Robot for assembling sealing element

Abstract

The invention discloses a robot for assembling a sealing element, and relates to the technical field of industrial robots, the robot comprises an industrial robot base, a support is fixedly mounted at the top of the industrial robot base, circular tube type electromagnets are fixedly connected to the peripheries of the two sides of the support, and a pull rod is slidably connected to the interior of each circular tube type electromagnet; the end, away from the circular tube type electromagnet 22, of each pull rod is fixedly connected with a correction arc plate, the portion, located between the circular tube type electromagnet and the correction arc plate, of the outer portion of each pull rod is sleeved with a spring, an electric clamping jaw is fixedly installed on one side of the top of the industrial robot base, and an expanding pipe is clamped on the electric clamping jaw. The two sides of the sealing ring are supported and limited by the correction arc plates, distortion is avoided, on one hand, the problems that due to four-point opening, the sealing ring is stressed unevenly, and the structure is prone to being damaged are solved, and on the other hand, the problem that due to the fact that the sealing ring is evenly expanded through a pipe fitting to be assembled, distortion of the sealing ring cannot be restrained, and assembling does not meet the requirement is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a robot for assembling sealing parts. Background Art

[0002] The seal assembly robot is an industrial robot used in the production of industrial equipment. Its purpose is to achieve automated or semi-automated production. It is also one of the main equipment for simple assembly of metal parts and non-metal parts.

[0003] The hydraulic cylinder assembled by industrial robots is a common hydraulic actuator, which is basically composed of a cylinder barrel and a piston, piston rod and other parts and components that fit inside it. In order to make the piston fit more tightly inside the cylinder barrel and avoid the hydraulic oil on both sides of the piston from leaking into each other and causing pressure loss, when assembling the cylinder, some people still need to manually use a pry bar to install the seal on the piston. At present, the commonly used seal on the surface of the piston is a sealing ring with a rectangular cross-section. During assembly, due to the friction between the piston and the pry bar, it often twists when it is nested in the ring groove. The twisted cross-section is no longer a rectangle, resulting in the sealing cooperation with the cylinder barrel not meeting the design requirements and losing its effectiveness. In this case, it is often necessary to manually twist the sealing ring to correct its position so that it fits perfectly with the ring groove. The assembly process is time-consuming and laborious.

[0004] In the prior art, there is a sealing ring assembly mechanism disclosed in Publication (Announcement) No.: CN104162777B, which uses support rods moving in four directions to expand the sealing ring from the inside so that it can be inserted into the annular groove on the workpiece. Although this technology solves the problem of time-consuming and labor-intensive manual assembly, there are still some usage problems. Since there are only four support rods, the sealing ring has fewer force points when expanding, and the force on the entire sealing ring is uneven. The sealing ring is easily damaged when forced to expand, and the sealing ring parts cannot be calibrated with the piston rod due to uneven force.

[0005] In the prior art, there is a new type of O-ring assembly machine disclosed in the publication (announcement) number: CN117506378B, which first puts the sealing ring on the transfer sleeve, then pushes the sealing ring to slide along the transfer sleeve so that it is evenly expanded, and finally puts it on the workpiece inserted into the transfer sleeve when it falls off. Although this technology solves the problem that when the sealing ring is expanded, there are fewer force points, uneven force at various places, and it is easy to be damaged by forced expansion, there are still some usage problems. Specifically, for a sealing ring with a rectangular cross-section, this technology lacks a mechanism to prevent the sealing ring from twisting when the sealing ring is pushed and expanded, and cannot ensure that it is completely in contact with the ring groove, thereby making it impossible to effectively calibrate and assemble the sealing ring parts.

[0006] In order to solve the above problems, a robot for assembling sealing parts is proposed. Summary of the invention

[0007] In order to solve the above technical problems, a robot for sealing assembly is provided. This technical solution solves the problems raised in the above background technology.

