Hydraulic stand column assembling machine and automatic assembling process

Abstract

The hydraulic stand column assembling machine comprises a rack, a rear top supporting plate is fixedly arranged at one end of the top of the rack, and a press-fitting device capable of horizontally moving is arranged at the other end of the top of the rack; the top of the rack is provided with at least two sets of outer cylinder supporting frame assemblies capable of moving horizontally and at least two sets of middle cylinder plunger supporting frame assemblies capable of moving horizontally. The press-fitting device comprises a movable box body, a press-fitting plate posture adjusting mechanism arranged at the top of the movable box body and a press-fitting sleeve height adjusting mechanism arranged at the front end in the movable box body, a press-fitting sleeve is detachably arranged on one side of the press-fitting sleeve height adjusting mechanism, and a horizontal telescopic mechanism is arranged in the movable box body; and an axis position detection mechanism and an oil injection mechanism are arranged on the horizontal telescopic mechanism. According to the invention, the position adjustment and assembly process of the heavy-weight assembly parts can be automatically realized, the automation degree is high, the labor cost can be greatly saved, the working efficiency and the production efficiency are improved, and the assembly quality can be effectively ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of assembly equipment, and specifically relates to a hydraulic column assembly machine and an automatic assembly process. Background Art

[0002] The currently used support shed frames need to provide a quite large supporting force to meet the usage requirements. Therefore, hydraulic columns are mostly used to drive the lifting of the support, and a support structure of a jack is realized. At the same time, based on the need for the support height, the hydraulic columns used mostly adopt a three-stage structure composed of an outer cylinder, a middle cylinder, and a piston rod. Exactly because of this, it leads to the fact that the size and weight of the support and support device are relatively large, usually in the tens of tons level, and it is difficult to handle and install.

[0003] For the assembly of small hydraulic cylinders at present, manual operation assembly is mostly adopted on the production line, or simple automated assembly equipment is adopted. For example, a hydraulic cylinder automatic assembly equipment disclosed in a Chinese invention patent with the publication number CN110605574A adopts a vertical clamping and pressing assembly method. The cylinder barrel is clamped by two V-shaped clamping blocks, and then the corresponding guide sleeve or piston rod is clamped by a second clamping mechanism. The second clamping mechanism is driven by a conveying mechanism to move towards the first clamping mechanism to complete the assembly. Another example is a hydraulic cylinder assembly automated assembly equipment disclosed in a Chinese invention patent with the publication number CN114654239A. This equipment is improved on the basis of the aforementioned patented technology. The cylinder barrel is pressed and fixed through a guiding unit to ensure the stability of the cylinder barrel during the assembly process, prevent the cylinder barrel from tilting and thus affecting the assembly efficiency; through a guiding plate, the cylinder barrel can be located at the center of the clamping groove, and the piston rod assembly is guided through a guiding rod, so that the piston rod assembly can be smoothly inserted into the cylinder barrel, thereby improving the accuracy when the piston rod assembly is docked with the cylinder barrel. Another example is a hydraulic cylinder assembly automated assembly equipment disclosed in a Chinese invention patent with the publication number CN115816072A. It is further improved on the basis of the aforementioned patented technology, and solves the problem of dripping hydraulic oil on the cylinder barrel assembly when assembling a sealing ring on the hydraulic cylinder.

[0004] However, the above equipment is not applicable to such hydraulic columns in the tens of tons level used for support and support devices. Usually, hoisting is adopted to achieve position transfer, and manual operation through a horizontal moving device is used to achieve assembly positioning adjustment. Although it can meet the requirements of assembly accuracy, the degree of automation is not high, it is time-consuming and laborious, and the production efficiency is not high. Summary of the Invention

[0005] To solve the above technical problems, the present invention patent provides a hydraulic column assembly machine and an automatic assembly process, which can automatically realize the position adjustment and assembly process of heavy components, has a high degree of automation, can save a large amount of labor costs, improve work efficiency and production efficiency, and can effectively ensure the assembly quality of hydraulic columns.

[0006] To solve the above technical problems, one technical solution adopted by the present invention is as follows:

[0007] A hydraulic column assembly machine includes a frame. At one end of the top of the frame, a rear top support plate is fixedly arranged, and at the other end of the top, a press-fitting device that can move horizontally is arranged. On one side of the top of the frame close to the rear top support plate, at least two groups of outer cylinder support frame assemblies that can move horizontally are arranged, and on one side close to the press-fitting device, at least two groups of middle cylinder and piston rod support frame assemblies that can move horizontally are arranged;

[0008] The press-fitting device includes a moving box body, a press-fitting plate posture adjustment mechanism arranged on the top of the moving box body, and a press-fitting sleeve height adjustment mechanism arranged at the front end inside the moving box body. A press-fitting sleeve is detachably arranged on one side of the press-fitting sleeve height adjustment mechanism close to the rear top support plate. A horizontal telescopic mechanism is arranged inside the moving box body, and the telescopic ends of the horizontal telescopic mechanism are respectively fixedly provided with an axial position detection mechanism and an oil injection mechanism.

[0009] A hydraulic column automatic assembly process is also provided, which is applied to the hydraulic column automatic assembly machine as described above, and includes the following steps:

[0010] S1. The production line information system sends the assembly area processing work order information to the total control PLC, and the total control PLC calls the warehouse management system for feeding;

[0011] S2. The AGV cart transports the large cylinder, middle cylinder, and piston rod to be assembled from the warehouse to their respective feeding stations, and automatically completes the cleaning operation;

[0012] S3. The truss manipulator transfers the large cylinder and middle cylinder to the hydraulic column automatic assembly machine respectively. The hydraulic column automatic assembly machine automatically completes the positioning of the outer cylinder and middle cylinder and the assembly between the middle cylinder and the outer cylinder, forming an outer cylinder and middle cylinder combination;

[0013] S4. The truss manipulator transfers the piston rod to the hydraulic column automatic assembly machine, and automatically completes the positioning of the piston rod and the assembly between the piston rod and the outer cylinder and middle cylinder combination;

[0014] S5. The truss manipulator grabs the assembled assembly from the hydraulic column automatic assembly machine and transfers it to the blanking station, and feeds back the material information to the warehouse management system;

[0015] S6. The AGV cart transports the assembly to the finished product area and feeds back the material information to the warehouse management system.

