Packing cup press-fitting executing mechanism

Abstract

The invention discloses a packing cup press-fitting executing mechanism which is used for packing cup assembling and belongs to the technical field of process tools.The packing cup press-fitting executing mechanism comprises a four-axis robot, a packing cup clamping jaw and a packing cup material preparing assembly, the packing cup material preparing assembly comprises a packing cup pushing plate, clamping base bodies are arranged at the end of the packing cup pushing plate at intervals, and packing cup deformation grooves are formed in the clamping base bodies; the leather cup deformation groove is gradually shrunk inwards from the edge of the clamping base body, a through hole is horizontally formed in the clamping base body, and the through hole is communicated with the leather cup deformation groove. The device can screen qualified leather cups and flexibly assemble the leather cups, and the problem that leather cup execution equipment is poor in flexibility is effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of process tools and in particular relates to a leather cup press-fitting actuator. Background Art

[0002] In many mechanical assembly processes, the leather cup needs to be accurately and firmly pressed into a specific position. For example, in automobile braking systems and hydraulic systems, the correct installation of the leather cup is crucial to the sealing and performance of the equipment. If the leather cup is not installed properly, it may cause leakage, pressure loss and other problems, affecting the normal operation of the equipment. Early leather cup press-fitting mainly relied on manual operation, which was not only inefficient, but also difficult to ensure the quality of press-fitting. With the development of industrial automation, various mechanical press-fitting actuators have emerged. These mechanisms can achieve precise press-fitting actions through the design of mechanical structures and the drive of power sources, but have the disadvantages of complex structure, high cost and poor flexibility.

[0003] Application No. TW101125482, the present invention discloses a press-fitting mechanism, which includes a base, a transmission component, a clamping component and a press-fitting component, the transmission component is installed on the base, the clamping component and the press-fitting component are both installed on the transmission component, the press-fitting mechanism also includes a push component and an adsorption component, the push component is installed on the transmission component, the adsorption component is installed on the base, the clamping component uses gravity to press the magnetic element against the transmission component, the push component pushes the magnetic element to move and finally locates it on the press-fitting component, the transmission component drives the press-fitting component to drive the magnetic element to move above the adsorption component, the press-fitting component presses the magnetic element on the workpiece, the adsorption component is located below the workpiece and can adsorb the magnetic element on the workpiece so that the press-fitting component can be separated from the magnetic element. This patent still has room for improvement.

[0004] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the present application and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because they are described in the background technology section of the present application. Summary of the invention

[0005] In view of the problems existing in the prior art, the present invention provides a cup press-fitting actuator for cup assembly. The device can screen qualified cups and flexibly assemble the cups, effectively solving the problem of poor flexibility of cup execution equipment.

[0006] In order to solve the above technical problems, the present invention specifically provides the following technical solutions: A leather cup press-fitting actuator comprises a four-axis robot, a leather cup clamp and a leather cup preparation assembly, wherein the leather cup preparation assembly comprises a leather cup push plate, a clamping base is provided at a distance between the ends of the leather cup push plate, a leather cup deformation groove is provided on the clamping base, the leather cup deformation groove gradually shrinks inward from the edge of the clamping base, a through hole is horizontally provided in the clamping base, and the through hole is connected to the leather cup deformation groove.

[0007] According to one embodiment of the present invention, a threaded fixing piece is provided at the end of the through hole away from the leather cup deformation groove, an elastic support rod is provided in the through hole, and a first spring is arranged between the elastic support rod and the fixing piece. A cylindrical cavity is provided at the lower part of the leather cup deformation groove, and the horizontal height of the bottom surface of the cylindrical cavity is lower than the horizontal height of the bottom end of the elastic support rod. The elastic support rod has a through hole in the center, and the first spring passes through the central through hole of the elastic support rod. A column with an inner diameter smaller than the diameter of the first spring extends from one end of the elastic support rod.

[0008] The leather cup assembly process is divided into three parts: leather cup preparation, leather cup removal, and leather cup installation. First, the produced leather cup is moved to the specified position, then the leather cup is grabbed by the machine, and finally the leather cup is installed in the product. In the leather cup preparation process, the leather cup is first conveyed to the front of the leather cup push plate, and then the leather cup push plate pushes the leather cup into the leather cup deformation groove of the clamping base. Since the leather cup deformation groove is gradually contracted inward, the leather cup will undergo a certain amount of deformation and be controlled in the specified position, so that the leather cup is always in a suitable clamping position, avoiding excessive deformation of the leather cup and deviation between the leather cup position and the clamping device.