[0008] To achieve the above objectives, the present invention can be implemented by the following technical solutions:

[0009] The present invention provides a robot for assembling sealing parts, comprising an industrial robot base, a bracket fixedly installed on the top of the industrial robot base, circular tubular electromagnets fixedly connected around both sides of the bracket, a pull rod slidably connected inside each circular tubular electromagnet, a correction arc plate fixedly connected at one end of each pull rod away from the circular tubular electromagnet 22, a spring sleeved on the outside of each pull rod located between the circular tubular electromagnet and the correction arc plate, an electric clamp fixedly installed on one side of the top of the industrial robot base, an expanded diameter tube clamped on the electric clamp, and the expanded diameter tube having the same The large tube and the small tube are arranged in a central region, and a smoothly transitioned conical tube is fixedly connected between the large tube and the small tube, wherein the four correction arc plates close to the expansion tube can be closed into a cylinder, and the inner cavity of the cylinder matches the outer shape of the conical tube; a sliding sleeve is fixedly connected to the side of the top of the industrial robot base away from the electric clamp, and a sliding rod is slidably matched inside the sliding sleeve, and the diameter of the sliding rod is consistent with the diameter of the inner cavity of the conical tube; a suction cup electromagnet is fixedly installed on one end of the sliding rod close to the expansion tube, and a retaining ring is fixedly installed on the outside of the sliding rod between the suction cup electromagnet and the sliding sleeve.

[0010] Furthermore, the inner diameter of the large tube is consistent with the outer diameter of the oil cylinder piston, and the inner diameter of the small tube is consistent with the outer diameter of the retaining ring.

[0011] Furthermore, a silo is fixedly connected to the upper middle part of the bracket, and the silo is located between the correction arc plates on both sides of the bracket. Elastic sheets are fixedly connected to the lower parts of both sides of the silo, and side arms are fixedly connected to the inner side of the lower part of each elastic sheet, and the lower parts of the two side arms are bent inwards.

[0012] Furthermore, a straight rocker arm servo is provided at the lower side of the silo. The straight rocker arm servo blocks or releases the falling of the bottom sealing ring in the silo by rotating its rocker arm, so as to control whether the sealing ring is fed or not. An infrared sensor is fixedly installed on the top of the straight rocker arm servo, and the straight rocker arm servo is fixedly connected to the adjacent circular tubular electromagnet housing.

[0013] Furthermore, a linear slide is fixedly installed on the side of the top of the industrial robot base away from the sliding sleeve. Two parallel support sleeves are fixedly connected to the top of the slider of the linear slide. A circular hole is opened on the top of each support sleeve, and the inner diameter of each circular hole is consistent with the diameter of the cylinder piston rod.

[0014] Furthermore, an electric cylinder is fixedly installed at the bottom of the industrial robot base, and a connecting rod is fixedly connected to the telescopic end of the electric cylinder, and the top end of the connecting rod is fixedly connected to the end of the sliding rod away from the suction cup electromagnet 35.

[0015] Furthermore, each correction arc plate 25 is fixedly connected to a sleeve on one side away from the bracket, and a guide rod is slidably fitted inside each sleeve. One end of each guide rod away from the sleeve 26 is fixedly connected to the outer surface of the corresponding correction arc plate.

[0016] As described above, the characteristics and advantages of a seal assembly robot in the present invention are:

[0017] The sealing ring is automatically expanded by an industrial robot and then automatically inserted into the ring groove of the piston to complete the assembly of the sealing ring. In the above assembly process, the problem in the prior art that a manual operation of using a crowbar to insert the sealing ring on the piston is solved, and the position of the sealing ring needs to be manually adjusted after assembly, which is time-consuming and labor-intensive, is solved, thereby achieving the effect of machine-assisted assembly to improve work efficiency.

[0018] When the sliding rod drives the piston and the expansion tube to move synchronously, the sealing ring will eventually be evenly expanded by the tapered tube in the middle of the expansion tube, and finally be pushed off from the large tube of the expansion tube, and finally fall into the ring groove on the surface of the piston, thereby solving the problem in the prior art that the sealing ring is assembled in four directions from the inside of the sealing ring, and the sealing ring will not be subjected to force at only four points, resulting in uneven force and easy damage to the structure, thereby achieving the effect of reducing the loss of the sealing ring during the assembly process.

[0019] When the sealing ring is evenly stretched and expanded by the tapered tube in the middle of the expansion tube, that is, when the sealing ring slides on the expansion tube, it is always supported and restricted by the correction arc plates on both sides of the sealing ring, thereby avoiding the sealing ring from twisting itself due to the friction between the sealing ring and the expansion tube. This solves the problem in the prior art that when the sealing ring is evenly expanded by the transfer sleeve for assembly, the lack of a mechanism to suppress the sealing ring's own twisting leads to the assembly not meeting the requirements. This achieves the effect of improving the assembly yield rate, thereby increasing the accuracy of the calibration of the industrial robot when assembling the sealing ring parts.

