Nitrogen spring assembling method

Abstract

The invention provides an assembling method of a nitrogen spring. The nitrogen spring is assembled between two joints of the industrial robot, and the assembling method comprises the steps that pretreatment is conducted, specifically, the nitrogen spring is subjected to pressure relief in advance to be in an airless state; an assembling step: firstly connecting the first end of the nitrogen spring with the first joint located at the upper part of the two joints, and then lengthening the second end of the nitrogen spring and connecting the second end of the nitrogen spring with the second joint located at the lower part; and an inflation step, wherein an inflation device is used for inflating the nitrogen spring, and assembling of the nitrogen spring is completed. The nitrogen spring assembling device solves the problem that in the prior art, the nitrogen spring assembling efficiency and precision are low.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an assembling method of a nitrogen spring. Background Art

[0002] Industrial robots are essential automation equipment in modern manufacturing, boasting high technological value and a wide range of applications. Heavy-duty industrial robots, in particular, carry heavy payloads and possess significant weight. The key to achieving lightweight and safer large-scale industrial robots lies in the reliability of nitrogen springs. Their introduction increases the freedom of design for the stroke length and capacity of industrial robots.

[0003] However, in existing industrial robots, there are many difficulties and challenges in the assembly process of nitrogen springs. For example, nitrogen springs are generally installed with air, and the spring length is adjusted by adjusting nuts. The adjustment length is difficult to quantify, and insufficient adjustment of the nitrogen spring length may lead to scratches on the inner wall, abnormal noise, and poor operation. In addition, the installation position of nitrogen springs on industrial robots is generally compact, the range of motion of tooling is limited, and the operation is difficult. Unskilled workers cannot successfully complete the assembly of nitrogen springs. At the same time, nitrogen springs have high requirements for assembly accuracy, and there is a certain deviation in the assembly accuracy of the robot itself. There is also an error between the installation distance of the robot and the adjusted length. If the nitrogen spring is forcibly installed, it is prone to adverse conditions such as air leakage, oil leakage, and abnormal noise, which will have a bad impact on the accuracy and life of the industrial robot.

[0004] As can be seen from the above, the existing technology has the problem of low assembly efficiency and precision of nitrogen springs. Summary of the Invention

[0005] The main purpose of the present invention is to provide a method for assembling a nitrogen gas spring to solve the problem of low assembly efficiency and precision of nitrogen gas springs in the prior art.

[0006] To achieve the above-mentioned object, the present invention provides an assembly method of a nitrogen spring, which is assembled between two joints of an industrial robot. The assembly method comprises: a pretreatment step of pre-depressurizing the nitrogen spring to an airless state; an assembly step of first connecting a first end of the nitrogen spring to a first joint located at an upper portion of the two joints, then stretching a second end of the nitrogen spring and connecting the second end of the nitrogen spring to a second joint located at a lower portion; and an inflation step of inflating the nitrogen spring using an inflation device to complete the assembly of the nitrogen spring.

[0007] Furthermore, between the assembling step and the inflation step, the assembling method further includes: an alignment step: checking that the fixing positions of the first end and the second end of the nitrogen spring are maintained in the same vertical plane.

[0008] Furthermore, between the alignment step and the inflation step, the assembly method also includes: a first debugging step: manually pushing the nitrogen spring to reciprocate a preset number of times, and then running the industrial robot to make the first joint reciprocate relative to the second joint for a preset time at a first preset speed lower than the normal operating speed.

[0009] Furthermore, the first end of the nitrogen spring includes a first fixed shaft, a first positioning sleeve, a second fixed shaft and a second positioning sleeve. In the assembly step, connecting the first end of the nitrogen spring to the first joint located at the upper part of the two joints includes: respectively inserting the first positioning sleeve and the second positioning sleeve into the two sides of the first bearing hole at the first end of the nitrogen spring, and then passing the first fixed shaft and the second fixed shaft through the two first mounting holes of the first joint from both sides and respectively connecting and assembling them with the first positioning sleeve and the second positioning sleeve; connecting and fixing the first fixed shaft and / or the second fixed shaft to the first joint.