[0016] Another hydraulic column automatic assembly process is also provided, which is applied to the above-mentioned hydraulic column automatic assembly machine, and includes the following steps:

[0017] S1. The production line information system sends the processing work order information of the assembly area to the master control PLC, and the master control PLC calls the warehouse management system for feeding.

[0018] S2. The AGV cart transports the large cylinder, medium cylinder, and piston rod to be assembled from the warehouse to their respective feeding stations, and automatically completes the cleaning operation.

[0019] S3. The gantry manipulator transfers the large cylinder and the medium cylinder to the hydraulic column automatic assembly machine in Area A. The hydraulic column automatic assembly machine in Area A automatically completes the positioning of the outer cylinder and the medium cylinder and the assembly between the medium cylinder and the outer cylinder, forming an outer cylinder-medium cylinder assembly.

[0020] S4. The gantry manipulator grabs and transfers the outer cylinder-medium cylinder assembly to the discharging station in Area A, and the AGV cart transports the outer cylinder-medium cylinder assembly to the feeding station in Area B.

[0021] S5. The gantry manipulator transfers the large cylinder-medium cylinder assembly and the piston rod to the hydraulic column automatic assembly machine in Area B respectively. The hydraulic column automatic assembly machine in Area B automatically completes the positioning of the outer cylinder-medium cylinder assembly and the piston rod and the assembly between the piston rod and the outer cylinder-medium cylinder assembly.

[0022] S6. The gantry manipulator grabs the assembled assembly from the hydraulic column automatic assembly machine in Area B and transfers it to the discharging station, and feeds back the material information to the warehouse management system.

[0023] S7. The AGV cart transports the assembly to the finished product area and feeds back the material information to the warehouse management system.

[0024] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0025] 1. By setting two groups of horizontally movable outer cylinder support frame components, the present invention can automatically achieve the axial positioning of the outer cylinder to be assembled and the horizontal adjustment of the central axis. By setting two groups of horizontally movable medium cylinder and piston rod support frame components, the present invention can automatically achieve the height adjustment of the medium cylinder and the piston rod to be assembled and the horizontal adjustment of the central axis, so that the central axes of the latter are all coincident with the central axis of the outer cylinder, ensuring the accuracy of the two assemblies. By setting a horizontally movable pressing device to horizontally push the positioned medium cylinder into the outer cylinder and horizontally push the positioned piston rod into the medium cylinder, the stability during the assembly process can be ensured, automatic assembly can be achieved, and the assembly efficiency can be improved.

[0026] 2. By arranging a horizontal telescopic mechanism in the mobile box body, and arranging an axis position detection mechanism and an oil injection mechanism at its positioning end, the inclination of the central axis of the outer cylinder relative to the horizontal position can be detected by detecting the height difference between two position points, so as to feedback and control the automatic adjustment of the height difference of the V-shaped lifting brackets in the two outer cylinder support frame assemblies, automatically and quickly realizing the adjustment of the horizontal state of the central axis of the outer cylinder, with high working efficiency and reliability; by arranging the oil injection mechanism, automatic atomized oil injection can be realized on the inner walls of the cavities of the outer cylinder and the middle cylinder to improve the smoothness of the assembly process; both the axis position detection mechanism and the oil injection mechanism achieve horizontal displacement and positioning by one horizontal telescopic mechanism, making the structure more compact;

[0027] 3. By arranging two groups of horizontally movable outer cylinder support frame assemblies and two groups of horizontally movable middle cylinder piston rod support frame assemblies, the two groups of outer cylinder support frame assemblies and the two groups of middle cylinder piston rod support frame assemblies can move horizontally independently to realize the adjustment of the horizontal spacing, so as to adapt to the assembly between cylinders of different lengths within a certain range; by arranging a vertically height-adjustable V-shaped lifting bracket in the outer cylinder support frame assembly and a vertically height-adjustable kidney-shaped support roller in the middle cylinder piston rod support frame assembly, the support and vertical positioning of cylinders of different diameters can be adapted within a certain range. By arranging a press-fitting sleeve height adjustment mechanism in the mobile box body to drive the press-fitting sleeve to realize vertical height adjustment to match the position of different assembly central axes, and the press-fitting sleeve adopts a detachable assembly method, which is convenient for replacement to match the end structures of piston rods of different specifications or types, so it has better versatility;

[0028] 4. By arranging a press-fitting plate pose adjustment mechanism at the top of the mobile box body to automatically realize the pose adjustment of the press-fitting plate, so that it cooperates with the press-fitting sleeve to meet the need of horizontally applying thrust to different cylinder ends, ensuring the uniformity of thrust distribution, further ensuring the smoothness of the assembly process, and also improving the versatility of the press-fitting device;

[0029] 5. The present invention can automatically realize the position adjustment and assembly process of the assembled parts, with high automation degree, can greatly save labor costs, improve work efficiency and production efficiency, and can effectively ensure the assembly quality of the hydraulic column. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 is one of the three-dimensional structure diagrams of the hydraulic column assembly machine of the present invention;

[0031] Figure 2 is the second three-dimensional structure diagram of the hydraulic column assembly machine of the present invention;

[0032] Figure 3 is one of the three-dimensional structure diagrams of the outer cylinder support frame assembly;

[0033] Figure 4It is the second three-dimensional structural schematic diagram of the outer cylinder support frame assembly;

[0034] Figure 5 It is the first three-dimensional structural schematic diagram of the middle cylinder piston rod support frame assembly;

[0035] Figure 6 It is the second three-dimensional structural schematic diagram of the middle cylinder piston rod support frame assembly;

[0036] Figure 7 It is the first three-dimensional structural schematic diagram of the press-fitting device;

[0037] Figure 8 It is the second three-dimensional structural schematic diagram of the press-fitting device;

[0038] Figure 9 It is the internal structural schematic diagram of the press-fitting device;

[0039] Figure 10 It is the three-dimensional structural schematic diagram of the press-fitting sleeve height adjustment mechanism;

[0040] Figure 11 It is the three-dimensional structural schematic diagram of the press-fitting plate posture adjustment mechanism;

[0041] Figure 12 It is the three-dimensional structural schematic diagram of the press-fitting plate in the downward-flipped state;

[0042] Figure 13 It is the first three-dimensional structural schematic diagram of the horizontal telescoping mechanism and its upper components;