[0009] Secondly, when the clamping claw drives the leather cup to move toward the elastic support rod, when the leather cup is pushed excessively into the deformation groove, it will contact the elastic support rod. At this time, the first spring connected to the elastic support rod is compressed, and then the elastic support rod is pushed back to push the leather cup, which can also keep the leather cup in an optimal clamping position. In addition, when the clamping device drives the leather cup to squeeze the elastic telescopic rod, the posture of the leather cup can be corrected in real time, so that the leather cup can be placed in the installation position better when it is subsequently installed into the product. At the same time, due to the deformation of the leather cup during the clamping of the leather cup by the clamping claw, the debris on the surface of the leather cup is more likely to fall off during the deformation process of the leather cup, which can play the effect of pre-clearing the waste residue on the surface of the leather cup, and the lubricating oil of the leather cup can be redistributed during the deformation process so that the lubricating oil is more comprehensively distributed to the surface of the leather cup.

[0010] According to one embodiment of the present invention, the leather cup clamp includes a thin-walled sleeve, and a limiting cylinder with a first through hole in the center is provided inside the thin-walled sleeve, the upper part of the limiting cylinder is a cylinder, and the lower part of the limiting cylinder is a semi-cylinder, and the semi-cylinder extends downward to form a cylindrical disk with a through hole. A semi-circular notch is provided on the arc-shaped side surface of the bottom of the semi-cylinder, and the horizontal height of the bottom surface under the semi-circular notch is consistent with the horizontal height of the upper bottom surface of the cylindrical disk. A lifting rod is provided in the first through hole, and a first rod body and a second rod body are provided on the side of the lifting rod. The first rod body and the second rod body are arranged at intervals, and the first rod body and the second rod body are movably embedded in the side surface of the lifting rod.

[0011] The diameter of the thin-walled sleeve is smaller than the inner diameter of the leather cup, so when the clamping jaws extend into the leather cup, the leather cup is empty on the thin-walled sleeve, and the clamping jaws push the leather cup laterally to squeeze the elastic support rod, and then the first spring pushes the elastic support rod in reverse after being squeezed, and due to the opposite movement of the clamping jaws and the elastic support rod, the elastic support rod squeezes the leather cup and pushes the leather cup between the first rod body and the second rod body. At this time, one side of the leather cup is between the first rod body and the second rod body, and the other side is outside the semicircular ring gap. The lifting rod moves upward, and the first rod body and the second rod body clamp one side of the leather cup and move it inside the thin-walled sleeve, and the other side of the leather cup will be pulled into the semicircular ring gap, so that the leather cup is completely obliquely placed in the thin-walled sleeve, and then the clamping jaws with the leather cup obliquely placed inside are inserted into the product. After the clamping jaws are placed at the position to be installed in the product, the lifting rod descends, thereby pushing the leather cup between the first rod body and the second rod body, and pushing the leather cup out. The pushed-out leather cup is released at the product installation location to complete the installation of the leather cup.

[0012] According to one embodiment of the present invention, an arc-shaped inward-concave notch is provided at one end of the leather cup push plate, a connecting ring is fixedly provided on the side of the arc-shaped inward-concave notch, an L-shaped plate is provided on the arc-shaped inward-concave notch, and the L-shaped plate is threadedly connected to the leather cup push plate. Push plates are provided on both sides of the arc-shaped inward-concave, one end of the push plate is fixedly connected to the second spring, and the other end of the second spring is connected to the connecting ring; the other end of the push plate is connected to a sliding column, and the other end of the sliding column is slidably connected to the L-shaped plate. Two parallel long strip through holes are provided on the side of the L-shaped plate, and a hook body is provided at the end of the sliding column and hung between the two through holes, so that the sliding column can slide relative to the L-shaped plate.