[0010] Furthermore, the second end of the nitrogen spring includes a third fixed shaft and a fourth fixed shaft. In the assembly step, connecting the second end of the nitrogen spring to the second joint located at the lower part includes: passing the third fixed shaft and / or the fourth fixed shaft through the two second mounting holes of the second joint from both sides and respectively connecting and assembling them with the second bearing holes at the second end of the nitrogen spring; and connecting and fixing the third fixed shaft and / or the fourth fixed shaft to the second joint.

[0011] Furthermore, after the inflation step, the assembly method further includes: a second debugging step: operating the industrial robot so that the first joint reciprocates relative to the second joint at a second preset speed lower than the normal operating speed for a preset time.

[0012] Furthermore, the pretreatment step further includes: injecting and / or applying lubricating oil into the first bearing hole at the first end of the nitrogen spring, the second bearing hole at the second end, the first mounting hole of the first joint, and the second mounting hole of the second joint.

[0013] Furthermore, the assembly step also includes: before connecting the first end of the nitrogen spring to the first joint, moving the first joint from an initial position to a first extreme position away from the second joint, and hoisting the nitrogen spring to the first joint using a crane.

[0014] Furthermore, the assembly step also includes: before stretching the second end of the nitrogen spring, loosening the locking nut at the second end of the nitrogen spring, moving the first joint from the first extreme position to the initial position, and lowering the crane to move the second end of the nitrogen spring downward.

[0015] Furthermore, the fixed shaft of the nitrogen spring is connected to the first joint and the second joint by bolts.

[0016] Applying the technical solution of the present invention, the assembly method of the nitrogen spring includes: a pretreatment step: pre-depressurizing the nitrogen spring to an airless state; an assembly step: first connecting the first end of the nitrogen spring to the first joint located at the upper part of the two joints, then stretching the second end of the nitrogen spring and connecting the second end of the nitrogen spring to the second joint located at the lower part; an inflation step: using an inflation device to inflate the nitrogen spring to complete the assembly of the nitrogen spring. By changing the nitrogen spring assembly to an airless installation and then inflating it after assembly, the length of the nitrogen spring and the robot posture can be freely adjusted during the assembly process, thereby improving assembly efficiency and assembly accuracy. In addition, it can avoid the operating space limitations of the robot body joint, is suitable for nitrogen spring assembly in different situations, reduces the difficulty of nitrogen spring assembly, and solves the problem of low assembly efficiency and accuracy of nitrogen springs in the prior art. Further, by adopting the airless installation assembly method, the piston rod position can be manually adjusted for assembly, ensuring that the piston rod does not collide with the bottom of the nitrogen spring cylinder after assembly, avoiding problems such as abnormal noise, and ensuring the normal use of the nitrogen spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0018] Figure 1 A flow chart showing a method for assembling a nitrogen spring in a specific embodiment of the present invention is shown;

[0019] Figure 2 A schematic structural diagram of an industrial robot according to a specific embodiment of the present invention is shown;

[0020] Figure 3 A schematic structural diagram of an industrial robot in a specific embodiment of the present invention is shown from another angle;

[0021] Figure 4 A schematic structural diagram of a nitrogen spring at one angle in a specific embodiment of the present invention is shown;

[0022] Figure 5 A schematic structural diagram showing another angle of a nitrogen spring in a specific embodiment of the present invention is shown;

[0023] Figure 6 A schematic diagram showing the motion range of a nitrogen spring in a specific embodiment of the present invention.

[0024] The above drawings include the following reference numerals:

[0025] 10. First fixed axis; 20. Second fixed axis; 30. First positioning sleeve; 40. Second positioning sleeve; 50. Third fixed axis; 60. Fourth fixed axis; 70. Nitrogen spring; 80. First joint; 90. Second joint; 101. Initial position; 102. First limit position; 103. Second limit position. DETAILED DESCRIPTION

[0026] The following will be combined with the accompanying 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, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0027] In order to solve the problem of low assembly efficiency and precision of nitrogen springs in the prior art, the present invention provides an assembly method of a nitrogen spring.