[0020] When the expanding tube moves in the correction arc plates on both sides, since the side arms are connected to the silo through elastic sheets, the elastic sheets are elastic. As a result, when the conical tube passes through the side arms and is pushed outward, the side arms can move freely outward under the deformable action of the elastic sheets, thereby solving the problem of damage to the feeding structure of the conical tube when the sealing ring is expanded, and achieving the effect of maintaining the working stability of the machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 for Figure 1 Another perspective diagram of the structure;

[0023] Figure 3 This is a schematic diagram of the structure of the cylindrical electromagnets mounted on both sides of the bracket shown in the present invention;

[0024] Figure 4 for Figure 3 Another perspective diagram of the structure;

[0025] Figure 5 It is a schematic diagram of the internal structure of the correction arc plate shown in the present invention;

[0026] Figure 6 for Figure 2 A schematic diagram of the structure enlargement at the center A;

[0027] Figure 7 It is a schematic diagram of the connection structure between the sliding rod and the electric cylinder shown in the present invention;

[0028] Figure 8 It is a schematic diagram of the state of the expanded tube entering the correction arc plate shown in the present invention;

[0029] Fig. 9 It is a schematic diagram of the silo assembly structure shown in the present invention;

[0030] Fig.10 for Fig. 9 A schematic diagram of the structure enlarged at B in the middle;

[0031] Fig.11 It is a schematic diagram of the assembly structure of the silo, elastic sheet and side arm shown in the present invention.

[0032] Among them, the accompanying drawings in the present invention are:

[0033] 11. Industrial robot base;

[0034] 21. Bracket; 22. Circular tube electromagnet; 23. Pull rod; 24. Spring; 25. Correction arc plate; 26. Sleeve; 27. Guide rod;

[0035] 31. Electric gripper; 32. Expanded diameter tube; 321. Large tube; 322. Small tube; 323. Conical tube; 33. Sliding sleeve; 34. Sliding rod; 35. Suction cup electromagnet; 36. Retaining ring; 37. Connecting rod; 38. Electric cylinder;

[0036] 41. Silo; 42. Elastic sheet; 43. Side arm; 44. One-shaped rocker arm servo; 45. Infrared sensor; 46. Linear slide; 47. Support sleeve; 471. Round hole. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0038] See also Figure 1-Figure 11 As shown in the figure, an embodiment of the present invention is provided, and a seal assembly robot is described in detail below:

[0039] A seal assembly robot, comprising an industrial robot base 11, referring to Figure 1-Figure 5 As shown, a bracket 21 is fixedly installed on the top of the industrial robot base 11, and circular tubular electromagnets 22 are fixedly connected to the four sides of the bracket 21. In this embodiment, there are four circular tubular electromagnets 22 on each side, and the four circular tubular electromagnets 22 are arranged on the bracket 21 in a rectangular array. A pull rod 23 is slidably connected to the inside of each circular tubular electromagnet 22, and a correction arc plate 25 is fixedly connected to one end of each pull rod 23 away from the circular tubular electromagnet 22. A spring 24 is sleeved on the outside of each pull rod 23 between the circular tubular electromagnet 22 and the correction arc plate 25, see Figure 1-Figure 2 ,as well as Figure 6 As shown, an electric clamp 31 is fixedly installed on one side of the top of the industrial robot base 11, and an expanded tube 32 is clamped on the electric clamp 31. The expanded tube 32 consists of a large tube 321 and a small tube 322 arranged concentrically, and a smoothly transitioned tapered tube 323 is fixedly connected between the large tube 321 and the small tube 322. Among them, the four correction arc plates 25 close to the expanded tube 32 can be closed into a cylinder, see Figure 8 As shown, the inner cavity of the cylinder matches the outer shape of the conical tube 323, see Figure 7 As shown, a sliding sleeve 33 is fixedly connected to the side of the top of the industrial robot base 11 away from the electric clamp 31, and the sliding sleeve 33 is located on the side away from the correction arc plate 25. A sliding rod 34 is slidably fitted inside the sliding sleeve 33. The diameter of the sliding rod 34 is consistent with the diameter of the inner cavity of the tapered tube 323. A suction cup electromagnet 35 is fixedly installed on one end of the sliding rod 34 close to the expansion tube 32, and a retaining ring 36 is fixedly installed on the outside of the sliding rod 34 between the suction cup electromagnet 35 and the sliding sleeve 33.

