A leather cup press-fit actuating mechanism

Abstract

The application discloses a leather cup press-fitting executing mechanism for leather cup assembly and belongs to the technical field of process tooling. The device comprises a four-axis robot, a leather cup clamping jaw and a leather cup material preparation assembly. The leather cup material preparation assembly comprises a leather cup push plate. A clamping base body is arranged at the end of the leather cup push plate at intervals. A leather cup deformation groove is arranged on the clamping base body. The leather cup deformation groove is tapered inward from the edge of the clamping base body. A through hole is horizontally arranged in the clamping base body and communicates with the leather cup deformation groove. The device can flexibly assemble the leather cup and effectively solves the problem of poor flexibility of the leather cup executing equipment.

Description

Technical Field

[0001] This invention belongs to the field of process tooling technology, and specifically relates to a leather cup pressing actuator. Background Technology

[0002] In many mechanical assembly processes, it is necessary to accurately and securely press-fit rubber cups into specific positions. For example, in automotive braking systems and hydraulic systems, the correct installation of rubber cups is crucial for the sealing and performance of the equipment. Improper installation can lead to leaks, pressure loss, and other problems, affecting the normal operation of the equipment. Early rubber cup pressing relied mainly on manual operation, which was not only inefficient but also difficult to guarantee pressing quality. With the development of industrial automation, various mechanical pressing actuators have emerged. These mechanisms, through their mechanical structure design and power source drive, can achieve precise pressing actions, but they suffer from drawbacks such as complex structure, high cost, and poor flexibility.

[0003] Application No. TW101125482 discloses a pressing mechanism, which includes a base, a conveying assembly, a clamping assembly, and a pressing assembly. The conveying assembly is mounted on the base, and both the clamping and pressing assemblies are mounted on the conveying assembly. The pressing mechanism also includes a pushing assembly and an adsorption assembly. The pushing assembly is mounted on the conveying assembly, and the adsorption assembly is mounted on the base. The clamping assembly uses gravity to press a magnetic element against the conveying assembly. The pushing assembly pushes the magnetic element to move and ultimately position it on the pressing assembly. The conveying assembly drives the pressing assembly to move the magnetic element above the adsorption assembly. The pressing assembly presses the magnetic element onto the workpiece. The adsorption assembly is located below the workpiece and can adsorb the magnetic element onto the workpiece, allowing the pressing assembly to detach 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 purpose of providing a clear and complete explanation of the technical solutions of this application and facilitating understanding by those skilled in the art. It should not be assumed that these technical solutions are known to those skilled in the art simply because they have been described in the background section of this application. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a leather cup pressing actuator for leather cup assembly. This device enables flexible leather cup assembly, effectively solving the problem of poor flexibility in leather cup execution equipment.

[0006] To solve the above-mentioned technical problems, the present invention specifically provides the following technical solution: A leather cup pressing actuator includes a four-axis robot, a leather cup gripper, and a leather cup preparation assembly. The leather cup preparation assembly includes a leather cup pusher plate. A gripping base is provided at intervals at the end of the leather cup pusher plate. A leather cup deformation groove is provided on the gripping base. The leather cup deformation groove gradually narrows from the edge of the gripping base. A through hole is provided horizontally in the gripping base. The through hole communicates with the leather cup deformation groove.

[0007] According to one embodiment of the present invention, a threaded fastener is provided at the end of the through hole away from the deformation groove of the cup, and an elastic support rod is provided inside the through hole. A first spring is arranged between the elastic support rod and the fastener. A cylindrical cavity is provided at the lower part of the deformation groove of the cup, 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 at its center, and the first spring passes through the through hole at the center of the elastic support rod. One end of the elastic support rod extends into a column with an inner diameter smaller than the diameter of the first spring.

[0008] The leather cup assembly process consists of three parts: leather cup preparation, leather cup retrieval, and leather cup installation. First, the produced leather cups are moved to a designated position. Then, the machine grips the leather cups, and finally, the leather cups are installed into the product. During leather cup preparation, the leather cups are first conveyed to the front of the leather cup pusher plate. The pusher plate then pushes the leather cups into the leather cup deformation groove of the clamping base. Because the deformation groove gradually narrows inward, the leather cups undergo a certain amount of deformation and are controlled within the designated position. This ensures that the leather cups are always in a suitable clamping position, avoiding excessive deformation and deviations between the leather cup position and the clamping device.

