Intelligent assembly line for electric cylinders

Abstract

The application discloses an intelligent assembling line for an electric cylinder and relates to the technical field of electric cylinder assembling, which comprises a feeding module and an assembling platform. A cylinder barrel supporting module for placing a cylinder barrel, an electric push rod assembling module for placing an electric push rod and a middle axis parameter detecting module are arranged on the assembling platform. The relative distance between the cylinder barrel supporting module and the electric push rod assembling module can be adjusted. The middle axis parameter detecting module is used for detecting the three-dimensional space parameters of the middle axes of the cylinder barrel and the electric push rod. The cylinder barrel supporting module can drive the cylinder barrel to adjust the position in the three-dimensional space. The electric push rod assembling module drives the electric push rod to adjust the position and rotate in the three-dimensional space, assembles the electric push rod into the cylinder barrel on the cylinder barrel supporting module, and automatically assembles the electric push rod into the cylinder barrel on the cylinder barrel supporting module in cooperation with the three modules, so that the intelligent assembling of the electric cylinder is realized.

Description

Technical Field

[0001] This invention relates to the field of electric cylinder assembly technology, specifically to an intelligent assembly line for electric cylinders. Background Technology

[0002] In the assembly process of electric cylinders, the assembly of the cylinder push rod and the cylinder barrel is a crucial step, and its precision and efficiency directly affect the overall performance and production cost of the electric cylinder. Traditional assembly methods often rely on manual operation, using manual alignment, rotation, and tightening to assemble the cylinder push rod and cylinder barrel. However, this method has many shortcomings.

[0003] First, the precision of manual assembly is limited by the operator's skills and experience, making it difficult to guarantee that every assembly will achieve the desired accuracy. This can lead to problems such as unstable performance and shortened lifespan of the electric cylinder during use. Second, manual assembly is inefficient, especially in large-volume, large-size production, where the speed and accuracy of manual operation often cannot meet production demands. This not only increases production costs but also limits the production capacity of electric cylinders. Furthermore, traditional assembly methods pose safety hazards. During assembly, operators frequently handle the electric cylinder components; improper operation or equipment malfunction can easily lead to accidents. Additionally, some existing simple assembly equipment can only perform basic component positioning and pushing, failing to accurately detect the three-dimensional spatial parameters of the cylinder barrel and the electric push rod's central axis. During assembly, it is difficult to ensure precise alignment between the electric push rod and the cylinder barrel's central axis, which can easily cause jamming, accelerated wear, and even affect the electric cylinder's lifespan and performance.

[0004] With the continuous improvement of industrial automation, the market demand for electric cylinders is increasing, and higher requirements are being placed on their assembly precision and efficiency. Traditional assembly methods are no longer sufficient to meet the needs of large-scale, high-quality production, and there is an urgent need for an electric cylinder assembly line that can achieve intelligent assembly and improve assembly precision and efficiency to drive the industry's development. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of alignment difficulties, unstable rotation, and low assembly efficiency in the assembly process of shaft components in the prior art. By providing an intelligent assembly line for electric cylinders, it can realize precise position adjustment of electric cylinder components and their assembly process in three-dimensional space, thereby improving the assembly efficiency and accuracy of precision equipment such as electric cylinders.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an intelligent assembly line for electric cylinders, comprising a feeding module and an assembly platform. The assembly platform is provided with a cylinder support module for placing the cylinder barrel, an electric push rod assembly module for placing the electric push rod, and a centerline parameter detection module. The relative distance between the cylinder support module and the electric push rod assembly module is adjustable. The centerline parameter detection module is used to detect the three-dimensional spatial parameters of the centerline of the cylinder barrel and the electric push rod. The cylinder support module can drive the cylinder barrel to adjust its position in three-dimensional space. The electric push rod assembly module drives the electric push rod to adjust its position and rotate in three-dimensional space, assembling the electric push rod into the cylinder barrel on the cylinder support module.

[0007] To further optimize this invention, the following technical solutions may be preferred:

[0008] Preferably, the feeding mechanism includes a frame, on which a support swing arm is rotatably mounted. A telescopic inner support arm is coaxially mounted inside the support swing arm. One end of the inner support arm extends out of the support swing arm and is provided with a support portion. Multiple support swing arms are arranged side by side, and the support portions of the multiple inner support arms form a support surface for supporting electric cylinder components. A telescopic drive mechanism is provided on the support swing arm for driving the inner support arm to extend and retract along the length direction of the support swing arm. A rotary drive mechanism is also provided on the frame for adjusting the tilt angle of the support swing arm.

[0009] Preferably, the cylinder support module includes a cylinder support mechanism, on which a cylinder support frame is movably mounted. The cylinder support frame is provided with a cylinder clamping station for clamping the cylinder. The cylinder support frame is provided with a moving actuator for adjusting the cylinder clamping station along the X, Z, and Y directions. The moving actuator drives the cylinder to adjust its position in three-dimensional space.

[0010] Preferably, the electric push rod assembly module includes an electric push rod rotation support mechanism, on which an electric push rod support frame is provided. The electric push rod support frame is provided with an electric push rod clamping station for clamping the electric push rod. The electric push rod support frame is provided with a second moving actuator for adjusting the electric push rod clamping station along the X, Z, and Y directions. The electric push rod rotation support mechanism is also provided with a rotating actuator for rotating the electric push rod on the rotating clamping station. The second moving actuator and the rotating actuator drive the electric push rod to adjust its position and rotate in three-dimensional space, so as to realize the assembly of the electric push rod into the cylinder of the cylinder support module.

[0011] Preferably, the centerline parameter detection module includes multiple detection modules, which are distributed at one end of the cylinder support module, one end of the electric push rod assembly module, and between the cylinder support module and the electric push rod assembly module.

[0012] Preferably, the detection module includes a mobile execution three-axis module movably mounted on the frame, and an end-effector detection mechanism is provided on the mobile execution three-axis module. The mobile execution three-axis module drives the end-effector detection mechanism to move in three-dimensional space to perform multi-point detection of three-dimensional spatial position.