[0040] In this embodiment, the cylindrical electromagnet 22 adopts the existing technology. When the internal coil is energized, it will generate electromagnetic force on the pull rods 23 matched inside it, thereby adsorbing each pull rod 23 inside it. When the power is off, the electromagnetic force on the pull rods 23 is lost.

[0041] Further, in this embodiment, refer to Figure 8As shown, the inner diameter of the large tube 321 is consistent with the outer diameter of the cylinder piston, and the inner diameter of the small tube 322 is consistent with the outer diameter of the retaining ring 36.

[0042] See also Figure 1-Figure 2 ,as well as Figure 9-11 As shown, a silo 41 is fixedly connected to the upper middle part of the bracket 21, and the silo 41 is located between the correction arc plates 25 on both sides of the bracket 21. Elastic sheets 42 are fixedly connected to the lower sides of the silo 41, and a side arm 43 is fixedly connected to the lower inner side of each elastic sheet 42. The lower sides of the two side arms 43 are bent inwardly. The purpose of the inward bending is to be able to hold the sealing ring that falls from the silo 41.

[0043] In this embodiment, the bottom port of the silo 41 is aligned with the gap between the correction arc plates 25 on both sides of the bracket 21. The thickness and width of the inner cavity of the silo 41 are consistent with the thickness and diameter of the sealing ring, that is, the inner cavity of the silo 41 can only allow a single row of sealing rings to slide down in sequence. This belongs to the prior art and will not be repeated here.

[0044] When the expansion tube 32 moves in the correction arc plates 25 on both sides, since the side arms 43 are connected to the silo 41 through the elastic sheets 42, the side arms 43 can freely move outwards under the deformable action of the elastic sheets 42 when the conical tube 323 passes through the side arms 43, thereby avoiding damage to the feeding structure of the conical tube 323 when the sealing ring is enlarged.

[0045] Furthermore, a straight rocker servo 44 is provided at the lower side of the silo 41. The straight rocker servo 44 blocks or releases the falling of the bottom sealing ring in the silo 41 by rotating its rocker arm, so as to control the feeding of the sealing ring. An infrared sensor 45 is fixedly installed on the top of the straight rocker servo 44. The straight rocker servo 44 is fixedly connected to the outer shell of the adjacent cylindrical electromagnet 22.

[0046] The straight rocker arm servo 44 adopts the existing technology, and its driving end is connected with a straight rocker arm, that is, a rod-shaped structure. By rotating the rocker arm, the sealing ring can be blocked.

[0047] In this embodiment, the hopper 41 can also be connected to a vibration plate feeding device to realize automatic feeding of the sealing ring and improve work efficiency. The vibration plate feeding device is a common automatic feeding device in the sealing ring assembly field and has a large number of application examples, which will not be repeated here.

[0048] In this embodiment, the distance between the correction arc plates 25 on both sides is consistent with the thickness of the sealing ring.

[0049] See also Figure 1-Figure 2As shown, a linear slide 46 is fixedly installed on the side of the top of the industrial robot base 11 away from the sliding sleeve 33, and two parallel support sleeves 47 are fixedly connected to the top of the slider of the linear slide 46. A circular hole 471 is provided on the top of each support sleeve 47, and the inner diameter of each circular hole 471 is consistent with the diameter of the cylinder piston rod.

[0050] In this embodiment, two parallel support sleeves 47 are installed on the linear slide 46. When one support sleeve 47 is being assembled, the other support sleeve 47 is loaded. After the assembly is completed, the linear slide 46 is actuated to synchronously move the two support sleeves 47 to one side, so that the two can exchange their identities. The previous assembly station becomes the unloading and loading station, and the previous loading station becomes the assembly station. The purpose of stable piston loading is achieved through continuous alternation.

[0051] See also Figure 1-Figure 2 As shown, an electric cylinder 38 is fixedly installed at the bottom of the industrial robot base 11, and a connecting rod 37 is fixedly connected to the telescopic end of the electric cylinder 38. The top end of the connecting rod 37 is fixedly connected to the end of the sliding rod 34 away from the suction cup electromagnet 35.

[0052] In this embodiment, a control panel is installed on the industrial robot base 11 for controlling the orderly operation of various electrical devices. Since various electrical devices are existing mature products, the connection technology between each electrical device and the control panel will not be described in detail here.