[0043] Figure 14 It is the second three-dimensional structural schematic diagram of the horizontal telescoping mechanism and its upper components;

[0044] Figure 15 It is the internal structural schematic diagram of the horizontal telescoping mechanism;

[0045] Figure 16 It is the three-dimensional structural schematic diagram of the working state of the axial center position detection mechanism;

[0046] Figure 17 It is the three-dimensional structural schematic diagram of the non-working state of the axial center position detection mechanism;

[0047] Figure 18 It is the general process flow chart of the hydraulic column automatic assembly process in Embodiment 2;

[0048] Figure 19 It is the specific assembly process flow chart of the outer cylinder and the middle cylinder in Embodiment 2;

[0049] Figure 20 It is the specific assembly process flow chart of the piston rod and the outer cylinder-middle cylinder combination in Embodiment 2;

[0050] Figure 21 This is the overall flow chart of the automatic assembly process of the hydraulic columns in Example 3. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present invention are described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more precise definition of the protection scope of the present invention.

[0052] It should be noted that when a component is referred to as being "mounted on" another component, it may be directly on the other component or there may be a central component. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a central component. When a component is considered to be "fixed to" another component, it may be directly fixed to the other component or there may be a central component.

[0053] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. The term "or / and" as used herein includes any and all combinations of one or more of the associated listed items.

[0054] Example 1:

[0055] See attached Figures 1 to 17 A hydraulic column assembly machine includes a frame 1. The frame 1 is composed of steel plates and square steel structures through welding or bolting to form the main support structure, on which are equipped conventional functional components required for assembling equipment, such as an electronic control system, a pneumatic system, a servo system, a safety device and a protective cover. All of these are existing technologies and will not be described in detail here. In addition, adjustable feet are provided on both sides of the bottom end of the frame 1 for overall leveling of the frame 1 to adapt to the ground conditions of the assembly site and meet the equipment assembly and use requirements. The following mainly introduces the structure and working principle of the innovative part of the present invention in detail.

[0056] At the rear end of the top of the frame 1, a rear top support plate 2 is fixedly arranged, and at the front end of the top, a press-fitting device that can move horizontally is provided. On one side of the top of the frame 1 near the rear top support plate 2, at least two sets of outer cylinder support frame assemblies 3 that can move horizontally are provided, and on one side near the press-fitting device, at least two sets of middle cylinder piston rod support frame assemblies 4 that can move horizontally are provided. Among them, a base 201 is fixedly embedded inside the rear top of the frame 1, and the rear top support plate 2 is vertically fixedly connected to the front side of the base 201 by bolts, and its working surface faces the press-fitting device, and is used for positioning the rear end of the outer cylinder to be assembled. The outer cylinder support frame assembly 3 is provided with two sets, which are used to support the main body part of the outer cylinder with a cylindrical structure, and the position of the central axis of the outer cylinder is adjusted in the way of two points in a line. The outer cylinder placed on it is transferred from the placement station to the assembly station by means of synchronous horizontal movement. A through hole is opened in the middle of the rear top support plate 2, and a position detection sensor (not shown in the figure) is arranged inside the top of the base 201, and the detection part of the position detection sensor is located in this through hole, and is used to detect whether an outer cylinder is placed on the outer cylinder support frame assembly 3 and whether the outer cylinder reaches the preset assembly station, and then the movement of the outer cylinder support frame assembly 3 is controlled to stop through the electric control system and the servo system. Similarly, the middle cylinder piston rod support frame assembly 4 is also provided with two sets, which are used for the support and the adjustment of the central axis position of the main body part of the middle cylinder or the piston rod to be assembled, and the middle cylinder or the piston rod placed on it is transferred from the placement station to the assembly station by means of horizontal movement, and then the position detection sensor is used to detect and control it to stop moving after it reaches the position.

[0057] Such as Figure 3 And Figure 4As shown in the figure, the outer cylinder support frame assembly 3 includes a first moving frame plate 301, a V-shaped lifting support 302 movably arranged inside the first moving frame plate 301, and a first electric cylinder 303 fixedly installed at the bottom of the first moving frame plate 301. The output shaft end of the first electric cylinder 303 is fixedly connected to the bottom end of the V-shaped lifting support 302. On the first moving frame plate 301, first V-shaped fixed supports 304 are fixedly arranged on both sides of the V-shaped lifting support 302. Specifically, the first moving frame plate 301 is a shell structure with an open top assembled by connecting steel plates with screws. Inside it, there is a first lifting support plate 305. The output shaft end of the first electric cylinder 303 vertically penetrates upward through the bottom plate of the first moving frame plate 301 and is fixedly connected to the bottom surface of the first lifting support plate 305, driving the first lifting support plate 305 to vertically lift and accurately position through the first electric cylinder 303. The V-shaped lifting support 302 consists of a lifting vertical plate and two lifting support blocks. The lifting vertical plate is vertically welded and fixed on the top surface of the first lifting support plate 305. A V-shaped notch is opened at its top. The cross-sections of the two lifting support blocks are "U" shapes and are respectively buckled on the two inclined surfaces of the V-shaped notch and fixed by screw connection, so that the central symmetry plane of the top surface of the two lifting support blocks is a vertical plane perpendicular to the working surface of the rear top support plate 2. Four corners of the bottom surface of the first lifting support plate 305 are respectively fixedly connected with first guide columns 306. On the bottom surface of the first moving frame plate 301, first guide sleeves are fixedly arranged directly below the first guide columns 306. The first guide columns 306 are movably inserted into the corresponding first guide sleeves to guide the vertical lifting of the first lifting support plate 305 and the V-shaped lifting support 302 thereon.

[0058] Each first V-shaped fixed support 304 on each side includes a fixed vertical plate and two pre-support blocks. The fixed vertical plate is fixedly connected to the front and rear sides of the top surface of the first moving frame plate 301 by screws. A V-shaped notch is also opened at the center of the top surface of the fixed vertical plate. The cross-sections of the pre-support blocks are also "U" shapes and are buckled on the two groove surfaces of the V-shaped notch and then fixed by screw connection. When the V-shaped lifting frame 302 is at the lowest position, its top surface is below the top surface of the first V-shaped fixed support 304. When the main body of the outer cylinder is placed on the first V-shaped fixed support 304, the V-shaped lifting frame 302 is directly below the main body of the outer cylinder. When the first electric cylinder 307 drives the V-shaped lifting frame 302 to vertically rise, the V-shaped lifting frame 302 supports and lifts the outer cylinder, separating the outer cylinder from the first V-shaped fixed support 304. By the mutual cooperation between the two V-shaped lifting supports 302 on the two outer cylinder support frame assemblies 3, the levelness of the central axis of the outer cylinder can be adjusted.