[0013] Due to the friction resistance between the leather cup and the placement surface, during the process of the leather cup push plate pushing the leather cup to move, the resistance is first transmitted to the side push plate, which can produce deformation to change the inclination angle and contact surface of the side push plate compared to the leather cup, and adjust the force and pushing angle of the leather cup push plate on the leather cup to reduce the pushing resistance and cause excessive deformation of the leather cup, especially to avoid the leather cup bending due to the friction part of the leather cup and the contact surface during the pushing process. After bending, the leather cup may pop out of the pushing trajectory or deviate from the pushing trajectory due to deformation. Since the side push plate can adjust the thrust and angle of the leather cup, the movement posture of the leather cup during the pushing process can be corrected to avoid the deviation of the leather cup movement or excessive friction between the bottom surface of the leather cup and the pushing contact surface, so that the leather cup can be smoothly pushed into the leather cup deformation groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0015] Figure 1 This is a schematic diagram of the cup press-fitting actuator scheme of the present invention; Figure 2 This is a schematic diagram of the leather cup preparation assembly scheme of the present invention; Figure 3 This is a schematic diagram of a clamping substrate solution of the present invention; Figure 4 This is a schematic diagram of the solution for clamping the leather cup of the present invention; Figure 5 It is a cross-sectional schematic diagram of the clamping device of the present invention; Figure 6 It is a schematic diagram of the limiting column solution of the present invention; Figure 7 It is a schematic diagram of the push plate solution of the present invention.

[0016] Figure numbers: 10-four-axis robot; 101-cup gripper; 102-injection assembly; 103-product; 20-main cup preparation assembly; 201-main cup vibration plate; 202-secondary cup preparation assembly; 203-secondary cup vibration plate; 204-cup in-place detection; 205-cup flip mechanism; 206-cup push plate; 207-cup deformation groove; 208-cup visual detection placement position; 209 -direct vibration; 210-leather cup; 211-NG material channel; 212-NG unloading cylinder; 301-first spring; 302-elastic support rod; 303-lifting rod; 304-thin-wall sleeve; 305-limiting column; 306-first rod body; 307-second rod body; 401-second spring; 402-connecting ring; 403-sliding column; 404-L-shaped plate; 405-push plate; 406-fastener. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] The following first describes the concepts involved in the present application in conjunction with the accompanying drawings. It should be noted that the following description of each concept is only to make the content of the present application easier to understand, and does not limit the scope of protection of the present application; at the same time, the embodiments and features in the embodiments of the present application can be combined with each other in the absence of conflict. The present application will be described in detail with reference to the accompanying drawings and in conjunction with the embodiments.

[0019] Embodiment 1 See attached Figure 1-Figure 7 As shown, a leather cup press-fitting actuator includes a four-axis robot 10, a leather cup clamp 101 and a leather cup preparation assembly, the leather cup preparation assembly includes a leather cup push plate 206, a clamping base is provided at a distance at the end of the leather cup push plate 206, a leather cup deformation groove 207 is provided on the clamping base, the leather cup deformation groove 207 is gradually reduced inward from the edge of the clamping base, a through hole is horizontally provided in the clamping base, and the through hole is connected to the leather cup deformation groove 207.

[0020] A threaded fixing piece is provided at the end of the through hole away from the leather cup deformation groove 207, and an elastic support rod 302 is provided in the through hole, and a first spring 301 is arranged between the elastic support rod 302 and the fixing piece. A cylindrical cavity is provided at the lower part of the leather cup deformation groove 207, and the horizontal height of the bottom surface of the cylindrical cavity is lower than the horizontal height of the bottom end of the elastic support rod 302. The elastic support rod 302 has a through hole in the center, and the first spring 301 passes through the central through hole of the elastic support rod 302. A column with an inner diameter smaller than the diameter of the first spring 301 extends from one end of the elastic support rod 302.

[0021] The assembly process of the leather cup 210 is divided into three parts: preparing the leather cup 210, taking the leather cup 210, and installing the leather cup 210. First, the produced leather cup 210 is moved to the designated position, then the leather cup 210 is grabbed by the machine, and finally the leather cup 210 is installed in the product 103. In the process of preparing the leather cup 210, the leather cup 210 is first transported to the front of the leather cup push plate 206, and then the leather cup push plate 206 pushes the leather cup 210 into the leather cup deformation groove 207 of the clamping base. Since the leather cup deformation groove 207 is gradually contracted inward, the leather cup 210 will undergo a certain amount of deformation and be controlled at the designated position, so that the leather cup 210 is always in a suitable clamping position, avoiding excessive deformation of the leather cup 210 and deviation between the position of the leather cup 210 and the clamping device.