[0053] See also Figure 3-Figure 4 As shown, each correction arc plate 25 is fixedly connected to a sleeve 26 on one side away from the bracket 21, and a guide rod 27 is slidably fitted inside each sleeve 26. One end of each guide rod 27 away from the sleeve 26 is fixedly connected to the outer surface of the corresponding correction arc plate 25.

[0054] In the present embodiment, when the expansion tube 32 moves, the sealing ring can be evenly expanded and expanded. At the same time, the support and restriction of the correction arc plate 25 on both sides of the sealing ring can prevent it from being twisted due to friction during the movement of the expansion tube 32. On the one hand, it solves the problem in the prior art that the sealing ring is assembled by expanding at four points inside the sealing ring, which leads to uneven force on the sealing ring and easy damage to the structure. On the other hand, it also solves the problem in the prior art that the sealing ring is evenly expanded by a transfer sleeve for assembly, but there is a lack of suppression of the distortion of the sealing ring itself, resulting in the assembly not meeting the requirements.

[0055] In combination with the above embodiments, the entire working process and working principle of the above embodiments are as follows:

[0056] The working state is as follows: first, a circular hole 471 of a suitable size is selected in the support sleeve 47, and the two selected support sleeves 47 are connected to the two parallel slides of the linear slide 46 by bolts, and the two oil cylinder pistons to be processed are respectively inserted into the circular holes 471 through the piston rods connected thereto to realize material loading, and then the control panel controls the movement of the slides, aligns one of the pistons with the large tube 321 end of the expansion tube 32, and places the sealing rings one by one in an orderly manner in the silo 41, and the sealing rings at the bottom are blocked by the one-line rocker arm servo 44, and the control panel controls the electric cylinder 38 so that its telescopic end drives the sliding rod 34 to move away from the expansion tube 32 through the connecting rod 37 until it is completely moved out of the correction arc plate 25 area domain, and then the control panel controls the one-line rocker arm servo 44 to rotate the rocker arm, so that the sealing ring of the bottom layer automatically falls due to gravity. At the same time, after the infrared sensor 45 senses that the sealing ring has completely fallen into the discharge bin 41, the infrared sensor 45 transmits a signal to the control panel to make the one-line rocker arm servo 44 rotate the rocker arm again to quickly reset, so as to prevent the sealing ring at the bottom layer from continuing to fall. The sealing ring that fell before, after the discharge bin 41, under the limitation of the side arms 43 on both sides, directly falls between the correction arc plates 25 on both sides of the bracket 21, and stays at the bending section below the side arms 43. At this time, the sealing ring should be in a concentric position with the small tube 322 of the expansion tube 32, thereby realizing the feeding of the sealing ring.

[0057] Then, the control panel controls the electric cylinder 38 so that its telescopic end drives the sliding rod 34 to move toward the direction close to the expansion tube 32 through the connecting rod 37, so that the suction cup electromagnet 35 and the sliding rod 34 pass through the correction arc plates 25 on both sides of the bracket 21 in sequence, as well as the sealing rings that fall between the correction arc plates 25 on both sides, until they touch the piston after passing through the expansion tube 32. In the prior art, the assembly between the piston and the piston rod is usually to fix the piston on the piston rod through a nut. In this way, the threaded end of the piston rod is bound to pass through the center of the piston and extend out to be threadedly connected to the nut. In this embodiment, the structure that the suction cup electromagnet 35 specifically touches is the end face of the nut away from the piston. After touching it, electricity can be turned on to produce a magnetic attraction to it. Then, the control panel controls the electric cylinder 38 so that its telescopic end drives the sliding rod 34 to move in the direction away from the expansion tube 32 through the connecting rod 37 until the piston is pulled into the large tube 321 of the expansion tube 32. At this time, the piston will abut against the port on the side of the inner cavity of the tapered tube 323 away from the small tube 322, and the annular groove on the piston for nesting the sealing ring will be aligned with the port of the large tube 321. The control panel controls the electric clamp 31 to open to release the expansion tube 32. Then, the control panel controls the electric cylinder 38 so that its telescopic end drives the sliding rod 34 to move in the direction close to the sliding sleeve 33 through the connecting rod 37. At this time, the expansion tube 32 will be supported by the sliding rod 34 and pushed by the piston, and will be driven by the sliding rod 34 to move into the correction arc plate 25.