[0059] On one side of the top of the frame 1, a first rack 12 is fixedly arranged along its length direction. On both sides of the top of the frame 1, first slide rails 13 parallel to the first rack 12 are respectively fixedly arranged. A first slider is slidably connected to the first slide rail 13. On the top parts of the outer walls on both sides of the first moving frame plate 301, first wing plates 3011 are respectively fixedly arranged. Below the first wing plates 3011, a height adjustment block is fixedly connected. The height adjustment block is fixedly connected to the top of the first slider, so that the first moving frame plate 301 can slide horizontally on the frame 1. On one side of the bottom of the first moving frame plate 301, a first driving motor 307 is fixedly installed. At the output shaft end of the first driving motor 307, a first gear 308 meshed with the first rack 12 is fixedly connected. Specifically, an extension plate is arranged at the bottom end of the side wall of the first moving frame plate 301. The first driving motor 307 is fixedly installed on the inner side surface of the extension plate, and the output shaft is horizontally arranged. The teeth of the first rack 12 are arranged upwards. The first gear 308 is located above the first rack 12. The first driving motor 307 adopts a servo reduction motor. Through the drive of the first driving motor 307 and the meshing transmission of the gear and rack, the first moving frame plate 301 can move and be accurately positioned in the length direction of the frame 1. Through the synchronous movement of the two sets of outer cylinder support frame assemblies 3, the transfer and positioning of the outer cylinders placed thereon can be realized; by adjusting the distance between the two sets of outer cylinder support frame assemblies 3, the support requirements of outer cylinders with different lengths can be adapted. Preferably, in order to improve the smoothness of the transmission of the first moving frame plate 301, a first auxiliary gear 309 meshed with the first rack 12 is rotatably installed at the bottom of the side wall of the first moving frame plate 301. In order to realize the horizontal movement stroke control and in-place detection of each outer cylinder support frame assembly 3, a first position detection sensor 3010 is also arranged at the bottom of each first moving frame plate 301.

[0060] Such as Figures 5 to 6As shown, the middle cylinder piston support frame assembly 4 includes a second moving frame plate, a waist-shaped support roller movably arranged within the second moving frame plate, and a second electric cylinder fixedly installed at the bottom of the second moving frame plate. The output shaft end of the second electric cylinder is fixedly connected to the bottom end of the waist-shaped support roller. Second V-shaped fixed brackets located on both sides of the waist-shaped support roller are fixedly arranged on the second moving frame plate. Specifically, the second moving frame plate 401 is also a top-opening housing structure assembled by connecting steel plates with screws. A second lifting support plate 405 is arranged inside it. The output shaft end of the second electric cylinder 403 vertically penetrates upward through the bottom plate of the second moving frame plate 401 and is fixedly connected to the bottom surface of the second lifting support plate 405, driving the second lifting support plate 405 to vertically lift and accurately position through the second electric cylinder 403. Bearing seats 4012 are fixedly arranged on both sides of the top surface of the second lifting support plate 405. Both ends of the waist-shaped support roller 402 are rotatably connected within the two bearing seats 4012, making the central axis of the waist-shaped support roller 402 horizontally arranged. The unilateral contour of its cross-section passing through the central axis is V-shaped, and its symmetric center plane perpendicular to the central axis coincides with the symmetric center plane of the V-shaped lifting bracket 302. Second guide columns 406 are fixedly connected to the four corners of the bottom surface of the second lifting support plate 405 respectively. Second guide sleeves located directly below the second guide columns 406 are fixedly arranged on the bottom surface of the second moving frame plate 401. The second guide columns 406 are movably inserted into the corresponding second guide sleeves to guide the vertical lifting of the second lifting support plate 405 and the waist-shaped support roller 402 thereon.

[0061] The second V-shaped fixing bracket 404 on each side has the same structural form and working principle as the first V-shaped fixing bracket 304, so no repeated description will be made. At the same time, the initial vertical height difference of the support positions of the pre-support blocks on the second V-shaped fixing bracket 404 and the first V-shaped fixing bracket 304 is fixed. Therefore, when adjusting the height of the central axis of the middle cylinder or the piston rod in the later stage, the vertical height of the adjusted central axis of the outer cylinder can be used as a reference. Therefore, it is necessary to regularly calibrate and adjust the reference positions of several pre-support blocks (reference blocks). Similarly, when the waist-shaped support roller 402 is in the lowest position, its top surface is below the top surface of the second V-shaped fixing bracket 404, so that when the main body of the middle cylinder or the piston rod is placed on the second V-shaped fixing bracket 404, the waist-shaped support roller 402 is directly below the main body of the middle cylinder or the piston rod. When the second electric cylinder 407 drives the waist-shaped support roller 402 to rise vertically, the waist-shaped support roller 402 supports and lifts the middle cylinder or the piston rod, separating the middle cylinder or the piston rod from the second V-shaped fixing bracket 404. Through the mutual cooperation between the two waist-shaped support rollers 402 on the two middle cylinder and piston rod support frame assemblies 4, the levelness of the central axis of the middle cylinder or the piston rod can be adjusted to coincide with the central axis of the already adjusted outer cylinder. In the first assembly stage, the pressing device will push the middle cylinder located at the assembly station to move horizontally to complete coaxial assembly with the outer cylinder. In the second assembly stage, the pressing device will push the piston rod located at the assembly station to move horizontally to complete coaxial assembly with the middle cylinder. During the two assembly stages, the two waist-shaped support rollers 402 rotate, enabling the middle cylinder or the piston rod located on them to move forward smoothly and ensuring that the position of the axis remains unchanged during the pushing process, so as to ensure the smooth progress of the assembly process and the coaxial accuracy of the assembly.