[0028] like Figures 2 to 3 As shown, the nitrogen spring 70 in this embodiment is assembled between two joints of the industrial robot.

[0029] like Figure 1 As shown, the assembly method of the nitrogen spring includes: a pretreatment step: pre-depressurizing the nitrogen spring 70 to an airless state; an assembly step: first connecting the first end of the nitrogen spring 70 to the first joint 80 located at the upper part of the two joints, then stretching the second end of the nitrogen spring 70 and connecting the second end of the nitrogen spring 70 to the second joint 90 located at the lower part; an inflation step: inflating the nitrogen spring 70 using an inflation device to complete the assembly of the nitrogen spring 70.

[0030] By switching from an airless installation to a post-assembly inflation method, the length of the nitrogen spring 70 and the robot's posture can be freely adjusted during assembly, thereby improving assembly efficiency and precision. Furthermore, this method avoids the space constraints of the robot's joints, making it suitable for nitrogen spring assembly in various situations and reducing the difficulty of nitrogen spring assembly. Furthermore, with the airless installation method, the piston rod position can be manually adjusted during assembly, ensuring that the piston rod does not collide with the cylinder bottom of the nitrogen spring 70 after assembly, avoiding problems such as abnormal noise and ensuring the proper function of the nitrogen spring.

[0031] Specifically, the industrial robot in this embodiment is a six-axis industrial robot, comprising six joints, J1, J2, J3, J4, J5, and J6. The first joint 80 in this embodiment is the J3 joint, and the second joint 90 is the J2 joint. In other words, the nitrogen spring 70 in this embodiment is mounted between the J2 and J3 joints. Of course, the nitrogen spring 70 can also be mounted on other joints, depending on actual needs.

[0032] In this embodiment, the preprocessing step also includes: checking the model and packaging of the nitrogen spring 70 to ensure that the parts are intact, clean, without scratches or damage; and equipping the fixed shaft of the nitrogen spring 70 with the nitrogen spring 70 and the joint mounting hole respectively, requiring that the specified shaft can be easily manually installed into the bearing hole and the joint mounting hole of the nitrogen spring 70.

[0033] Furthermore, in this embodiment, the pretreatment step further includes injecting and / or applying lubricating oil to the first bearing hole at the first end of the nitrogen spring 70, the second bearing hole at the second end, the first mounting hole of the first joint 80, and the second mounting hole of the second joint 90. These steps ensure lubrication between the fixed axis of the nitrogen spring 70, the joint mounting holes, and the bearings in the bearing holes.

[0034] In this embodiment, between the assembly and inflation steps, the assembly method further includes an alignment step, which checks that the first and second ends of the nitrogen gas spring 70 are positioned in the same vertical plane. This step can prevent problems such as poor operation or abnormal noise caused by vertical deviation.

[0035] In this embodiment, between the alignment and inflation steps, the assembly method further includes a first commissioning step: manually pushing the nitrogen spring 70 back and forth a preset number of times, then operating the industrial robot to cause the first joint 80 to reciprocate relative to the second joint 90 for a preset time at a first preset speed, which is lower than the normal operating speed. These steps prevent the nitrogen spring 70 from becoming blocked, ensuring its normal operation.

[0036] In this embodiment, the assembly steps further include: before connecting the first end of the nitrogen spring 70 to the first joint 80, moving the first joint 80 from the initial position 101 to a first extreme position 102 away from the second joint 90, and hoisting the nitrogen spring 70 to the first joint 80 using a crane.

[0037] Specifically, such as Figure 6As shown, the nitrogen spring 70 in this embodiment has an initial position 101, a first limit position 102, and a second limit position 103. It can be understood that since the first joint 80 is connected to the second joint 90 through the nitrogen spring 70, the limit position of the nitrogen spring 70 is also the limit position of the first joint 80. Among them, the first limit position 102 is the positive movement limit position, at which time the first joint 80 is farthest from the second joint 90 or the angle between the two is the largest; the second limit position 103 is the negative movement limit position, at which time the first joint 80 is closest to the second joint 90 or the angle between the two is the smallest. By moving the first joint 80 to the first limit position 102 away from the second joint 90 before connecting the first end of the nitrogen spring 70 to the first joint 80, it is convenient to hoist the nitrogen spring 70 to the preset installation position during driving, so that the first end of the nitrogen spring 70 is aligned with the first mounting hole of the first joint 80.

