleeved on the output end of the drive motor D. An arc-shaped rack D20 that is connected to the drive gear D is fixed on the swing block.

[0025] Please refer to Figure 1-2 In the above structure, bases A22, B23, C and D are all slidably mounted on the guide rail by sliders and are respectively connected to a power mechanism. The power mechanism can be a linear mechanism driven by a power source common in the field, such as a screw and nut mechanism or a gear and rack mechanism.

[0026] Please refer to Figure 1-6 A method for rotating and vertically assembling a heavy-duty hydraulic cylinder is disclosed. This method utilizes the aforementioned rotating and vertical assembly equipment for heavy-duty hydraulic cylinders. Taking the assembly of a certain model of high-load single-stroke hydraulic cylinder of this equipment as an example, the front end of the piston rod has a mounting through hole, the cylinder head is fitted into the middle rear part, and the rear end is the piston. After the piston and cylinder are initially aligned at the rear end of the piston rod, the entire piston rod is vertically and slowly assembled. Finally, the threads between the cylinder head and cylinder are tightened. The specific steps are as follows: 1) Component Installation: First, the positions of each unit on the load-bearing beam 5 are pre-controlled or manually adjusted according to the product specifications and model. Then, the truss robot grabs the cylinder and places it at the rear end of the load-bearing beam 5. The cylinder head clamping unit 2 automatically adjusts its position to clamp the tail of the cylinder. The drive motor C16 of the cylinder body clamping unit 3 is started, and the clamping end of the centering clamping mechanism 17 clamps the front of the cylinder. The two work together to fix the position of the cylinder. Next, the truss robot grabs the piston rod and places it at the front end of the load-bearing beam 5. The drive motor B of the rod head clamping unit 1 is started. The chuck B9 drives the sensor 10 to rotate around the piston rod to identify the position of its head through hole. Then, the angle is adjusted so that the two jaws on the chuck B9 are aligned with the hole and clamping is completed. Finally, the lifting cylinder of the support tightening unit 4 is started to adjust the height of the support surface to support the piston rod. The rod head clamping unit 1 works together to complete the horizontal positioning of the piston rod. 2) Horizontal docking: According to the product model, the two-degree-of-freedom servo adjustment mechanism 8 of the rod head clamping unit 1 and the lifting adjustment mechanism 19 of the support tightening unit 4 are activated to finely adjust the piston rod to the set axis position (i.e., the cylinder axis position); the rod head clamping unit 1 and the support tightening unit 4 move synchronously, so that the rear end of the piston rod (piston end) enters the cylinder to complete the docking; 3) Turning and positioning: The head frame positioner 6 and the tail frame positioner 7 start to drive the bearing beam 5 and all units on the crossbeam to rotate 90°, and the bearing beam 5 switches to the vertical position; 4) Vertical loading: The support tightening unit 4 disengages from the piston rod and adjusts its position to the front end of the cylinder to avoid interference with the stop of the rod head clamping unit 1 during subsequent loading; the rod head clamping unit 1 moves down to load the piston rod into place. During the loading process, its two-degree-of-freedom servo adjustment mechanism 8 can adjust the position of the piston rod axis at any time according to the feedback from the front end to ensure smooth loading. Specifically, if there is a deviation between the piston rod axis and the cylinder axis during loading, an asymmetrical resistance is formed between the piston rod and the cylinder. This resistance is fed back to the power motor through the gear and rack mechanism. The power motor drives the chuck B9 to adjust its displacement according to the set algorithm to ensure that the piston rod and the cylinder are coaxial.

[0027] 5) Cylinder head tightening: After the piston rod is loaded, the cylinder head reaches the front end of the cylinder. The rod head clamping unit 1 releases the piston rod and moves upward to make room. The support tightening unit 4 moves upward to the cylinder head position and the center clamping mechanism 21 clamps the clamping and tightening area of ​​the cylinder head. After the drive motor D drives the swing block to rotate 120°, it is released and waits for it to reset. After the swing block resets, it is clamped again. This cycle is repeated several times until the cylinder head is tightened.

[0028] 6) Picking and transporting: The cylinder head clamping mechanism and the cylinder body clamping mechanism release their clamping, and the gantry robot grabs the assembled hydraulic cylinder and transports it to the next process.

[0029] The rod head clamping unit 1 of the present invention is rotatably connected to the piston rod, which can transform the self-weight of the piston rod that hinders assembly in the existing equipment into an aid to vertical centering of the piston rod during the vertical filling process; the support and tightening unit 4 integrates the two major functions of support and tightening, which can support the piston rod in the horizontal position and rotate and tighten the cylinder head in the vertical position, realizing the diversification and efficiency of functions.