[0062] On one side of the top of the frame 1, a second rack is fixedly arranged along its length direction. On both sides of the top of the frame 1, second slide rails 14 parallel to the second rack are respectively fixedly arranged. A second slider is slidably connected to the second slide rail 14. On the top parts of the outer walls on both sides of the second moving plate 401, second wing plates 4011 are respectively fixedly arranged. The second wing plates 4011 are fixedly connected to the top of the second slider, so that the second moving plate 401 can slide horizontally on the frame 1. On one side of the bottom of the second moving plate 401, a second driving motor 407 is fixedly installed. The output shaft end of the second driving motor 407 is fixedly connected to a second gear 408 meshed with the second rack. Specifically, an extension plate is arranged at the bottom end of the side wall of the second moving plate 401. The second driving motor 407 is fixedly installed on the inner side surface of the extension plate, and the output shaft is horizontally arranged. The second gear 408 is located above the second rack. The second driving motor 407 adopts a servo reduction motor. Through the drive of the second driving motor 407 and the meshing transmission of the gear and rack, the second moving plate 401 can move and be accurately positioned in the length direction of the frame 1. Through the synchronous movement of the two sets of middle cylinder and piston rod support frame assemblies 4, the transfer and positioning of the middle cylinder or piston rod placed on it can be realized; by adjusting the distance between the two sets of middle cylinder and piston rod support frame assemblies 4, the support requirements for middle cylinders or piston rods of different lengths can be adapted. Preferably, to improve the smoothness of the transmission of the second moving plate 401, a second auxiliary gear 409 meshed with the second rack is rotatably installed at the bottom of the side wall of the second moving plate 401. To realize the horizontal movement stroke control and in-place detection of each middle cylinder and piston rod support frame assembly 4, a second position detection sensor 4010 is also arranged at the bottom of each second moving plate 401. To simplify the equipment structure, in this equipment, the second rack and the first rack 12 adopt the same rack. At the same time, the second slide rail 14 is located below and inside the first slide rail 13, so that the top of the second V-shaped fixing bracket 404 is located below the top of the first V-shaped fixing bracket 304. Thus, in the first assembly stage, when the two sets of middle cylinder and piston rod support frame assemblies 4 follow the press-fitting device to complete the assembly process of the middle cylinder inside and outside, the middle cylinder and piston rod support frame assembly 4 can continue to move below the port of the outer cylinder, so that the press-fitting part of the press-fitting device can reach near the cylinder port of the outer cylinder, and the middle cylinder can be completely pressed into the outer cylinder. Similarly, in the second assembly stage, the piston rod can be completely pressed into the middle cylinder.

[0063] As Figures 7 to 9 shown, the press-fitting device includes a moving box body 10, a press-fitting plate posture adjusting mechanism 5 arranged on the top of the moving box body 10, a press-fitting sleeve height adjusting mechanism 6 arranged at the front end inside the moving box body 10. A press-fitting sleeve 11 is detachably arranged on one side of the press-fitting sleeve height adjusting mechanism 6 close to the rear top support plate 2. A horizontal telescopic mechanism 7 is arranged inside the moving box body 10. The telescopic ends of the horizontal telescopic mechanism 7 are respectively fixedly provided with an axis position detection mechanism 8 and an oil injection mechanism 9.

[0064] Specifically, the moving box body 10 is a cuboid shell structure formed by connecting steel plates with screws. Third wing plates 1001 are respectively and fixedly arranged at the bottoms of the outer walls on both sides thereof. A third slider is fixedly connected to the bottom of the third wing plate 1001. The third slider is slidably connected to the second slide rail 14, so that the moving box body 10 can slide horizontally on the frame 1, and it can ensure that the horizontal moving directions of the moving box body 10 and the two middle cylinder piston rod support frame assemblies 4 are the same, ensuring the horizontal propulsion of the middle cylinder to complete its coaxial assembly with the outer cylinder and the horizontal propulsion of the piston rod to complete its coaxial assembly with the middle cylinder. A third rack 15 is fixedly arranged on one side of the top surface of the frame 1. The teeth of the third rack 15 are horizontally facing outwards. A planetary gear reducer 1003 is fixedly installed on the top surface of a third wing plate 1001 of the moving box body 10. A third driving motor 1002 is fixedly connected to the top input end of the planetary gear reducer 1003. A third gear 1004 meshing with the third rack 15 is fixedly connected to the bottom output shaft end of the planetary gear reducer 1003. The third driving motor 1002 adopts a servo motor, and drives the horizontal movement of the moving box body 10 through the gear-rack transmission, so as to provide driving force for the horizontal propulsion of the middle cylinder or the piston rod. Preferably, a third auxiliary gear 1005 meshing with the third rack 15 is also rotatably connected to the bottom of the third wing plate 1001 on this side to ensure the smoothness of the transmission. To realize the horizontal movement stroke control and in-place detection of the moving box body 10, a third position detection sensor 1006 is also arranged on the outer wall of the moving box body 10.

[0065] Such as Figure 10As shown in the figure, the height adjustment mechanism 6 of the press-fitting sleeve includes a fourth driving motor 601 fixedly installed in the moving box body 10, a first screw rod 602 vertically rotatably arranged in the moving box body 10 and drivingly connected to the output shaft end of the fourth driving motor 601, a first nut seat 603 threadedly sleeved on the first screw rod 602, and a connecting plate 604 fixedly connected to the side surface of the first nut seat 603. The other end of the connecting plate 604 penetrates to the outside of the moving box body 10 and is fixedly connected with a lifting mounting plate 605. Specifically, there are two first screw rods 602. On the front side of the upper surface of the bottom plate of the moving box body 10, two double-output bevel gear commutators 606 are symmetrically arranged left and right. The fourth driving motor 601 is a servo motor and is fixedly installed on the bottom plate of the moving box body 10 through a motor mounting seat. Its output shaft is horizontally arranged and is drivingly connected to the power input end of one of the double-output bevel gear commutators 606. The power output end of this double-output bevel gear commutator 606 is drivingly connected to the power output end of the other double-output bevel gear commutator 606 through a coupling and a transmission shaft. The bottom shaft ends of the two first screw rods 602 are respectively drivingly connected to the top power output ends of the two double-output bevel gear commutators 606, and the top shaft ends are rotatably installed on the bottom surface of the top plate of the moving box body 10 through bearings. In this way, the fourth driving motor 601 can drive the two first nut seats 603 and the two connecting plates 604 to lift synchronously, and further drive the vertical lifting of the lifting mounting plate 605.