[0009] Secondly, when the grippers move the leather cup towards the elastic support rod, if 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, which then pushes the elastic support rod back to push the leather cup, thus keeping the leather cup in an optimal gripping position. Furthermore, when the gripping device pushes the leather cup against the elastic telescopic rod, it can correct the leather cup's posture in real time, ensuring that the leather cup is placed in the optimal installation position when subsequently installed into the product. Simultaneously, during the gripping process, the leather cup deforms, making it easier for debris on the surface to fall off, effectively removing surface contaminants beforehand. Additionally, the deformation process allows for redistribution of the lubricating oil, ensuring a more comprehensive distribution of lubricating oil across the leather cup's surface.

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

[0011] The diameter of the thin-walled sleeve is smaller than the inner diameter of the leather cup. Therefore, when the gripper extends into the leather cup, the leather cup is initially loosely fitted onto the thin-walled sleeve. The gripper pushes the leather cup laterally, squeezing it against the elastic support rod. Then, the first spring, compressed, pushes the elastic support rod back. Due to the opposing movement of the gripper and the elastic support rod, the elastic support rod squeezes the leather cup, pushing it between the first and second rods. At this point, one side of the leather cup is between the first and second rods, and the other side is outside the semi-circular notch. The lifting rod moves upward, and the first and second rods grip one side of the leather cup and move it into the thin-walled sleeve. The other side of the leather cup is then pulled into the semi-circular notch, allowing the leather cup to be completely angled inside the thin-walled sleeve. Then, the gripper with the angled leather cup inside is inserted into the product. After the gripper is placed in the desired installation position within the product, the lifting rod descends, pushing the leather cup located between the first and second rods out. The outstretched leather cup is released at the product installation point, completing the installation of the leather cup.

[0012] According to one embodiment of the present invention, one end of the cup pusher plate is provided with an arc-shaped concave notch, and a connecting ring is fixedly provided on the side of the arc-shaped concave notch. An L-shaped plate is provided on the arc-shaped concave notch, and the L-shaped plate is threadedly connected to the cup pusher plate. Push edge plates are provided on both sides of the arc-shaped concave notch. A second spring is fixedly connected to one end of the push edge plate, and the other end of the second spring is connected to the connecting ring. A sliding column is connected to the other end of the push edge plate, and the other end of the sliding column is slidably connected to the L-shaped plate. The side of the L-shaped plate is provided with two parallel elongated through holes, and a hook is provided at the end of the sliding column to hang between the two through holes, so that the sliding column can slide relative to the L-shaped plate.

[0013] Because of the frictional resistance between the leather cup and the placement surface, during the movement of the leather cup by the pusher plate, the resistance is first transmitted to the pusher plate. The pusher plate can deform to change the tilt angle and contact surface relative to the leather cup, thus controlling the force applied by the pusher plate to the leather cup and the pushing angle. This reduces excessive deformation of the leather cup caused by the pushing resistance, and in particular, prevents the leather cup from bending due to contact with the friction surface during pushing. Bending may cause the leather cup to pop out of the pushing trajectory or deviate from the pushing trajectory due to deformation. Since the pusher plate can adjust the pushing force and angle on the leather cup, it can correct the moving posture of the leather cup during the pushing process, preventing the leather cup from shifting 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. Attached Figure Description

[0014] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other embodiments based on the provided drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the leather cup pressing mechanism of the present invention; Figure 2 This is a schematic diagram of the leather bowl material preparation component of the present invention; Figure 3 This is a schematic diagram of the substrate clamping scheme of the present invention; Figure 4 This is a schematic diagram of the method for clamping the leather bowl according to the present invention; Figure 5 This is a cross-sectional schematic diagram of the clamping device of the present invention; Figure 6 This is a schematic diagram of the limiting column scheme of the present invention; Figure 7 This is a schematic diagram of the push-edge plate scheme of the present invention.

[0016] Reference numerals: 10-Four-axis robot; 101-Leather cup gripper; 102-Oil spraying assembly; 103-Product; 20-Main leather cup preparation assembly; 201-Main leather cup vibratory feeder; 202-Secondary leather cup preparation assembly; 203-Secondary leather cup vibratory feeder; 204-Leather cup arrival detection; 205-Leather cup flipping mechanism; 206-Leather cup pusher plate; 207-Leather cup deformation groove; 208-Leather cup vision inspection placement position; 209 -Direct vibration; 210-Leather cup; 211-NG material channel; 212-NG feeding cylinder; 301-First spring; 302-Elastic support rod; 303-Lifting rod; 304-Thin-walled sleeve; 305-Limiting column; 306-First rod; 307-Second rod; 401-Second spring; 402-Connecting ring; 403-Sliding column; 404-L-shaped plate; 405-Push plate; 406-Fastener. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] The concepts involved in this application will first be described with reference to the accompanying drawings. It should be noted that the following descriptions of various concepts are only for the purpose of making the content of this application easier to understand and do not constitute a limitation on the scope of protection of this application; furthermore, the embodiments and features in the embodiments of this application can be combined with each other unless otherwise specified. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] Example 1 See appendix Figures 1-7 As shown, a leather cup pressing actuator includes a four-axis robot 10, a leather cup gripper 101, and a leather cup preparation assembly. The leather cup preparation assembly includes a leather cup pusher plate 206. A gripping base is provided at a distance from the end of the leather cup pusher plate 206. A leather cup deformation groove 207 is provided on the gripping base. The leather cup deformation groove 207 gradually narrows from the edge of the gripping base. A through hole is provided horizontally in the gripping base and communicates with the leather cup deformation groove 207.