[0058] After continuous movement, the small tube 322 will first drill into the inner ring of the sealing ring, and then as the expansion tube 32 continues to move, its tapered tube 323 and large tube 321 will drill into the sealing ring in turn and expand it. In this process, the sealing ring is supported and restricted by the correction arc plates 25 on both sides of the bracket 21 from both sides of the sealing ring, that is, the sealing ring is clamped. Since the correction arc plates 25 can only move along the radial direction of the sliding rod 34, the sealing ring will not be twisted when it is expanded, and the displacement along the axial direction of the sliding rod 34 is achieved, so that the effect of correcting its position is achieved. When the correction arc plates 25 are supporting and restricting, the four correction arc plates 25 close to one side of the expansion tube 32, because their combination, that is, the cylindrical inner cavity, is consistent with the shape of the tapered tube 323, when the expansion tube 32 gradually enters the cylindrical inner cavity, the four correction arc plates 25 can always fit The surface of the expansion tube 32 moves in the radial direction of the sliding rod 34. Specifically, the four correction arc plates 25 move in the radial direction of the sliding rod 34 with the cooperation of their respective corresponding guide rods 27 and sleeves 26, and at the same time, the springs 24 on the outside of the pull rods 23 connected to them are correspondingly compressed. In this way, under the elastic force of the springs 24, the four correction arc plates 25 can always fit the surface of the expansion tube 32 to avoid losing the support and restriction for the sealing ring. Similarly, the four correction arc plates 25 on one side of the sliding sleeve 33 also move in the same way, that is, under the cooperation of their respective corresponding guide rods 27 and sleeves 26, they move in the radial direction of the sliding rod 34, and at the same time, the springs 24 on the outside of the pull rods 23 connected to them are correspondingly compressed. Then, under the elastic force of the springs 24, the four correction arc plates 25 on this side can always fit the surface of the expansion tube 32 to avoid losing the support and restriction for the sealing ring.

[0059] When the expansion tube 32 moves in the correction arc plates 25 on both sides, since the side arms 43 are connected to the silo 41 through the elastic sheets 42, the side arms 43 can freely move outward under the deformable action of the elastic sheets 42 when the conical tube 323 passes through the side arms 43, thereby avoiding damage to the feeding structure of the conical tube 323 when the sealing ring is enlarged.

[0060] When the above-mentioned expansion tube 32 is continuously moving, under the support and restriction of the correction arc plate 25 on the sealing ring, the sealing ring is finally pushed off from the large tube 321 of the expansion tube 32 after being stretched and expanded, and finally falls into the ring groove on the surface of the piston. In the above-mentioned assembly process, on the one hand, it solves the problem in the prior art that the twisted sealing ring needs to be manually adjusted after manual assembly, which is time-consuming and labor-intensive. On the other hand, it solves the problem in the prior art that the sealing ring is stretched in four directions from the inside of the sealing ring for assembly, which leads to uneven force on the sealing ring and easy damage to the structure. At the same time, it also solves the problem in the prior art that the sealing ring is evenly expanded by a transfer sleeve for assembly, but there is a lack of suppression of the distortion of the sealing ring itself, resulting in the assembly not meeting the requirements.

[0061] After the sealing ring is assembled, the control panel controls each cylindrical electromagnet 22 to be energized, thereby adsorbing each pull rod 23 to the inside thereof. At this time, the effect achieved is that each correction arc plate 25 is separated from the surface of the expansion tube 32 and no longer fits therewith, so that the expansion tube 32 does not block its normal movement when it is reset. The control panel controls the electric cylinder 38, so that its telescopic end drives the sliding rod 34 to move toward the direction close to the electric clamp 31 through the connecting rod 37. At this time, the assembled piston will be pushed back for reset, and the retaining ring 36 enters the small tube 3 22, it will abut against the inner cavity of the conical tube 323 near the side port of the small tube 322, and then when the sliding rod 34 continues to move, the retaining ring 36 pushes the enlarged tube 32, and finally the enlarged tube 32 is reset. The enlarged tube 32 after reset is immediately clamped stably by the electric clamp 31 again, and the piston will be pushed back to its original position at this time, that is, the piston rod is reinserted into the corresponding circular hole 471, and then the suction cup electromagnet 35 is powered off to release the piston, and the circular tube electromagnet 22 is powered off to reset each correction arc plate 25.