[0066] On the front side side wall of the moving box body 10, two vertically arranged strip-shaped through openings are opened. The two connecting plates 604 respectively penetrate through the two strip-shaped through openings to be able to move up and down. On both sides of the front side outer wall of the moving box body 10, vertically arranged third slide rails 607 are respectively fixedly connected. A third slider is slidably connected to the third slide rails 607, and the lifting mounting plate 605 is fixedly installed on the third slider to guide the vertical lifting of the lifting mounting plate 605. On the front side side wall of the moving box body 10, a plugging groove with an upward opening is provided, and the press-fitting sleeve 11 is movably embedded in the plugging groove of the lifting mounting plate to achieve detachable assembly. In the second assembly stage, the press-fitting sleeve 11 is used for sleeving the connecting head at the top end of the live column, so that the connecting head is placed in the press-fitting sleeve 11, so that the port of the press-fitting sleeve 11 can abut against the end surface of the live column to uniformly apply an axial thrust to the end surface of the live column.

[0067] As Figure 11As shown in the figure, the posture adjustment mechanism 5 of the pressing plate includes a rodless cylinder 501 fixedly arranged at the top of the moving box body 10, a moving frame 502 connected to the output end at the top of the rodless cylinder 501, and a pressing plate 503 rotatably installed inside the end of the moving frame 502. On both sides of the top of the moving frame 502, cylinders 504 are respectively hinged. The output shaft end of the cylinder 504 is hinged with a swing rod 505, and the other end of the swing rod 505 is fixedly connected to the shaft end of the rotating shaft of the pressing plate 503. Specifically, the moving frame 502 is a U-shaped structure formed by screwing three steel plates including a rear plate and two side plates. A moving support plate is fixedly connected to the bottom ends of the rear plate and the two side plates, and the moving support plate is fixedly connected to the moving output end of the rodless cylinder 501, so that the moving frame 502 can be driven by the rodless cylinder to move horizontally back and forth. On the outer sides of the rear ends of the two side plates, hinge seats 506 are symmetrically and fixedly connected respectively, and the cylinder bodies of the two cylinders 504 are respectively hinged to the two hinge seats 506. A rotating rod 507 is arranged between the front ends (the ends far from the rear plate) of the two side plates, and both ends of the rotating rod 507 are respectively rotatably connected inside the two side plates. The pressing plate 503 is fixedly connected to the rotating rod 507 by screws. The swing rod 505 is L-shaped, and one end of it is fixedly connected to the shaft end of the rotating rod 507 by a key so that it can rotate synchronously with the pressing plate 503, and the other end is hinged to the output rod end of the cylinder 504 through a hinge joint. On the top surface of the moving box body 10, slide rails are fixedly arranged on both sides of the rodless cylinder 501, and sliders are slidably connected to the slide rails. Both sides of the moving support plate are respectively fixedly connected to the sliders on both sides.

[0068] Before the first assembly stage, the rodless cylinder 501 drives the moving frame 502 to move horizontally to the forefront, so that the pressing plate 503 is located above the front end of the pressing sleeve 11. Then, the output rod of the cylinder 504 extends, and the pressing plate 503 can be turned down from the horizontal state to the vertical state and located in front of the front end of the pressing sleeve 11, as Figure 12 shown. In the first assembly stage, in this state, the front end of the pressing sleeve 11 is a flat plate with a relatively large area, acting on the port of the middle cylinder to uniformly apply an axial thrust.

[0069] As Figures 13 to 15As shown, the horizontal telescopic mechanism 7 includes a bracket 701 fixedly disposed within the mobile housing 10, a fifth drive motor 702 fixedly mounted at the bottom of the bracket 701, a second screw 703 horizontally rotatably disposed at the bottom of the bracket 701 and transmission-connected to the output shaft end of the fifth drive motor 702, a second nut seat 704 threadedly sleeved on the second screw 703, and a cascade telescopic frame plate 705 fixedly connected to the top of the second nut seat 704. The inner output end of the cascade telescopic frame plate 705 is connected to a hollow rod 706. Specifically, the four bottom supports of the bracket 701 are fixedly connected to the bottom plate of the mobile housing 10 by screws, so that the bracket 701 is located in the middle of the mobile housing 10. The two axial ends of the second screw 703 are rotatably mounted at the bottom center of the bracket 701 via a bearing seat and are aligned with the horizontal movement direction of the mobile housing 10. A square through hole is opened at the top center of the bracket 701 along its length, and the second nut seat 704 is located in this square through hole. The fifth driving motor 705 is a servo reduction motor, which drives the second screw 703 to rotate and drives the second nut seat 704 to move horizontally.

[0070] On both sides of the top surface of the support 701, slide rail fixing plates 707 are symmetrically and fixedly arranged. The cascading telescopic shelf plate 705 includes a first-stage telescopic shelf plate 7051 located inside the two slide rail fixing plates 707 and a second-stage telescopic shelf plate 7052 located inside the first-stage telescopic shelf plate 7051. Both the first-stage telescopic shelf plate 7051 and the second-stage telescopic shelf plate 7052 have a U-shaped cross-section, and the hollow rod 706 is located inside the second-stage telescopic shelf plate 7052. Taking the elongation process as an example, the internal structure and working process of the cascading telescopic shelf plate 705 will be described. A horizontally arranged third slide rail 7053 is fixedly connected to the inner wall of the slide rail fixing plate 707. A third slider is slidably arranged on the third slide rail 7053, and the side surface of the third slider is fixedly connected to the outer wall of the first-stage telescopic shelf plate 7051. The first-stage telescopic shelf plate 7051 is fixedly connected to the top end of the second nut seat 704. Thus, the first-stage telescopic shelf plate 7051 can move horizontally synchronously with the second nut seat 704. A first synchronous belt drive mechanism 7054 is arranged at the front and rear ends inside the top of the first-stage telescopic shelf plate 7051. The front end of the outer side section of the synchronous belt of the first synchronous belt drive mechanism 7054 is fixedly connected to the inner wall of the slide rail fixing plate 707 through a first fixing block 7055, and the rear end of the inner side section is fixedly connected to the outer wall of the second-stage telescopic shelf plate 7052 through a second fixing block 7056. A horizontally arranged fourth slide rail 7057 is fixedly connected to the inner wall of the first-stage telescopic shelf plate 7051. A fourth slider is slidably arranged on the fourth slide rail 7057, and the side surface of the fourth slider is fixedly connected to the outer wall of the second-stage telescopic shelf plate 7052. Thus, when the first-stage telescopic shelf plate 7051 moves forward by a length of s, it drives the two first synchronous wheels of the first synchronous belt drive mechanism 7054 to move forward by a length of s synchronously; at the same time, the outer side section of the first synchronous belt pulls the first synchronous wheel to rotate clockwise, and the inner side section of the first synchronous belt pulls the second-stage telescopic shelf 7052 to move forward by a length of s relative to the first synchronous wheel. Therefore, the overall elongation length of the first-stage telescopic shelf plate 7051 and the second-stage telescopic shelf plate 7052 is 2s. Similarly, a second synchronous belt drive mechanism 7058 is arranged at the front and rear ends inside the top of the second-stage telescopic shelf plate 7052. The front end of the outer side section of the synchronous belt of the second synchronous belt drive mechanism 7058 is fixedly connected to the inner wall of the first-stage telescopic shelf plate 7051 through a third fixing block 7059, and the rear end of the inner side section is fixedly connected to the outer wall of the hollow rod 706 through a fourth fixing block 70510. A horizontally arranged fifth slide rail 70511 is fixedly connected to the center of the top surface of the support 701. A fifth slider is slidably arranged on the fifth slide rail 70511, and the hollow rod 706 is fixedly connected to the top of the fifth slider. The same as the foregoing, when the second-stage telescopic shelf plate 7051 elongates forward by a length of s, the hollow rod 706 elongates forward by a length of s relative to the second-stage telescopic shelf plate 7051. Then the total horizontal displacement distance of the hollow rod 706 is 3s, realizing a three-fold magnification of the horizontal displacement of the second nut seat 704, so as to achieve short-stroke drive and long-stroke output, and shorten the overall length of the horizontal telescopic mechanism 7.