[0020] A threaded fastener is provided at the end of the through hole away from the deformation groove 207 of the cup. An elastic support rod 302 is provided inside the through hole, and a first spring 301 is arranged between the elastic support rod 302 and the fastener. A cylindrical cavity is provided at the lower part of the deformation groove 207 of the cup, 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 through hole in the center of the elastic support rod 302. One end of the elastic support rod 302 extends into a column with an inner diameter smaller than the diameter of the first spring 301.

[0021] The assembly process of the leather cup 210 is divided into three parts: leather cup 210 preparation, leather cup 210 retrieval, and leather cup 210 installation. First, the produced leather cup 210 is moved to the designated position, then the machine grips the leather cup 210, and finally the leather cup 210 is installed into the product 103. During the leather cup 210 preparation process, the leather cup 210 is first conveyed 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 narrowed inward, the leather cup 210 will undergo a certain amount of deformation and be controlled in the designated position. This ensures 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 grippers move the cup 210 towards the elastic support rod 302, if the 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 pushes the elastic support rod 302 back to push the cup 210, which can keep the cup 210 in an optimal gripping position. Furthermore, when the gripping device pushes the cup 210 against the elastic telescopic rod 302, the cup's posture can be corrected in real time, ensuring that the cup 210 is optimally placed in the installation position when it is subsequently installed into the product 103. Simultaneously, during the gripping process, the cup 210 deforms, making it easier for debris on its surface to fall off, effectively removing surface contaminants beforehand. Additionally, during deformation, the lubricating oil is redistributed, ensuring a more comprehensive distribution across the cup's surface.

[0023] The leather cup gripper 101 includes a thin-walled sleeve 304. Inside the thin-walled sleeve 304 is a limiting post 305 with a first through hole in the center. The upper part of the limiting post 305 is a cylinder, and the lower part is a semi-cylinder. A cylindrical disk with a through hole extends downward from the semi-cylinder. A semi-circular notch is provided on the arc-shaped side of the bottom of the semi-cylinder, and the horizontal height of the bottom surface of the semi-circular notch is the same as the horizontal height of the top surface of the cylindrical disk. A lifting rod 303 is provided in the first through hole. A first rod 306 and a second rod 307 are provided on the side of the lifting rod 303. The first rod 306 and the second rod 307 are arranged at intervals and are movably embedded into the side of the lifting rod 303.

[0024] The diameter of the thin-walled sleeve 304 is smaller than the inner diameter of the cup 210. Therefore, when the gripper extends into the cup 210, the cup 210 is loosely fitted on the thin-walled sleeve 304. The gripper pushes the cup 210 laterally, squeezing it against the elastic support rod 302. Then, the first spring 301 is squeezed and pushes the elastic support rod 302 in the opposite direction. Due to the opposing movement of the gripper and the elastic support rod 302, the elastic support rod 302 squeezes the cup 210, pushing the cup 210 between the first rod 306 and the second rod 307. At this time, one side of the cup 210 is located between the first rod 306 and the second rod 307, and the other side is located outside the semi-circular notch. The lifting rod 303 moves upward, and the first rod 306 and the second rod 307 will clamp one side of the cup 210 and move it into the thin-walled sleeve 304. The other side of the cup 210 will be pulled into the semi-circular notch, so that the cup 210 is completely tilted inside the thin-walled sleeve 304. Then, the clamp with the cup 210 tilted inside is inserted into the product 103. After the clamp is placed in the position to be installed inside the product 103, the lifting rod 303 descends, thereby pushing the cup 210 located between the first rod 306 and the second rod 307, pushing the cup 210 out. The pushed-out cup 210 is released at the installation position of the product 103, completing the installation of the cup 210.