[0030] Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

Claims

1. A heavy-duty hydraulic cylinder rotating vertical assembly device, characterized in that: It includes a support beam with two working positions, horizontal and vertical, and a tilting mechanism that drives the support beam to switch between the horizontal and vertical working positions. The support beam is equipped with: The cylinder head clamping unit includes a base A and a chuck A mounted on the base A. The jaws of the chuck A are configured to form a fixed engagement with the outer peripheral surface of one end of the cylinder. The rod head clamping unit is located on one side of the cylinder head clamping unit, including a base B and a chuck B mounted on the base B. The jaws of the chuck B are configured to rotate with the radial through hole at one end of the piston rod. The chuck A and the chuck B are arranged opposite each other. The cylinder clamping unit is located between the cylinder head clamping unit and the rod head clamping unit. It includes a base C and a centering clamping mechanism set on the base C. The upper surface of the base C has a downward-facing receiving groove C that mates with the cylinder. The multiple clamping ends of the centering clamping mechanism are located on the inscribed circle coaxial with the chuck A and can extend into the receiving groove C to clamp and fix the cylinder in conjunction with the chuck A. The support tightening unit is located between the cylinder clamping unit and the rod head clamping unit. It includes a base D and a support frame mounted on the base D. A swing block is rotatably mounted on the top of the support frame. One side of the swing block is provided with a receiving groove D that mates with the piston rod or cylinder head, facing the rotation center. The bottom of the receiving groove D is provided with a support surface for supporting the piston rod. The swing blocks on both sides of the receiving groove D are provided with a centering clamping mechanism for clamping the cylinder head. The base B and the base D are both slidably mounted on the bearing beam along the axial direction of the chuck A. The base D is equipped with a lifting adjustment mechanism for adjusting the height of the support frame; The receiving groove D is U-shaped, and the supporting surface of the receiving groove D is an arc surface. A drive motor D that drives the swing block to swing back and forth is installed on the support frame. The output end of the drive motor D is connected to the swing block through a gear and rack structure. A guide rail is fixedly installed on the bearing beam along its length. The bases A, B, C and D are all slidably installed on the guide rail by sliders and are respectively connected to a power mechanism.

2. The heavy-duty hydraulic cylinder rotary vertical assembly equipment according to claim 1, characterized in that: The chuck A is specifically a three-jaw pneumatic chuck. The three jaws of the chuck A are configured to form line / surface contact with the outer circumferential surface of the cylinder. The chuck A is rotatably mounted on the base A, and the base A is equipped with a drive motor A that is connected to the chuck A in a transmission manner.

3. The heavy-duty hydraulic cylinder rotary vertical assembly equipment according to claim 1, characterized in that: The chuck B is specifically a two-jaw pneumatic chuck. Each of the two jaws of the chuck B is fixed with a clamping protrusion for clamping into the radial through hole at the end of the piston rod. The chuck B forms a rotational engagement with the radial through hole at the end of the piston rod through the clamping protrusion.

4. The heavy-duty hydraulic cylinder rotary vertical assembly equipment according to claim 3, characterized in that: The chuck B is rotatably mounted on the base B. A sensor for identifying the position of the radial through hole is fixedly mounted on the side of the chuck B facing the chuck A. The base B is provided with a drive motor B that is connected to the chuck B in a transmission manner.

5. The heavy-duty hydraulic cylinder rotary vertical mounting equipment according to claim 3, characterized in that: The base B includes a fixed base and a movable base. The fixed base is slidably mounted on the bearing beam, and the movable base is located on one side of the fixed base and connected to the chuck B. The fixed base is provided with a two-degree-of-freedom servo adjustment mechanism that drives the movable base to slide and adjust radially along the chuck B.

6. The heavy-duty hydraulic cylinder rotating vertical assembly equipment according to claim 1, characterized in that: The receiving groove C is U-shaped, and the centering clamping mechanism is a self-centering linkage mechanism driven by the drive motor C.

7. A method for rotating and vertically mounting a heavy-duty hydraulic cylinder, characterized in that, This method utilizes the heavy-duty hydraulic cylinder rotary vertical mounting equipment as described in any one of claims 1-6, and specifically includes the following steps: 1) Component installation: The truss robot grabs the cylinder and places it at the rear end of the load-bearing beam, and clamps and fixes the cylinder through the cylinder head clamping unit and the cylinder body clamping unit; The truss robot grabs the piston rod and places it at the front end of the load-bearing beam, and uses the rod head clamping unit and the support tightening unit to horizontally position the piston rod. 2) Horizontal docking: The rod head clamping unit and the support tightening unit move synchronously, so that the rear end of the piston rod extends into the cylinder to complete the docking; 3) Tilting and repositioning: The tilting mechanism drives the load-bearing beam to rotate 90° and switch to the vertical position; 4) Vertical loading: The support tightening unit moves down to make room, and the rod head clamping unit moves down to load the piston rod into place; 5) Cylinder head tightening: After the piston rod is loaded, the cylinder head reaches the front end of the cylinder. The rod head clamping unit releases the piston rod and moves upward to make room. The support tightening unit moves to the cylinder head position. The centering clamping mechanism, together with the swing block, rotates back and forth to tighten the cylinder head.

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