[0013] Preferably, both the first and second mobile actuators include an X-axis mobile actuator component, a Y-axis mobile actuator component, and a Z-axis mobile actuator component; the X-axis mobile actuator component includes an X-axis guide rail module mounted on the frame along the X-axis direction, and the cylinder support mechanism and the electric push rod rotation support mechanism share a set of X-axis guide rail modules; multiple cylinder support frames and electric push rod support frames are arranged opposite each other, and the bottom of the cylinder support frame and the electric push rod support frame are respectively provided with X-axis slider one and X-axis slider two that cooperate with the X-axis guide rail module; the cylinder support frame and the electric push rod support frame are respectively provided with X-axis drive mechanism one and X-axis slider two for driving the cylinder support frame and the electric push rod support frame to move along the X-axis guide rail module.

[0014] Preferably, the X-axis drive mechanism is a dual servo drive motor driven dual gear rack mechanism. The X-axis drive mechanism includes a transmission rack disposed on both sides of the cylinder support frame and the electric push rod support frame on the frame. The transmission rack is arranged along the X-axis direction. Servo drive motor one and servo drive motor two are respectively disposed on the cylinder support frame and the electric push rod support frame at the positions corresponding to the transmission rack. The drive ends of servo drive motor one and servo drive motor two are connected to drive gear one and drive gear two that cooperate with the transmission rack. The X-axis guide rail module includes X-axis guide rail one and X-axis guide rail two disposed on both sides of the cylinder support frame and the electric push rod support frame on the frame. Two sets of X-axis slider one and X-axis slider two are matched and disposed.

[0015] Preferably, the Y-axis movement actuator includes a cylinder slide seat and an electric push rod slide seat movably mounted on a cylinder support frame and an electric push rod support frame. The cylinder slide seat and the electric push rod slide seat slide in the Y-axis direction. Y-axis guide rail one and Y-axis guide rail two are respectively arranged at the bottom of the cylinder slide seat and the electric push rod slide seat along the Y-axis direction. Slider one and slider two, which cooperate with Y-axis guide rail one and Y-axis guide rail two, are respectively provided on the cylinder support frame and the electric push rod support frame. The device is equipped with two Y-axis electric cylinders, Y-axis one and Y-axis two, which are used to drive the cylinder slide seat and the electric push rod slide seat to slide along the Y-axis direction. The Z-axis movement actuator includes two Z-axis electric cylinders, Z-axis one and Z-axis two, which are respectively disposed downward on the cylinder slide seat and the electric push rod slide seat. The drive end of the Z-axis electric cylinder one is connected to the cylinder clamping station, and the Z-axis electric cylinder one drives the cylinder clamping station to adjust in the Z-axis direction. The drive end of the Z-axis electric cylinder two is connected to the rotation clamping station, and the Z-axis electric cylinder two drives the rotation clamping station to adjust in the Z-axis direction.

[0016] The beneficial effects of this invention are as follows:

[0017] (1) Significantly Improved Assembly Accuracy: Multiple detection modules of the centerline parameter detection module are distributed at one end of the cylinder support module, one end of the electric push rod assembly module, and between the two. Each detection module moves the end detection mechanism in three-dimensional space through the moving execution three-axis module to achieve multi-point detection, which can accurately detect the three-dimensional spatial parameters of the centerline of the cylinder and the electric push rod. Based on these precise parameters, the cylinder support module and the electric push rod assembly module can respectively drive the cylinder and the electric push rod to perform precise position adjustment and rotation of the electric push rod in three-dimensional space, ensuring that the centerline of the electric push rod and the cylinder are precisely aligned, which greatly improves the assembly accuracy, effectively reduces the jamming phenomenon during the operation of the electric cylinder, reduces wear, extends the service life of the electric cylinder, and improves the working performance.

[0018] (2) Significantly improves assembly efficiency: The support arm of the feeding mechanism is coaxially equipped with a telescopic inner support arm, and the support parts of multiple inner support arms form a support surface for supporting electric cylinder components. The telescopic drive mechanism drives the inner support arm to extend and retract, and the rotation drive mechanism adjusts the tilt angle of the support arm, which can quickly and efficiently complete the feeding process of electric cylinder components, saving feeding time. The first moving execution mechanism of the cylinder support module and the second moving execution mechanism of the electric push rod assembly module both include X-axis, Y-axis, and Z-axis moving execution components. The X-axis moving execution component adopts a dual servo drive motor to drive a dual gear rack mechanism. With the X-axis guide rail module, it can realize the rapid and precise movement of the cylinder support frame and the electric push rod rotation support mechanism. The Y-axis and Z-axis moving execution components are driven by the Y-axis electric cylinder and the Z-axis electric cylinder, respectively, which can quickly drive the cylinder clamping station and the electric push rod clamping station to adjust their positions in the corresponding directions. The rotating actuator on the electric push rod rotating support mechanism can quickly drive the electric push rod to rotate. These efficient drive and actuator mechanisms work together to greatly shorten the time for assembling the electric push rod into the cylinder and significantly improve the overall assembly efficiency.

[0019] (3) Enhanced equipment adaptability and flexibility: The relative distance between the cylinder support module and the electric push rod assembly module can be adjusted to accommodate the assembly requirements of electric cylinders of different specifications. Furthermore, multiple cylinder support frames and electric push rod support frames are provided, allowing simultaneous operation of multiple cylinders and electric push rods. This satisfies the needs of mass production while flexibly adjusting assembly tasks, improving equipment efficiency and adaptability. In the X-axis moving execution components of moving actuator one and moving actuator two, the cylinder support mechanism and the electric push rod rotating support mechanism share a single X-axis guide rail module, making reasonable use of equipment space, reducing equipment costs, and facilitating equipment maintenance and management. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the electric cylinder push rod and cylinder barrel assembly equipment in Example 1;

[0021] Figure 2 This is a three-dimensional structural diagram of the cylinder support mechanism in Example 1;

[0022] Figure 3 This is a front view of the cylinder support mechanism in Example 1;

[0023] Figure 4 This is a top view of the cylinder support mechanism in Example 1;

[0024] Figure 5 Three-dimensional for cylinder clamping station Figure 1 ;

[0025] Figure 6 Three-dimensional for cylinder clamping station Figure 2;

[0026] Figure 7 This is the front view of the cylinder clamping station;

[0027] Figure 8 This is a three-dimensional structural diagram of the electric actuator rotation support mechanism in Example 1. Figure 1 ;

[0028] Figure 9 This is a three-dimensional structural diagram of the electric actuator rotation support mechanism in Example 1. Figure 2 ;

[0029] Figure 10 Three-dimensional for electric actuator clamping station Figure 1 ;

[0030] Figure 11 Three-dimensional for electric actuator clamping station Figure 2 ;

[0031] Figure 12 This is the front view of the electric actuator clamping station;

[0032] Figure 13 This is a sectional view of the electric actuator clamping station.