[0071] As Figure 16 and Figure 17 shown, the axis position detection mechanism 8 includes a pneumatic gripper 801 fixedly installed at the top end of the hollow rod 706, a laser displacement sensor 802 fixedly installed at the bottom end of the hollow rod 706, and protective covers 803 respectively rotatably connected to both sides of the end of the hollow rod 706. Two fingers of the pneumatic gripper 801 are respectively fixedly connected with moving blocks 804, and the bottom end of the moving block 804 is rotatably connected to the top end of the protective cover 803. In the first assembly stage, after the outer cylinder is placed on the two outer cylinder support frame assemblies 3, the horizontal telescopic mechanism 7 extends to horizontally move the axis position detection mechanism 8 at the end of the hollow rod 706 to the outside of the moving box body 10, and then the moving box body 10 horizontally moves and approaches the assembly end of the outer cylinder (the end facing the pressing device) and stops moving, so that the axis position detection mechanism 8 is located inside the assembly end of the outer cylinder; the two fingers of the pneumatic gripper 801 approach each other to make the two moving blocks 804 approach relatively, thereby pulling the top end of the protective cover 803 to move inward, and then the protective cover 803 rotates around its rotating shaft to turn the bottom end outward and open, exposing the laser displacement sensor 802. To meet the need for the axis position detection mechanism 8 to enter and exit the moving box body 10, an entrance and exit are provided on the front side wall of the moving box body 10.

[0072] The laser sensor 802 detects the distance h1 between it and the lowest end of the inner cavity bottom surface of the cylinder at the current position, and then the moving box body 10 travels forward a preset distance to make the laser displacement sensor 802 located inside the inner cavity of the inner side end of the outer cylinder, and the laser sensor 802 detects the distance h2 between it and the lowest end of the inner cavity bottom surface of the cylinder at the current position. According to the data detected at the two detection points, the first electric cylinder 307 in one of the outer cylinder support frame assemblies 3 is controlled to work through the electric control system and the servo system, so as to adjust the vertical position of the corresponding V-shaped lifting bracket 302 until the detected distance values at the two detection points are the same, that is, h1 = h2. After each height adjustment, the height values of the two positions are re-detected by the laser sensor 802. If the height values are the same, it means that the central axis of the outer cylinder has been adjusted to the horizontal state.

[0073] The fuel injection mechanism 9 includes a flow sensor 901 fixedly arranged at the end of the hollow rod 706 and an atomizing nozzle 902 fixedly connected to the outer end of the flow sensor 901, which is used to atomize the oil liquid and evenly spray it on the inner wall of the outer cylinder. The oil inlet end of the flow sensor 901 is connected to an external oil supply system through an oil pipe. The oil pipe is placed inside the hollow rod 706 and is led out from the rear end of the horizontal telescopic mechanism 7. When the laser sensor 802 is located in the inner end cavity of the outer cylinder and the height values of the two detection points are measured to be the same, the two fingers of the pneumatic gripper 801 move away from each other, causing the two moving blocks 804 to move relatively away from each other, thereby pulling the top of the protective cover 803 to move outward. Then the protective cover 803 rotates around its rotating shaft, causing the bottom end to move inward and close, covering the laser sensor 802 to prevent the oil liquid from directly spraying on the laser sensor 802 during the fuel injection operation. Then the fuel injection mechanism 9 works, and the horizontal telescopic mechanism 7 drives the hollow rod 706 to move backward and contract. The atomizing nozzle 902 evenly sprays the atomized oil liquid on the inner wall of the outer cylinder during the horizontal movement until the fuel injection mechanism 9 moves out of the outer cylinder. The fuel injection mechanism 9 stops working, and the horizontal telescopic mechanism 7 continues to drive the hollow rod 706 to move horizontally until the fuel injection mechanism 9 is reset back into the moving box body 10.

[0074] In addition, an electrical cabinet 16 is also arranged at the rear end position of the machine frame 1 for installing electrical components such as the electrical control system, servo system, and pneumatic system. A material rack 17 is arranged at the front end position of the machine frame 1 for placing accessories such as guide sleeves, half rings, dust covers, and snap rings, facilitating the operation of the operator nearby. At the same time, an operation panel 18 is arranged on the side of the moving box body 10, and the equipment can be operated step by step independently or stepped back through operation buttons, facilitating the adjustment of the equipment. At the same time, the equipment has two operating modes: manual operation and automatic operation. In the automatic operation mode, it can only be started when the equipment is in the origin state; after the equipment resets to the origin, the manual mode and the automatic mode can be switched; after entering the automatic operation state, the equipment can operate according to the specified operation mode and steps of the equipment. At the same time, an error prevention and interlock device and corresponding control programs are also configured, enabling the equipment to have an error prevention and interlock function between each action, preventing unnecessary misoperations from damaging the equipment and the processed products (that is, if the current action has not ended smoothly, the next action cannot start).