[0022] Secondly, when the clamping jaw drives the leather cup 210 to move toward the elastic support rod 302, when the leather cup 210 is pushed excessively into the deformation groove, it will contact the elastic support rod 302. At this time, the first spring 301 connected to the elastic support rod 302 is compressed, and then the elastic support rod 302 is pushed back to push the leather cup 210, which can also keep the leather cup 210 in an optimal clamping position. In addition, when the clamping device drives the leather cup 210 to squeeze the elastic telescopic rod 302, the posture of the leather cup can be corrected in real time, so that the leather cup 210 can be placed in the installation position better when it is subsequently installed into the product 103. At the same time, during the process of the clamping jaw clamping the leather cup 210, the leather cup is deformed, and the debris on the surface of the leather cup is more likely to fall off during the deformation process of the leather cup, which can play the effect of pre-clearing the waste residue on the surface of the leather cup, and the lubricating oil of the leather cup can be redistributed during the deformation process of the leather cup so that the lubricating oil is more comprehensively distributed to the surface of the leather cup.

[0023] The leather cup clamp 101 includes a thin-walled sleeve 304, and a limiting cylinder 305 with a first through hole in the center is arranged inside the thin-walled sleeve 304. The upper part of the limiting cylinder 305 is a cylinder, and the lower part of the limiting cylinder 305 is a semi-cylinder. The semi-cylinder extends downward to form a cylindrical disk with a through hole. A semi-circular notch is arranged on the arc-shaped side of the bottom of the semi-cylinder, and the horizontal height of the bottom surface under the semi-circular notch is consistent with the horizontal height of the upper bottom surface of the cylindrical disk. A lifting rod 303 is arranged in the first through hole, and a first rod body 306 and a second rod body 307 are arranged on the side of the lifting rod 303. The first rod body 306 and the second rod body 307 are arranged at intervals, and the first rod body 306 and the second rod body 307 are movably embedded in the side of the lifting rod 303.

[0024] The diameter of the thin-walled sleeve 304 is smaller than the inner diameter of the leather cup 210, so when the clamping jaws extend into the leather cup 210, the leather cup 210 is empty on the thin-walled sleeve 304, and the leather cup 210 is pushed laterally by the clamping jaws to squeeze the elastic support rod 302, and then the first spring 301 pushes the elastic support rod 302 back after being squeezed. Due to the opposite movement of the clamping jaws and the elastic support rod 302, the elastic support rod 302 squeezes the leather cup 210 and pushes the leather cup 210 between the first rod body 306 and the second rod body 307. At this time, one side of the leather cup 210 is located between the first rod body 306 and the second rod body 307, and the other side is located outside the semicircular notch. The lifting rod 303 moves upward, and the first rod body 306 and the second rod body 307 will clamp one side of the leather cup 210 and move it toward the inside of the thin-walled sleeve 304. The other side of the leather cup 210 will be pulled into the semicircular notch, so that the leather cup 210 is completely obliquely placed in the thin-walled sleeve 304, and then the clamping jaw with the leather cup 210 obliquely placed inside is inserted into the product 103. After the clamping jaw is placed at the position to be installed in the product 103, the lifting rod 303 descends, thereby pushing the leather cup 210 located between the first rod body 306 and the second rod body 307, and pushing the leather cup 210 out. The pushed-out leather cup 210 is released at the installation location of the product 103, completing the installation of the leather cup 210.

[0025] An arc-shaped inward-concave notch is provided at one end of the leather cup push plate 206, a connecting ring 402 is fixedly provided on the side of the arc-shaped inward-concave notch, an L-shaped plate 404 is provided on the arc-shaped inward-concave notch, and the L-shaped plate 404 is threadedly connected to the leather cup push plate 206. Pushing plates 405 are provided on both sides of the arc-shaped inward-concave, one end of the pushing plate 405 is fixedly connected to the second spring 401, and the other end of the second spring 401 is connected to the connecting ring 402; the other end of the pushing plate 405 is connected to a sliding column 403, and the other end of the sliding column 403 is slidably connected to the L-shaped plate 404. Two parallel long strip through holes are provided on the side of the L-shaped plate 404, and a hook body is provided at the end of the sliding column 403 and hung between the two through holes, so that the sliding column 403 can slide relative to the L-shaped plate 404.

[0026] Due to the friction resistance between the leather cup 210 and the placement surface, during the process of the leather cup push plate 206 pushing the leather cup 210 to move, the resistance is first transmitted to the side push plate 405, and the side push plate 405 can be deformed to change the tilt angle and contact surface of the side push plate 405 compared to the leather cup 210, and adjust the force and pushing angle applied by the leather cup push plate 206 to the leather cup 210 to reduce the pushing resistance and cause excessive deformation of the leather cup 210, especially to avoid the leather cup 210 from bending due to the friction part of the leather cup 210 and the contact surface when the leather cup 210 is pushed. After bending, the leather cup 210 may be deformed and cause the leather cup 210 to pop out of the pushing trajectory or deviate from the pushing trajectory. Since the side push plate 405 can adjust the thrust and angle of the leather cup 210, the movement posture of the leather cup 210 during the pushing process can be corrected to avoid the movement deviation of the leather cup or excessive friction between the bottom surface of the leather cup 210 and the pushing contact surface.