[0033] Figure 14 This is a three-dimensional structural diagram of the feeding device in this embodiment;

[0034] Figure 15 This is a schematic diagram of the internal structure of the feeding device in this embodiment;

[0035] Figure 16 This is a schematic diagram of the centerline parameter detection module in this embodiment;

[0036] Figure 17 This is a three-dimensional structural diagram of the centerline parameter detection module.

[0037] In the diagram: 1. Assembly platform; 2. Cylinder support mechanism; 3. Electric push rod rotation support mechanism; 4. X-axis movement actuator; 5. Y-axis movement actuator; 6. Z-axis movement actuator; 7. Cylinder support frame; 8. X-axis guide rail one; 9. X-axis guide rail two; 10. X-axis slider one; 11. Transmission rack; 12. Electric push rod support frame; 13. Cylinder clamping station; 14. Electric push rod clamping station; 15. X-axis slider two; 16. X-axis guide rail two; 17. Rotation actuator; 18. Clamping frame one; 19. Clamping frame two; 29. ​​Arc-shaped limiting groove one; 30. Arc-shaped limiting groove two; 31. Rotation shaft one; 32. Rotation shaft two; 33. Y-axis limiting shaft; 34. Z-axis limiting shaft.

[0038] 212. Servo drive motor; 213. Drive gear; 214. Cylinder slide block; 215. Y-axis guide rail; 216. Y-axis slider; 217. Y-axis electric cylinder; 218. Z-axis electric cylinder; 219. Lower support plate; 220. Upper clamping plate; 221. Clamping distance adjustment mechanism; 222. Outer frame; 223. Inner frame; 224. Guide rod; 225. Guide sleeve; 226. Clamping motor; 227. Drive screw; 228. Threaded sleeve;

[0039] 312. Servo drive motor II; 313. Drive gear II; 314. Electric push rod sliding seat; 315. Y-axis guide rail II; 316. Y-axis slider II; 317. Y-axis electric cylinder II; 318. Z-axis electric cylinder II; 319. Lower support wheel assembly; 320. Upper clamping wheel assembly; 321. Clamping distance adjustment mechanism II; 322. Outer frame II; 323. Inner frame II; 324. Guide rod II; 325. Guide sleeve II; 326. Clamping motor II; 327. Drive screw II; 328. Threaded sliding sleeve II; 329. Rotary motor; 330. Support wheel.

[0040] 402-Detection head, 403-Moving base, 404-X-axis drive mechanism, 405-Y-axis drive mechanism, 406-Z-axis drive mechanism, 407-Laser displacement sensor, 408-Contact sensor, 409-Mounting base, 410-Mounting adjustment hole;

[0041] 501-Frame, 502-Support swing arm, 503-Inner support arm, 504-Support pad, 505-Rotating shaft, 506-Telescopic guide rail, 507-Telescopic slider, 508-Reinforcing rib, 509-Limiting frame, 510-Linear reciprocating drive mechanism, 511-First pulley, 512-Second pulley. Detailed Implementation

[0042] Preferred embodiments of the present invention will now be described with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are merely illustrative of the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0043] Example 1: An intelligent assembly line for electric cylinders includes a feeding module and an assembly platform 1. The assembly platform is equipped with a cylinder support module for placing the cylinder barrel, an electric push rod assembly module for placing the electric push rod, and a centerline parameter detection module. The relative distance between the cylinder support module and the electric push rod assembly module is adjustable. The centerline parameter detection module is used to detect the three-dimensional spatial parameters of the centerline of the cylinder barrel and the electric push rod. The cylinder support module can drive the cylinder barrel to adjust its position in three-dimensional space. The electric push rod assembly module drives the electric push rod to adjust its position and rotate in three-dimensional space, assembling the electric push rod into the cylinder barrel on the cylinder support module.

[0044] The feeding module is used for automatic feeding of electric push rods and cylinders. The feeding module is designed in multiple sets to match the electric push rod assembly module and cylinder support module in the assembly platform.

[0045] The feeding module includes a feeding rack 501, on which a support swing arm 502 is rotatably mounted. A telescopic inner support arm 503 is coaxially mounted within the support swing arm 502. One end of the inner support arm 503 extends into the support swing arm and is fitted with a support portion. Multiple support swing arms are mounted side-by-side, and the support portions of the multiple inner support arms form a support surface for the electric cylinder components. A telescopic drive mechanism is mounted on the support swing arm to drive the inner support arm to extend and retract along its length. A rotary drive mechanism is also mounted on the feeding rack to adjust the tilt angle of the support swing arm. From the overall structural layout, the coordinated design of the support swing arm and the inner support arm, combined with the telescopic and rotary drive mechanisms, greatly improves feeding efficiency. Traditional feeding methods often require significant manpower and time for position adjustment when handling heavy, large-sized electric cylinder components. This device, through precise mechanized control, can quickly transport components to the target position, significantly shortening the feeding cycle and effectively ensuring the efficient operation of the production line.