[0025] The push plate 206 has an arc-shaped concave notch at one end, and a connecting ring 402 is fixedly mounted on the side of the arc-shaped concave notch. An L-shaped plate 404 is mounted on the arc-shaped concave notch and is threadedly connected to the push plate 206. Push edge plates 405 are mounted on both sides of the arc-shaped concave notch. A second spring 401 is fixedly connected to one end of the push edge plate 405, and the other end of the second spring 401 is connected to the connecting ring 402. A sliding column 403 is connected to the other end of the push edge plate 405, and the other end of the sliding column 403 is slidably connected to the L-shaped plate 404. The side of the L-shaped plate 404 has two parallel elongated through holes. The end of the sliding column 403 has a hook that hangs between the two through holes, allowing the sliding column 403 to slide relative to the L-shaped plate 404.

[0026] Because of the frictional resistance between the cup 210 and the placement surface, during the movement of the cup 210 by the cup pusher plate 206, the resistance is first transmitted to the pusher plate 405. The pusher plate 405 can deform to change the tilt angle and contact surface of the pusher plate 405 relative to the cup 210, thereby controlling the force applied by the cup pusher plate 206 to the cup 210 and the pushing angle. This reduces excessive deformation of the cup 210 caused by the pushing resistance, and in particular, prevents the cup 210 from bending due to contact with the friction part of the contact surface during pushing. After bending, the cup 210 may pop out of the pushing trajectory or deviate from the pushing trajectory due to deformation. Since the pusher plate 405 can control the pushing force and angle of the cup 210, it can correct the moving posture of the cup 210 during the pushing process, avoiding deviation of the cup or excessive friction between the bottom surface of the cup 210 and the pushing contact surface.

[0027] The embodiments and / or implementation methods described above are merely preferred embodiments and / or implementation methods for implementing the technology of the present invention, and are not intended to limit the implementation methods of the technology of the present invention in any way. Any person skilled in the art can make some modifications or alterations 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 the technology or embodiments that are substantially the same as the present invention.

[0028] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. The above descriptions are only preferred embodiments of this application. It should be noted that due to the limitations of written expression, while there are objectively infinite specific structures, those skilled in the art 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 inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of this application.

Claims

1. A leather cup pressing actuator, comprising a four-axis robot (10), a leather cup gripper (101) mounted on the four-axis robot (10), and a leather cup preparation assembly fitted to the four-axis robot (10). Its features are: The leather cup preparation assembly includes a leather cup push plate (206), and a clamping base is provided at intervals at the end of the leather cup push plate (206). The clamping base is provided with a leather cup deformation groove (207), which gradually narrows inward from the edge of the clamping base. A through hole is provided horizontally in the clamping base, and the through hole communicates with the leather cup deformation groove (207). A threaded fixing member 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 member. 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 leather cup gripper (101) includes a thin-walled sleeve (304), inside which is provided a limiting post (305) with a first through hole in the center. The upper part of the limiting post (305) is a cylinder, and the lower part of the limiting post (305) is a semi-cylinder. The semi-cylinder extends downward to a cylindrical disc with a through hole. A semi-circular notch is provided on the arc-shaped side of the bottom of the semi-cylinder. The horizontal height of the bottom surface of the semi-circular notch is the same as the horizontal height of the top surface of the cylindrical disc. A lifting rod (303) is provided in the first through hole. A first rod (306) and a second rod (307) are provided on the side of the lifting rod (303). The first rod (306) and the second rod (307) are arranged at intervals and are movably embedded in the side of the lifting rod (303). The diameter of the thin-walled sleeve (304) is smaller than the inner diameter of the cup (210). The cup (210) is pushed laterally by the gripper and squeezed against the elastic support rod (302). The elastic support rod (302) squeezes the cup (210) and pushes the cup (210) between the first rod (306) and the second rod (307). At this time, one side of the cup (210) is located between the first rod (306) and the second rod (307), and the other side is located outside the semi-circular notch. The lifting rod (303) moves upward, and the first rod (306) and the second rod (307) clamp one side of the cup (210) and move it into the thin-walled sleeve (304). The other side of the cup (210) will be pulled into the semi-circular notch, so that the cup (210) is placed obliquely inside the thin-walled sleeve (304).

2. The leather cup pressing actuator according to claim 1, characterized in that: The elastic support rod (302) has a through hole in the center, and the first spring (301) passes through the through hole in the center of the elastic support rod (302). One end of the elastic support rod (302) extends into a column with an inner diameter smaller than that of the first spring (301).

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

4. The leather cup pressing actuator according to claim 3, characterized in that: Both sides of the arc-shaped concave section are provided with push plates (405). One end of the push plate (405) is fixedly connected to a second spring (401), and the other end of the second spring (401) is connected to a connecting ring (402). The other end of the push 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).

Images