[0038] like Figures 4 and 5 As shown, the first end of the nitrogen spring 70 includes a first fixed shaft 10, a first positioning sleeve 30, a second fixed shaft 20, and a second positioning sleeve 40. In the assembly step, connecting the first end of the nitrogen spring 70 to the first joint 80 located at the upper part of the two joints includes: inserting the first positioning sleeve 30 and the second positioning sleeve 40 into both sides of the first bearing hole at the first end of the nitrogen spring 70, and then passing the first fixed shaft 10 and the second fixed shaft 20 from both sides through the two first mounting holes of the first joint 80 and respectively connecting and assembling them with the first positioning sleeve 30 and the second positioning sleeve 40; and connecting and fixing the first fixed shaft 10 and / or the second fixed shaft 20 to the first joint 80.

[0039] In this embodiment, the first joint 80 has two first mounting ears spaced apart, and a first mounting hole is provided on the first mounting ears. When the nitrogen spring 70 is connected to the first joint 80, the two first mounting ears are assembled between the fixed shaft and the positioning sleeve through the first mounting hole.

[0040] Specifically, the first positioning sleeve 30 is inserted into the left side of the first bearing hole at the first end of the nitrogen spring 70, and the first fixed shaft 10 is passed through the first joint 80 and the nitrogen spring 70 in sequence from the first mounting hole on the left side of the first joint 80; the second positioning sleeve 40 is inserted into the right side of the first bearing hole, and the second positioning sleeve 40 is continued to pass through the nitrogen spring 70 and the first mounting hole on the right side of the first joint 80 in sequence; the second fixed shaft 20 is assembled into place, so that the second fixed shaft 20 is in contact with the first joint 80 and the screw holes are aligned, and the second fixed shaft 20 is connected and fixed to the first joint 80 using a hexagon socket bolt and a toothed washer, thereby locking it in place.

[0041] In this embodiment, the assembly step further includes: before extending the second end of the nitrogen spring 70, loosening the locking nut at the second end of the nitrogen spring 70, moving the first joint 80 from the first extreme position 102 to the initial position 101, and lowering the crane to move the second end of the nitrogen spring 70 downward.

[0042] like Figures 4 to 6 As shown, the second end of the nitrogen spring 70 includes a third fixed shaft 50 and a fourth fixed shaft 60. During the assembly step, connecting the second end of the nitrogen spring 70 to the second joint 90 located at the bottom includes: passing the third fixed shaft 50 and / or the fourth fixed shaft 60 through the two second mounting holes of the second joint 90 from both sides and respectively connecting and assembling them with the second bearing holes at the second end of the nitrogen spring 70; and connecting and fixing the third fixed shaft 50 and / or the fourth fixed shaft 60 to the second joint 90.

[0043] In this embodiment, the second joint 90 has two second mounting ears arranged at intervals, and a second mounting hole is opened on the second mounting ears. When the nitrogen spring 70 is connected to the second joint 90, the two second mounting ears are assembled between the fixed shaft and the second bearing hole through the second mounting holes.

[0044] In this embodiment, bearings are placed in the first bearing hole and the second bearing hole, and the fixed shaft extends into the bearing hole and is assembled with the bearings, so that both ends of the nitrogen spring 70 can rotate relative to the first joint 80 and the second joint 90.