[0027] The embodiments and / or implementation methods described above are only used to illustrate the preferred embodiments and / or implementation methods for realizing the technology of the present invention, and are not intended to limit the implementation methods of the technology of the present invention in any form. Any technical personnel in this field may make slight changes or modifications to other equivalent embodiments without departing from the scope of the technical means disclosed in the content of the present invention, but they should still be regarded as technologies or embodiments that are essentially the same as the present invention. This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and its core ideas of this application. The above is only the preferred implementation method of this application. It should be pointed out that due to the limitations of textual expression and the objective existence of infinite specific structures, ordinary technicians in this technical field can make several improvements, modifications or changes without departing from the principles of this application, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes or combinations, or the direct application of the concept and technical solution of the invention to other occasions without improvement, should be regarded as the scope of protection of this application.

Claims

1. A leather cup press-fitting actuator, comprising a four-axis robot (10), a leather cup clamp (101) mounted on the four-axis robot (10), and a leather cup preparation assembly mounted on the four-axis robot (10), Features: The leather cup preparation assembly comprises a leather cup push plate (206), a clamping base is provided at a distance at the end of the leather cup push plate (206), a leather cup deformation groove (207) is provided on the clamping base, the leather cup deformation groove (207) gradually shrinks inward from the edge of the clamping base, a through hole is horizontally provided in the clamping base, and the through hole is connected to the leather cup deformation groove (207).

2. A cup press-fit actuator according to claim 1, characterized in that: A threaded fixing piece is provided at the end of the through hole away from the leather cup deformation groove (207), an elastic support rod (302) is provided in the through hole, and a first spring (301) is arranged between the elastic support rod (302) and the fixing piece.

3. A cup press-fit actuator according to claim 2, characterized in that: A cylindrical cavity is provided at the lower part of the leather cup deformation groove (207), and the horizontal height of the bottom surface of the cylindrical cavity is lower than the horizontal height of the bottom end of the elastic support rod (302).

4. A cup press-fit actuator according to claim 2, characterized in that: The elastic support rod (302) has a through hole at its centre, the first spring (301) passes through the through hole at the centre of the elastic support rod (302), and a column with an inner diameter smaller than that of the first spring (301) extends from one end of the elastic support rod (302).

5. The cup press-fit actuator according to claim 1, characterized in that: The leather cup clamp (101) comprises a thin-walled sleeve (304), wherein a limiting cylinder (305) having a first through hole at the center is arranged inside the thin-walled sleeve (304), the upper portion of the limiting cylinder (305) is a cylinder, and the lower portion of the limiting cylinder (305) is a semi-cylinder, and the semi-cylinder extends downward to form a cylindrical disk having a through hole.

6. A cup press-fit actuator according to claim 5, characterized in that: A semicircular notch is provided on the arc-shaped side surface at the bottom of the semi-cylinder, and the horizontal height of the lower bottom surface of the semicircular notch is consistent with the horizontal height of the upper bottom surface of the cylindrical disk body.

7. The cup press-fit actuator according to claim 5, characterized in that: A lifting rod (303) is provided in the first through hole, and a first rod body (306) and a second rod body (307) are provided on the side of the lifting rod (303).

8. The cup press-fit actuator according to claim 7, characterized in that: The first rod body (306) and the second rod body (307) are arranged at intervals, and the first rod body (306) and the second rod body (307) are movably embedded in the side of the lifting rod (303).

9. The cup press-fit actuator according to claim 1, characterized in that: An arc-shaped inward-concave notch is provided at one end of the leather cup push plate (206), a connecting ring (402) is fixedly provided on the side surface of the arc-shaped inward-concave notch, an L-shaped plate (404) is provided on the arc-shaped inward-concave notch, and the L-shaped plate (404) is threadedly connected to the leather cup push plate (206).

10. The cup press-fit actuator according to claim 9, characterized in that: Pushing plates (405) are provided on both sides of the arc-shaped concave portion, one end of the pushing plate (405) is fixedly connected to the second spring (401), and the other end of the second spring (401) is connected to the connecting ring (402); the other end of the pushing plate (405) is connected to a sliding column (403), and the other end of the sliding column (403) is slidably connected to the L-shaped plate (404).

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