[0046] In a preferred embodiment, the support unit includes a support pad 504 mounted on the free end of the inner support arm. The support pad 504 is detachably mounted on the inner support arm 503, and the support surface of the support pad 504 is V-shaped. This design provides high versatility. In the production of electric cylinders, parts come in various shapes, and the V-shaped support surface can adapt to parts with various cross-sectional shapes such as round and square, providing stable support. Moreover, the detachable design allows for flexible replacement of the support pad according to the needs of different production batches of parts, reducing equipment downtime and lowering production costs.

[0047] As a preferred embodiment, the telescopic drive mechanism includes a telescopic guide rail 506 mounted on the inner support arm, the telescopic guide rail 506 being arranged along the length of the inner support arm, a telescopic slider 507 cooperating with the telescopic guide rail being mounted on the inner side wall of the support arm, and a linear reciprocating drive mechanism 510 for driving the inner support arm to extend and retract along the telescopic guide rail being mounted at the tail end of the support arm, the drive end of the linear reciprocating drive mechanism being connected to the inner support arm; in the telescopic drive mechanism, the cooperation between the telescopic guide rail and the telescopic slider, combined with the linear reciprocating drive mechanism 510, ensures the smoothness and accuracy of the telescopic movement of the inner support arm. Smooth movement is crucial when handling heavy components, effectively preventing damage to components due to shaking.

[0048] As a preferred embodiment, two sets of telescopic guide rails are installed side by side, and a reinforcing rib 508 is installed on the inner support arm at the position between the two sets of telescopic guide rails. The setting of the two sets of telescopic guide rails and the reinforcing rib significantly enhances the structural strength of the inner support arm, enabling it to easily support heavy electric cylinder components and broadening the applicability of the device.

[0049] In a preferred embodiment, the middle part of the support swing arm is rotatably mounted on the loading rack via a pivot 505. The rotary drive mechanism includes a winch and a pulley block. The winch's traction rope is connected to one end of the inner side of the support swing arm via the pulley block. The pulley block includes a first pulley mounted on the loading rack and a second pulley mounted on the support swing arm. The traction rope passes through the first pulley 511 and the second pulley 512 in sequence. The rotary drive mechanism, using a combination of a winch and a pulley block, provides a convenient and precise control method for adjusting the tilt angle of the support swing arm. Operators can precisely adjust the tilt of the support swing arm according to the height and position requirements of the assembly station, accurately delivering parts to the designated position, improving the accuracy of loading, reducing secondary adjustments due to positional deviations, and further improving production efficiency.

[0050] As a preferred embodiment, a limiting frame 509 is also installed on one side of the back of the supporting swing arm of the loading rack. The limiting frame 509 and the supporting swing arm 502 form a receiving groove. Throughout the loading process, the receiving groove always plays a limiting role for the parts, effectively preventing the parts from accidentally slipping during handling, reducing the risk of safety accidents, and providing reliable safety protection for operators and equipment.

[0051] Regarding the cylinder support module: The cylinder support module includes a cylinder support mechanism 2, on which multiple cylinder support frames 7 are movably mounted. Each cylinder support frame has a cylinder clamping station for clamping the cylinder. Each cylinder support frame also has a moving actuator for adjusting the cylinder clamping station along the X, Z, and Y directions. The moving actuator adjusts the position of the cylinder in three-dimensional space. The cylinder clamping station includes a lower support plate 219 and an upper clamping plate 220 mounted on the cylinder support frame. The lower support plate has a V-shaped support surface. The upper clamping plate is mounted on the cylinder support frame directly above the lower support plate. A clamping distance adjustment mechanism 221 is mounted on the cylinder support frame to change the distance between the lower support plate and the upper clamping plate. A clamping pressure sensor is installed on the clamping surface of the upper clamping plate. The clamping distance adjustment mechanism includes a clamping frame installed on the cylinder support frame. The lower support plate and the upper clamping plate are movably installed in the clamping frame. A guide rod 224 is installed in the clamping frame along the lifting direction of the upper clamping plate. A guide sleeve 225 that cooperates with the guide rod is installed on both the lower support plate and the upper clamping plate. A clamping drive mechanism is installed on the clamping frame for driving the lower support plate and the upper clamping plate to reciprocate along the guide rod. The clamping drive mechanism includes a clamping motor 226 installed on the clamping frame. The clamping motor is connected to a drive screw 227 via a belt drive. A threaded sleeve 228 that is threadedly engaged with the drive screw is installed on the lower support plate and the upper clamping plate.

[0052] The design advantages of the above structure are as follows: (1) Stable and reliable clamping effect: The lower support plate adopts a V-shaped support surface design, which can better adapt to the shape of the electric cylinder long shaft and provide stable support. At the same time, the upper clamping plate cooperates with the lower support plate, and the clamping distance adjustment mechanism precisely controls the distance between the two to achieve effective clamping of the electric cylinder long shaft. This design ensures the stability and reliability of the clamping process and avoids assembly errors or damage caused by unstable clamping. (2) High-precision clamping distance adjustment: The clamping distance adjustment mechanism achieves high-precision adjustment of the distance between the lower support plate and the upper clamping plate through the synergistic action of the clamping frame, guide rod, guide sleeve and clamping drive mechanism. This adjustment capability allows the device to flexibly adapt to electric cylinder long shafts of different sizes and shapes, improving the versatility and accuracy of assembly. (3) Intelligent clamping control: The clamping pressure sensor installed on the upper clamping plate can monitor the pressure change during the clamping process in real time and provide feedback signals to the clamping drive mechanism. Through intelligent control algorithm, precise control of clamping force can be achieved to avoid assembly problems caused by excessive tightness or looseness. This intelligent control improves the automation and precision of assembly. (4) Compact structure and easy maintenance: The clamping support station and its clamping spacing adjustment mechanism adopt a modular design, which is compact and easy to disassemble and install. This design not only saves space resources, but also facilitates subsequent maintenance and upgrades. When a component needs to be replaced or repaired, it can be operated separately without affecting the normal operation of the entire device. (5) Improved assembly efficiency and safety: Through automated clamping and spacing adjustment functions, the need for manual intervention is reduced, and assembly efficiency is improved. At the same time, the stable clamping effect and precise control capability also reduce the safety risks in the assembly process and ensure the safety of operators.