[0045] Specifically, loosen the locking nut below the nitrogen spring 70, adjust the posture of the first joint 80 to the initial position, and at the same time slowly descend the vehicle. Manually extend the lower end of the nitrogen spring 70 and adjust it to align with the second bearing hole of the nitrogen spring 70 and the second mounting hole of the second joint 90; pass the third fixed shaft 50 through the bearing of the second joint 90 and the nitrogen spring 70 from the left, and then align the screw holes on the left side of the third fixed shaft 50 and the second joint 90, and lock the third fixed shaft 50 to the second joint 90 with a hexagon socket bolt and a toothed washer; after aligning the fourth fixed shaft 60 with the second bearing hole, install the fourth fixed shaft 60 from the second mounting hole on the right side of the second joint 90, align the fourth fixed shaft 60 with the screw holes on the right side of the second joint 90, and connect and fix the fourth fixed shaft 60 to the second joint 90 with a hexagon socket bolt and a toothed washer, thereby locking it in place. That is, in this embodiment, the fixed shaft of the nitrogen spring 70 is bolted to the first joint 80 and the second joint 90.

[0046] In this embodiment, the inflation device includes a pressure-stabilizing valve, an inflation head and a nitrogen cylinder. The inflation process in this embodiment is as follows: before inflating the nitrogen spring 70, first unscrew the lower end plug of the nitrogen spring 70 to expose the valve core, install the inflation head to the inflation port of the nitrogen spring 70, and tighten it with an adjustable wrench; connect the pressure-stabilizing valve connector to the nitrogen cylinder and tighten it with an adjustable wrench, then connect the pressure-stabilizing valve to the inflation head, tighten the black and blue switches on the inflation head, unscrew the valve on the nitrogen cylinder, observe the gauge numbers on the pressure-stabilizing valve, and continuously adjust the air pressure. After the air pressure stabilizes at the specified pressure value, inflate; unscrew the black switch on the inflation head and inflate slowly; observe the gauge pointer index on the inflation head, and tighten the black switch on the inflation head after inflating to the preset required value, and then close the valve of the nitrogen cylinder.

[0047] Furthermore, after the inflation is completed, release the blue switch on the inflation head, slowly discharge the residual gas therein, loosen the connection between the pressure regulating valve and the inflation head, open the black switch on the inflation head, and slowly discharge the residual gas in the air pipe connected to the pressure regulating valve; wait for the number on the gauge of the pressure regulating valve to return to zero, remove the pressure regulating valve from the nitrogen cylinder after the gas is released; remove the inflation head, and reinstall the plug on the nitrogen spring 70.

[0048] Furthermore, tighten the locking nut at the lower end of the nitrogen spring 70, check whether the locking nut at the upper end of the nitrogen spring 70 is tightened, and mark the upper and lower locking nuts after they are tightened.

[0049] In this embodiment, after the inflation step, the assembly method further includes a second debugging step: operating the industrial robot so that the first joint 80 reciprocates relative to the second joint 90 for a preset time at a second preset speed, which is lower than the normal operating speed. These steps can detect whether the nitrogen spring 70 is experiencing abnormal noise or blockage during operation and address the issue promptly, ensuring proper operation of the nitrogen spring 70.

[0050] Specifically, the first preset speed and the second preset speed may be the same or different. In this embodiment, the first preset speed and the second preset speed are both 20% of the normal operating speed.

[0051] From the above description, it can be seen that the above-mentioned embodiment of the present invention achieves the following technical effects: by changing the nitrogen spring assembly to an airless installation method and then inflating it after assembly, the length of the nitrogen spring 70 and the robot posture can be freely adjusted during the assembly process, thereby improving assembly efficiency and assembly accuracy. In addition, it can avoid the operating space limitations of the robot body joints, is suitable for nitrogen spring assembly in different situations, and reduces the difficulty of nitrogen spring assembly. Furthermore, using the airless installation method, the piston rod position can be manually adjusted for assembly, ensuring that the piston rod does not collide with the cylinder bottom of the nitrogen spring 70 after assembly, avoiding problems such as abnormal noise, and ensuring the normal use of the nitrogen spring.

[0052] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0053] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorized specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0054] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0055] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways, rotated 90 degrees or in other orientations, and the spatially relative descriptions used herein are interpreted accordingly.

[0056] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0057] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, tasks, devices, components and / or combinations thereof.