[0062] The slider movement of the linear slide 46 is controlled so that the assembled piston moves laterally away from the expansion tube 32 to facilitate material unloading. At the same time, the unassembled piston inserted in the other support sleeve 47 will move to a position aligned with the expansion tube 32. The above actions can be repeated to achieve continuous assembly of the piston ring seal.

[0063] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0064] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A seal assembly robot, comprising an industrial robot base (11), characterized in that: A bracket (21) is fixedly installed on the top of the industrial robot base (11), and circular tubular electromagnets (22) are fixedly connected to the four sides of both sides of the bracket (21). A pull rod (23) is slidably connected to the inside of each circular tubular electromagnet (22), and one end of each pull rod (23) away from the circular tubular electromagnet 22 is fixedly connected to a correction arc plate (25). A spring (24) is sleeved on the outside of each pull rod (23) and located between the circular tubular electromagnet (22) and the correction arc plate (25). An electric clamp (31) is fixedly installed on one side of the top of the industrial robot base (11), and an expanded tube (32) is clamped on the electric clamp (31). The expanded tube (32) consists of a large tube (321) and a small tube (322) arranged concentrically. The large tube (321) and the small tube (322) are connected to each other. The tubes (322) are fixedly connected with a tapered tube (323) with a smooth transition, wherein four correction arc plates (25) near the expanded diameter tube (32) can be folded into a cylinder, the inner cavity of the cylinder matches the outer shape of the tapered tube (323), a sliding sleeve (33) is fixedly connected to the top of the industrial robot base (11) on the side away from the electric clamp (31), a sliding rod (34) is slidably matched inside the sliding sleeve (33), the diameter of the sliding rod (34) is consistent with the diameter of the inner cavity of the tapered tube (323), a suction cup electromagnet (35) is fixedly installed at one end of the sliding rod (34) near the expanded diameter tube (32), and a retaining ring (36) is fixedly installed on the outside of the sliding rod (34) between the suction cup electromagnet (35) and the sliding sleeve (33).

2. A seal assembly robot according to claim 1, characterized in that: The inner diameter of the large tube (321) is consistent with the outer diameter of the oil cylinder piston, and the inner diameter of the small tube (322) is consistent with the outer diameter of the retaining ring (36).

3. A seal assembly robot according to claim 2, characterized in that: A material bin (41) is fixedly connected to the middle portion of the upper portion of the bracket (21). The material bin (41) is located between the correction arc plates (25) on both sides of the bracket (21). Elastic sheets (42) are fixedly connected to the lower portions of both sides of the material bin (41). A side arm (43) is fixedly connected to the inner side of the lower portion of each elastic sheet (42). The lower portions of the two side arms (43) are bent inwardly.

4. A seal assembly robot according to claim 3, characterized in that: A straight rocker arm servo (44) is provided below one side of the silo (41). The straight rocker arm servo (44) blocks or releases the lowermost sealing ring in the silo (41) from falling by rotating its rocker arm, so as to control whether the sealing ring is fed. An infrared sensor (45) is fixedly mounted on the top of the straight rocker arm servo (44). The straight rocker arm servo (44) is fixedly connected to the housing of the adjacent circular tubular electromagnet (22) correspondingly.

5. A seal assembly robot according to claim 4, characterized in that: A linear slide (46) is fixedly installed on the top of the industrial robot base (11) at a side away from the sliding sleeve (33), and two parallel support sleeves (47) are fixedly connected to the top of the slider of the linear slide (46). A circular hole (471) is formed on the top of each support sleeve (47), and the inner diameter of each circular hole (471) is consistent with the diameter of the cylinder piston rod.

6. A seal assembly robot according to claim 5, characterized in that: An electric cylinder (38) is fixedly mounted on the bottom of the industrial robot base (11), a telescopic end of the electric cylinder (38) is fixedly connected to a connecting rod (37), and a top end of the connecting rod (37) is fixedly connected to an end of the sliding rod (34) away from the suction cup electromagnet 35.

7. A seal assembly robot according to claim 6, characterized in that: A sleeve (26) is fixedly connected to a side of each correction arc plate 25 away from the bracket (21), a guide rod (27) is slidably fitted inside each sleeve (26), and an end of each guide rod (27) away from the sleeve 26 is fixedly connected to the outer surface of the corresponding correction arc plate (25).

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