[0053] The electric actuator assembly module includes an electric actuator rotation support mechanism 3, on which an electric actuator support frame 12 is mounted. An electric actuator clamping station 14 for clamping the electric actuator is mounted on the electric actuator support frame 12. A second moving actuator for adjusting the electric actuator clamping station along the X, Z, and Y directions is mounted on the electric actuator rotation support mechanism. A third rotating actuator 17 for rotating the electric actuator at the clamping station is also mounted on the electric actuator rotation support mechanism. The second moving actuator and the rotating actuator 17 drive the electric actuator... The electric push rod adjusts its position and rotates in three-dimensional space to assemble itself into the cylinder on the cylinder support module. The electric push rod clamping station 14 includes a lower support wheel assembly 319 and an upper clamping wheel assembly 320 mounted on an electric push rod support frame. The lower support wheel assembly includes two side-by-side support wheels 330 forming a V-shaped support surface. The upper clamping wheel assembly is mounted on the electric push rod support frame directly above the lower support wheel assembly. The electric push rod support frame is equipped with a clamping distance adjustment mechanism to change the distance between the lower support wheel assembly and the upper clamping wheel assembly. The second mechanism 321 includes a rotary actuator 17, which comprises a rotary motor 329 mounted on an assembly platform. The drive end of the rotary motor is coaxially connected to the support wheels of one of the lower support wheel sets. A torque sensor is mounted on the rotating shaft of the rotary motor. The upper clamping wheel set includes two upper clamping wheels that are rotatably mounted side-by-side on a support frame. A clamping pressure sensor is mounted on the clamping surface of the upper clamping wheel set. The second clamping gap adjustment mechanism includes a second clamping frame 19 mounted on an electric push rod support frame. Both the lower support wheel set and the upper clamping wheel set are movably mounted within the second clamping frame 19. Inside the clamping frame 2 19, a guide rod 2 324 is installed along the lifting direction of the upper clamping wheel assembly. Guide sleeves 2 325 that cooperate with the guide rod 2 are installed on both the lower support wheel assembly and the upper clamping wheel assembly. A clamping drive mechanism 2 is installed on the clamping frame 2 to drive the lower support wheel assembly and the upper clamping wheel assembly to reciprocate up and down along the guide rod 2. The clamping drive mechanism 2 includes a clamping motor 2 326 installed on the clamping frame 2. The clamping motor 2 is connected to a drive screw 2 327 via belt drive. Threaded sliding sleeves 2 328 that are threadedly engaged with the drive screw 2 are installed on the lower support wheel assembly and the upper clamping wheel assembly.

[0054] The design advantages of the above structure are: (1) Stable and reliable clamping effect: Through the cooperation of the lower support wheel group and the upper clamping wheel group of the V-shaped support surface, stable clamping of cylindrical or similar shaped objects can be achieved. This design can not only effectively prevent the object from sliding or shifting during rotation, but also adapt to objects of different diameters, improving the versatility and flexibility of the equipment. (2) Precise clamping distance adjustment: The clamping distance adjustment mechanism allows users to precisely adjust the distance between the lower support wheel group and the upper clamping wheel group according to the size and shape of the object. This helps to ensure that the object is clamped evenly and tightly, thereby improving the accuracy and efficiency of processing or inspection. (3) Real-time monitoring and protection: The application of torque sensor and clamping pressure sensor enables users to monitor the magnitude of torque and clamping force generated during rotation in real time. This helps to detect abnormalities in time, such as overload, jamming, etc., thereby protecting the safety of the equipment and the processed object. (4) Compact structure and easy maintenance: The entire rotating clamping station adopts a modular design, with tight connections between the components and a compact structure. This not only reduces the footprint of the equipment, but also facilitates the user's daily maintenance and upkeep. Meanwhile, the clear coordination between the components also reduces the probability of malfunctions. (5) Improved production efficiency: Through automated control, users can easily perform operations such as clamping, rotating, and releasing objects. This not only reduces the labor intensity of workers but also improves production efficiency and product quality. In addition, the stable and reliable operation of the equipment also reduces production interruptions and losses caused by equipment failures. In summary, this rotating clamping station has the advantages of stable and reliable clamping effect, precise clamping distance adjustment, real-time monitoring and protection, compact structure and easy maintenance, and improved production efficiency. These features make this equipment widely applicable and in demand in fields such as machining and automated production lines.

[0055] The clamping frame 18 and the cylinder support frame, and the clamping frame 2 19 and the electric cylinder push rod support frame are connected by a rotating shaft 31 arranged in the Y-axis direction and a rotating shaft 32 arranged in the Z-axis direction, forming a cross shaft structure. The clamping frames 1 and 2 are also equipped with a Y-axis limiting shaft 33 and a Z-axis limiting shaft 34. The Y-axis limiting shaft is parallel to the rotating shaft 1, and the Z-axis limiting shaft is parallel to the rotating shaft 2. The cylinder support frame and the electric cylinder push rod support frame are equipped with matching arc-shaped limiting grooves 29 and 30 respectively, corresponding to the Y-axis limiting shaft and Z-axis limiting shaft positions. The specific clamping frame one includes an outer frame one 222 and an inner frame one 223. The inner frame one is rotatably installed inside the outer frame one. The first rotating shaft and the X-axis direction limiting shaft are both installed between the outer frame one 222 and the inner frame one 223. The second rotating shaft two 32 and the Y-axis direction limiting shaft 33 in the cylinder support mechanism are installed between the outer frame and the cylinder support frame. The clamping frame two includes an outer frame two 322 and an inner frame two 323. The second inner frame two is rotatably installed inside the outer frame two. The first rotating shaft one and the X-axis direction limiting shaft are both installed between the outer frame two and the inner frame two. The second rotating shaft two and the Y-axis direction limiting shaft in the electric push rod rotation support mechanism are installed between the outer frame and the electric cylinder push rod support frame.