[0058] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0059] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A method for assembling a nitrogen spring, characterized in that: A nitrogen spring (70) is assembled between two joints of an industrial robot, and the assembly method comprises: Pretreatment step: pre-depressurizing the nitrogen spring (70) to a gas-free state; Assembly steps: firstly, connecting the first end of the nitrogen spring (70) to the first joint (80) located at the upper part of the two joints, then stretching the second end of the nitrogen spring (70) and connecting the second end of the nitrogen spring (70) to the second joint (90) located at the lower part; Inflation step: using an inflating device to inflate the nitrogen spring (70) to complete the assembly of the nitrogen spring (70).

2. The method for assembling a nitrogen spring according to claim 1, characterized in that: Between the assembling step and the inflating step, the assembling method further comprises: Alignment step: Check that the fixing positions of the first end and the second end of the nitrogen spring (70) are maintained in the same vertical plane.

3. The method for assembling a nitrogen spring according to claim 2, characterized in that: Between the aligning step and the inflating step, the assembly method further comprises: The first debugging step is: manually pushing the nitrogen spring (70) to reciprocate a preset number of times, and then operating the industrial robot so that the first joint (80) reciprocates relative to the second joint (90) for a preset time at a first preset speed lower than a normal operating speed.

4. The method for assembling a nitrogen spring according to claim 1, characterized in that: The first end of the nitrogen spring (70) comprises a first fixed shaft (10), a first positioning sleeve (30), a second fixed shaft (20) and a second positioning sleeve (40), and in the assembling step, connecting the first end of the nitrogen spring (70) to the first joint (80) located at the upper part of the two joints comprises: The first positioning sleeve (30) and the second positioning sleeve (40) are respectively inserted into the two sides of the first bearing hole at the first end of the nitrogen spring (70), and then the first fixed shaft (10) and the second fixed shaft (20) are respectively passed through the two first mounting holes of the first joint (80) from both sides and connected and assembled with the first positioning sleeve (30) and the second positioning sleeve (40) respectively; The first fixed shaft (10) and / or the second fixed shaft (20) are connected and fixed to the first joint (80).

5. The method for assembling a nitrogen spring according to claim 1, characterized in that: The second end of the nitrogen spring (70) includes a third fixed shaft (50) and a fourth fixed shaft (60), and in the assembling step, connecting the second end of the nitrogen spring (70) to the second joint (90) located at the lower part includes: The third fixed shaft (50) and / or the fourth fixed shaft (60) are respectively passed through the two second mounting holes of the second joint (90) from both sides and are respectively connected and assembled with the second bearing holes at the second end of the nitrogen spring (70); The third fixed shaft (50) and / or the fourth fixed shaft (60) are connected and fixed to the second joint (90).

6. The method for assembling a nitrogen spring according to claim 1, characterized in that: After the inflation step, the assembly method further comprises: A second debugging step is to operate the industrial robot so that the first joint (80) reciprocates relative to the second joint (90) for a preset time at a second preset speed lower than the normal operating speed.

7. The method for assembling a nitrogen spring according to claim 1, characterized in that: The pre-processing step also includes: Lubricating oil is injected and / or applied to the first bearing hole at the first end and the second bearing hole at the second end of the nitrogen spring (70), the first mounting hole of the first joint (80) and the second mounting hole of the second joint (90).

8. The method for assembling a nitrogen spring according to claim 1, characterized in that: The assembling step further comprises: Before connecting the first end of the nitrogen spring (70) to the first joint (80), the first joint (80) is first moved from an initial position (101) to a first extreme position (102) away from the second joint (90), and the nitrogen spring (70) is hoisted to the first joint (80) by a crane.

9. The method for assembling a nitrogen spring according to claim 8, characterized in that: The assembling step further comprises: Before stretching the second end of the nitrogen spring (70), the locking nut at the second end of the nitrogen spring (70) is loosened, and the first joint (80) is moved from the first extreme position (102) to the initial position (101), while the crane is lowered to move the second end of the nitrogen spring (70) downward.

10. The method for assembling a nitrogen spring according to claim 4 or 5, characterized in that: The fixed axis of the nitrogen spring (70) is connected to the first joint (80) and the second joint (90) by bolts.

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