[0056] The above structural design has the following advantages: (1) High-efficiency and precise clamping drive: The clamping drive mechanism adopts a design in which the clamping motor is connected to the drive screw through belt transmission, realizing precise drive of the lower support plate and the upper clamping pressure plate. This design not only has high transmission efficiency, but also ensures uniform application of clamping force, avoiding assembly problems caused by uneven clamping force. At the same time, the threaded fit between the threaded sleeve and the drive screw further improves the clamping accuracy and stability. (2) Flexible adjustment of the clamping frame: The clamping frame and the support frame form a cross shaft structure through the rotation shaft one arranged in the Y-axis direction and the rotation shaft two arranged in the Z-axis direction, which allows the clamping frame to be flexibly rotated and adjusted in both directions. This design not only improves the adaptability of the device, but also meets the assembly requirements of different angles and directions. At the same time, the fit between the Y-axis direction limiting shaft and the Z-axis direction limiting shaft and the arc-shaped limiting groove one and arc-shaped limiting groove two on the support frame ensures the stability and accuracy of the clamping frame during the adjustment process. (3) Compact and stable structure: The clamping frame adopts a nested design of outer and inner frames, with the inner frame rotating and installed inside the outer frame, making the entire structure more compact and stable. This design not only saves space resources but also improves the rigidity and durability of the device. At the same time, the installation positions of the rotation axis and the X-axis limiting axis (although the X-axis limiting axis is not directly mentioned in the original text, it is inferred from the context that it may refer to the structure related to the stability of the clamping frame in the X-axis direction) also ensure the stability and reliability of the clamping frame in multiple directions. (4) Improved assembly efficiency and flexibility: Through the optimized design of the clamping drive mechanism and the clamping frame, the entire device can complete the clamping and position adjustment tasks more efficiently and flexibly during the assembly process. This not only improves the assembly efficiency but also reduces the difficulty of operation and labor costs. At the same time, the flexible adjustment capability of the clamping frame also enables the device to adapt to the assembly needs of more types of electric cylinder long shaft parts. (5) Enhanced user experience and ease of maintenance: The optimized design makes the entire device smoother and more stable during operation, improving the user experience. At the same time, the modular design also facilitates subsequent maintenance and upgrade work. When a component needs to be replaced or repaired, it can be operated independently without affecting the normal operation of other components.

[0057] The cylinder support module and the electric push rod assembly module share the same motion drive principle. Specifically, both the first and second motion actuators include an X-axis motion actuator 4, a Y-axis motion actuator 5, and a Z-axis motion actuator 6. The X-axis motion actuator 4 includes an X-axis guide rail module mounted on the assembly platform along the X-axis direction. The cylinder support mechanism and the electric push rod rotation support mechanism share a single X-axis guide rail module. Multiple cylinder support frames and electric push rod support frames are installed relative to each other. The bottom of the cylinder support frame and the electric push rod support frame are respectively equipped with X-axis slider one 10 and X-axis slider two 15 that cooperate with the X-axis guide rail module. X-axis drive mechanisms for driving the cylinder support frame and the electric push rod support frame to move along the X-axis guide rail module are respectively installed on the cylinder support frame and the electric push rod support frame. The mechanism includes a dual servo drive motor driven dual gear rack mechanism. The X-axis drive mechanism includes a transmission rack 11 installed on both sides of the cylinder support frame and the electric push rod support frame on the assembly platform. The transmission rack is arranged along the X-axis direction. Servo drive motor 212 and servo drive motor 312 are respectively installed on the cylinder support frame and the electric push rod support frame at the positions corresponding to the transmission rack. The drive ends of servo drive motor 212 and servo drive motor 312 are connected to drive gear 213 and drive gear 313 that cooperate with the transmission rack. The X-axis guide rail module includes X-axis guide rail 8 and X-axis guide rail 16 installed on both sides of the cylinder support frame and the electric push rod support frame on the assembly platform. Two sets of X-axis sliders 10 and 2 are matched and installed.

[0058] The design advantages of the above structure: The beneficial effects of the optimized design of the X-axis movement actuator are mainly reflected in the following aspects: (1) High-precision positioning: The dual servo drive motor drives the dual gear rack mechanism, realizing high-precision movement control of the support frame along the X-axis. The redundant design of the dual servo system not only improves the stability of the system, but also ensures the accuracy and consistency during the movement process through synchronous control, meeting the high-precision position adjustment requirements of the assembly of large-size electric cylinders. (2) Strong driving force and stability: The dual servo drive motor provides sufficient driving force, which can easily cope with the weight and inertia of the long shaft of the large-size electric cylinder, ensuring that there will be no slippage or jamming during the adjustment process. At the same time, the dual gear rack mechanism has high transmission efficiency and good stability, further enhancing the reliability of the X-axis movement actuator. (3) High-efficiency transmission and response: The direct cooperation between the servo drive motor and the transmission rack reduces the intermediate links in the transmission chain and improves the transmission efficiency and response speed. This enables the position adjustment of the long shaft of the electric cylinder in the X-axis to be completed quickly and accurately during the assembly process, improving the assembly efficiency. (4) Compact Structure and Optimized Space: The two sets of rotating support mechanisms share a single X-axis guide rail module, which not only saves space resources but also makes the entire device more compact and rational in structure. This design is conducive to realizing complex three-dimensional position adjustment functions in a limited space, meeting the actual needs of large-size electric cylinder assembly sites. (5) Easy Maintenance and Upgrade: The modular design makes each component of the X-axis movement actuator relatively independent, facilitating maintenance and replacement. At the same time, with the continuous advancement of technology, key components such as servo drive motors and transmission racks can be easily upgraded to maintain the device's performance advantages and competitiveness.

[0059] In a preferred embodiment, the Y-axis movement actuator 5 includes a cylinder slide seat 214 and an electric push rod slide seat 314 movably mounted on a cylinder support frame and an electric push rod support frame, wherein the cylinder slide seat and the electric push rod slide seat slide along the Y-axis. Y-axis guide rail 1 215 and Y-axis guide rail 2 315 are respectively arranged at the bottom of the cylinder slide seat 214 and the electric push rod slide seat 314 along the Y-axis direction. Y-axis slider 1 216 and Y-axis slider 2 316, which cooperate with Y-axis guide rail 1 and Y-axis guide rail 2, are respectively mounted on the cylinder support frame and the electric push rod support frame. The moving push rod support frame is equipped with Y-axis electric cylinder 217 and Y-axis electric cylinder 317, which are used to drive the cylinder slide seat and the electric push rod slide seat to slide along the Y-axis direction. The Z-axis moving actuator includes Z-axis electric cylinder 218 and Z-axis electric cylinder 318, which are respectively mounted downward on the cylinder slide seat and the electric push rod slide seat. The drive end of Z-axis electric cylinder 218 is connected to the cylinder clamping station 13. Z-axis electric cylinder 218 drives the cylinder clamping station to adjust in the Z-axis direction. The drive end of Z-axis electric cylinder 318 is connected to the electric push rod clamping station 14. Z-axis electric cylinder 318 drives the electric push rod clamping station 14 to adjust in the Z-axis direction.

[0060] Correspondingly, multiple detection modules of the centerline parameter detection module are distributed at one end of the cylinder support module, one end of the electric push rod assembly module, and in between. Each detection module moves the end-effector detection mechanism in three-dimensional space via a moving three-axis module, achieving multi-point detection and accurately detecting the three-dimensional spatial parameters of the centerline of the cylinder and the electric push rod. Based on these precise parameters, the cylinder support module and the electric push rod assembly module can respectively drive the cylinder and the electric push rod to perform precise position adjustments and rotation of the electric push rod in three-dimensional space, ensuring precise alignment of the electric push rod and the centerline of the cylinder. This greatly improves assembly accuracy, effectively reduces jamming during electric cylinder operation, reduces wear, extends the service life of the electric cylinder, and improves working performance.

[0061] The detection module includes a movable base 401 mounted on the assembly platform, on which a detection head is detachably mounted. An X-axis drive mechanism 404, a Y-axis drive mechanism 405, and a Z-axis drive mechanism 406 are mounted on the frame to drive the detection head to move along the X, Y, and Z directions. The drive forms of the X-axis drive mechanism, Y-axis drive mechanism, and Z-axis drive mechanism are as described above and will not be repeated here. The detection head 402 includes a laser displacement sensor 407 and a contact sensor 408 that cooperate with each other. The laser displacement sensor 407 is used for preliminary position detection, and the contact sensor 408 is used for precise position detection. Multiple sets of laser displacement sensors and contact sensors are installed and are staggered.

[0062] As a preferred embodiment, the contact sensors are distributed in a "tu" shape facing the detection position, and the laser displacement sensors are installed at the top and bottom positions of the detection head; the above structural design has the following advantages: (1) Comprehensive and accurate detection: When actually detecting shaft-like parts, the distribution of the contact sensors in a "tu" shape facing the detection position plays a key role. Taking the detection of a common stepped shaft as an example, the sensors arranged in a "tu" shape can simultaneously detect key parts such as the cylindrical surface and shaft shoulders of the shaft. Its multiple contacts touch the shaft surface from different angles, enabling a comprehensive perception of the shaft's contour shape and effectively reducing detection blind spots. When detecting the cylindricity error of the shaft, the actual cylindricity can be more accurately calculated through multi-point measurement. Compared with ordinary single-point or simple multi-point contact detection, it greatly improves the accuracy and reliability of detection, providing a solid guarantee for the quality control of shaft-like parts. (2) Efficient collaborative detection: The laser displacement sensors are set at the top and bottom positions of the detection head, and the collaborative work with the "tu"-shaped contact sensors is remarkable. When detecting long shaft-like parts, the laser displacement sensors at the top and bottom can quickly scan the upper and lower contours of the shaft, initially obtaining the approximate position information of the shaft in the vertical direction. For example, when detecting the motor rotor shaft, the laser displacement sensors can quickly determine the bending trend of the shaft, providing a more accurate initial positioning for the precise detection of the contact sensors. Based on this, the contact sensors conduct fine measurement, and the two cooperate with each other, further improving the overall detection accuracy, significantly shortening the detection time, and increasing the detection efficiency.

[0063] As a preferred embodiment, an installation seat 409 is installed on the moving seat 403 corresponding to the position of the detection head, and multiple groups of installation and adjustment holes 403 for fixing the detection head are provided on the installation seat; when the detection head fails or needs to be replaced with a different type of detection head according to a new detection task, the design of the installation seat and the installation and adjustment holes also provides great convenience. For example, when changing from a standard detection head for detecting ordinary shaft-like parts to a special detection head for detecting high-precision aeroengine shafts, the operator can easily disassemble and install the new detection head through the installation and adjustment holes without making large-scale adjustments to the entire device, shortening the equipment downtime and improving the equipment maintenance efficiency.

[0064] The detection method of the aforementioned central axis parameter detection module includes the following steps: Using a contact sensor in the detection module, three or more spatial coordinate points are detected on a cross-sectional circle of the component being tested. Then, the center coordinates are calculated using the "three-point circle determination" method. The detection module is then moved along the X-axis, and the operation is repeated on one or more cross-sectional circles at intervals to obtain multiple "center coordinates." These multiple "center coordinates" are then connected to determine the position of the central axis of the component in three-dimensional space. The practical application of this detection method is as follows: As shown in the figure, cross-sectional circle 1 is selected, and the spatial coordinates of points A, B, and C are detected on this cross-sectional circle. Cross-sectional circle 2 is selected, and the spatial coordinates of points D, E, and F are detected on this cross-sectional circle. The coordinate information of the six points is uploaded to the host computer, which calculates the spatial coordinates of the center G and center H of the cylinder. Then, the spatial position of the central axis IJ of the cylinder is calculated using the coordinate information of G and H.

[0065] The technical solution of the present invention has been described above with reference to the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will all fall within the scope of protection of the present invention.

Claims

1. An intelligent assembly line for electric cylinders, characterized in that: The system includes a feeding module and an assembly platform. The assembly platform is equipped with a cylinder support module for placing the cylinder barrel, an electric push rod assembly module for placing the electric push rod, and a centerline parameter detection module. The relative distance between the cylinder support module and the electric push rod assembly module is adjustable. The centerline parameter detection module is used to detect the three-dimensional spatial parameters of the centerline of the cylinder barrel and the electric push rod. The cylinder support module can drive the cylinder barrel to adjust its position in three-dimensional space. The electric push rod assembly module drives the electric push rod to adjust its position and rotate in three-dimensional space, assembling the electric push rod into the cylinder barrel on the cylinder support module. The central axis parameter detection module includes multiple detection modules. Each detection module includes a mobile execution three-axis module movably mounted on the frame. The mobile execution three-axis module is equipped with an end-effector detection mechanism. The mobile execution three-axis module drives the end-effector detection mechanism to move in three-dimensional space to perform multi-point detection of three-dimensional spatial position. The cylinder support module includes a cylinder support mechanism, on which a cylinder support frame is movably mounted. The cylinder support frame is provided with a cylinder clamping station for clamping the cylinder. The cylinder support frame is provided with a moving actuator for adjusting the cylinder clamping station along the X, Z, and Y directions. The moving actuator drives the cylinder to adjust its position in three-dimensional space. The electric push rod assembly module includes an electric push rod rotation support mechanism, on which an electric push rod support frame is provided. The electric push rod support frame is provided with an electric push rod clamping station for clamping the electric push rod. The electric push rod support frame is provided with a second moving actuator for adjusting the electric push rod clamping station along the X, Z, and Y directions. The electric push rod rotation support mechanism is also provided with a rotating actuator for rotating the electric push rod on the rotating clamping station. The second moving actuator and the rotating actuator drive the electric push rod to adjust its position and rotate in three-dimensional space, so as to realize the assembly of the electric push rod into the cylinder of the cylinder support module. The electric push rod clamping station includes a lower support wheel assembly and an upper clamping wheel assembly mounted on the electric push rod support frame. The lower support wheel assembly includes two support wheels mounted side by side. The rotation actuator includes a rotary motor mounted on the assembly platform. The drive end of the rotary motor is coaxially connected to the support wheels in the lower support wheel assembly. Both the first mobile actuator and the second mobile actuator include an X-axis mobile execution component, a Y-axis mobile execution component, and a Z-axis mobile execution component. The X-axis movement execution component includes an X-axis guide rail module mounted on the frame along the X-axis direction. The cylinder support mechanism and the electric push rod rotation support mechanism share a set of X-axis guide rail modules. Multiple cylinder support frames and electric push rod support frames are arranged opposite each other. The bottom of the cylinder support frame and the electric push rod support frame are respectively provided with X-axis slider one and X-axis slider two that cooperate with the X-axis guide rail module. The cylinder support frame and the electric push rod support frame are respectively provided with X-axis drive mechanism one and X-axis drive mechanism two for driving the cylinder support frame and the electric push rod support frame to move along the X-axis guide rail module.

2. The intelligent assembly line for electric cylinders according to claim 1, characterized in that: The feeding module includes a frame, on which a support swing arm is rotatably mounted. A telescopic inner support arm is coaxially mounted inside the support swing arm. One end of the inner support arm extends out of the support swing arm and is provided with a support portion. Multiple support swing arms are arranged side by side, and the support portions of the multiple inner support arms form a support surface for supporting electric cylinder components. The support swing arm is provided with a telescopic drive mechanism for driving the inner support arm to extend and retract along the length direction of the support swing arm. The frame is also provided with a rotary drive mechanism for adjusting the tilt angle of the support swing arm.

3. The intelligent assembly line for electric cylinders according to claim 1, characterized in that: The centerline parameter detection module includes multiple detection modules, which are respectively located at one end of the cylinder support module, one end of the electric push rod assembly module, and between the cylinder support module and the electric push rod assembly module.

4. The intelligent assembly line for electric cylinders according to claim 1, characterized in that: The X-axis drive mechanism is a dual servo drive motor driven dual gear rack mechanism. The X-axis drive mechanism includes a transmission rack arranged on both sides of the cylinder support frame and the electric push rod support frame on the frame. The transmission rack is arranged along the X-axis direction. Servo drive motor one and servo drive motor two are respectively arranged on the cylinder support frame and the electric push rod support frame at the positions corresponding to the transmission rack. The drive ends of servo drive motor one and servo drive motor two are connected to drive gear one and drive gear two that cooperate with the transmission rack. The X-axis guide rail module includes X-axis guide rail one and X-axis guide rail two arranged on both sides of the cylinder support frame and the electric push rod support frame on the frame. Two sets of X-axis slider one and X-axis slider two are matched and arranged.

5. The intelligent assembly line for electric cylinders according to claim 4, characterized in that: The Y-axis movement actuator includes a cylinder slide seat and an electric push rod slide seat movably mounted on a cylinder support frame and an electric push rod support frame. The cylinder slide seat and the electric push rod slide seat slide along the Y-axis. Y-axis guide rail one and Y-axis guide rail two are respectively arranged at the bottom of the cylinder slide seat and the electric push rod slide seat along the Y-axis direction. Slider one and slider two, which cooperate with Y-axis guide rail one and Y-axis guide rail two, are respectively provided on the cylinder support frame and the electric push rod support frame. The assembly includes two Y-axis electric cylinders, Y-axis one and Y-axis electric cylinder two, for driving the cylinder slide seat and the electric push rod slide seat to slide along the Y-axis direction. The Z-axis movement actuator includes two Z-axis electric cylinders, Z-axis one and Z-axis electric cylinder two, which are respectively disposed downward on the cylinder slide seat and the electric push rod slide seat. The drive end of the Z-axis electric cylinder one is connected to the cylinder clamping station, and the Z-axis electric cylinder one drives the cylinder clamping station to adjust in the Z-axis direction. The drive end of the Z-axis electric cylinder two is connected to the rotary clamping station, and the Z-axis electric cylinder two drives the rotary clamping station to adjust in the Z-axis direction.

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