[0075] Embodiment 2:

[0076] As Figure 18 shown, a hydraulic column automatic assembly process is applied to the special hydraulic column automatic assembly machine in Embodiment 1, including the following steps:

[0077] S1. The production line information system sends the processing work order information of the assembly area to the master PLC, and the master PLC calls for feeding materials from the Warehouse Management System (WMS). The production line information system, the master PLC, and the Warehouse Management System all adopt existing logistics warehousing systems, and can be reasonably optimized, combined, and improved in combination with the actual equipment layout of the production site and the arrangement of production processes.

[0078] S2. The AGV cart transports the large cylinders, medium cylinders, and piston rods to be assembled from the warehouse to their respective feeding stations, and automatically completes the cleaning operation. After receiving the call for feeding materials information from the master PLC, the Warehouse Management System responds to the call information according to the material storage situation in the warehouse, and controls the gantry robot through the master PLC to grab the large cylinders, medium cylinders, and piston rods to be assembled from the material racks and place them on the corresponding AGV carts. The AGV cart transports the materials to the feeding station according to the preset travel route and places them on the material rack 17 according to the preset position, and at the same time feeds back the material transportation information to the Warehouse Management System. At the feeding station, each cylinder component is automatically cleaned by the cleaning device to ensure the cleanliness of the inner and outer surfaces of each component, thereby ensuring the subsequent assembly quality.

[0079] In this assembly process, the guide sleeves on the medium cylinders and piston rods, and the sealing parts on the dust covers are assembled manually. Therefore, before starting the assembly process, various sealing parts are placed on a dedicated feeding rack in advance.

[0080] S3. The gantry robot transfers the large cylinders and medium cylinders to the hydraulic column automatic assembly machine respectively, and the hydraulic column automatic assembly machine automatically completes the positioning of the outer cylinder and the medium cylinder and the assembly between the medium cylinder and the outer cylinder, forming an outer cylinder and medium cylinder assembly.

[0081] Specifically, as Figure 19 shown, the specific steps of this process are as follows:

[0082] S301. Two groups of outer cylinder support frame assemblies 3 are automatically adjusted to the connection position of the outer cylinder, and the gantry robot transfers the upper part of the outer cylinder to be assembled to the two groups of outer cylinder support frame assemblies 3. Before feeding, it is necessary to manually select the workpiece model on site. After confirmation, the two groups of outer cylinder support frame assemblies 3 automatically horizontally move to adjust their respective horizontal positions and the distance between the two according to the preset connection distance and position of the outer cylinder of the corresponding model, and then carry out the automatic feeding process. After the automatic feeding is completed, it is confirmed by the operator.

[0083] S302. The two groups of outer cylinder support frame assemblies 3 move horizontally and automatically move the outer cylinder to contact the working surface of the rear top support plate 2 at its rear end, completing the axial positioning of the outer cylinder. After the position detection sensor set in the rear top support plate 2 detects that the outer cylinder reaches the preset assembly station, the outer cylinder support frame assembly 3 is controlled to stop moving through the electric control system and the servo system.

[0084] S303. The two sets of outer cylinder support frame assemblies 3 automatically adjust their support heights to adjust the central axis of the outer cylinder to the horizontal state. During this process, the two sets of middle cylinder piston rod support frame assemblies 4 run to the maximum position close to the rear top support plate 2, and then the moving box body 10 moves horizontally towards the side where the outer cylinder is located. At the same time, the horizontal telescopic mechanism 7 works to extend the axial position detection mechanism 8 and the oil injection mechanism 9 to the outside of the moving box body 10. The moving box body 10 moves horizontally to make the axial position detection mechanism 8 reach the preset first detection point position and the second detection point position in the outer cylinder cavity respectively. The pneumatic clamp 801 on the axial position detection mechanism 8 drives the protective cover 803 outside the laser sensor 802 to open. The laser sensor 802 is exposed and detects the height difference of the central axis of the outer cylinder at the two detection point positions. Through feedback control, the two sets of outer cylinder support frame assemblies 3 adjust the vertical height of their V-shaped lifting brackets 302 until the central axis of the outer cylinder is adjusted to the horizontal state and the bottom of the outer cylinder is separated from the first V-shaped fixed bracket 304.

[0085] After the central axis of the outer cylinder is adjusted to the horizontal state, the pneumatic clamp 801 on the axial position detection mechanism 8 drives the protective cover 803 to close, covering the laser sensor 802 to prevent oil from spraying on the laser sensor 802. The moving box body 10 continues to move forward to make the oil injection mechanism 9 reach the preset oil injection starting position in the outer cylinder cavity. The oil injection mechanism 9 works to atomize the oil through the atomizing nozzle and evenly spray it on the inner wall of the outer cylinder. At the same time, the moving box body 10 moves in the reverse direction, and the atomizing nozzle moves horizontally synchronously to complete a comprehensive oil injection operation on the inner cavity of the outer cylinder. When the atomizing nozzle reaches the cylinder mouth position of the outer cylinder, the oil injection mechanism 9 stops working; then the horizontal telescopic mechanism 7 works in the reverse direction to drive the axial position detection mechanism 8 and the oil injection mechanism 9 to reset into the moving box body 10.

[0086] S304. The moving box body 10 returns to the initial position, and then the operator selects the corresponding type of middle cylinder guide sleeve from the feeding rack and installs it on the outside of the middle cylinder.

[0087] Meanwhile or after that, the pressing plate posture adjustment mechanism 5 works. The rodless cylinder drives the cylinder and the pressing plate 503 to move horizontally to the front end, so that the pressing plate 503 is located above the front end of the pressing sleeve 11. Then the output rod of the cylinder extends, and the pressing plate 503 can be turned from the horizontal state to the vertical state and located in front of the front side of the pressing sleeve 11.

[0088] S305. The two sets of intermediate cylinder piston rod support frame assemblies 4 are automatically adjusted to the connection positions of the intermediate cylinders, and the gantry manipulator loads the upper intermediate cylinders to be assembled onto the two sets of intermediate cylinder piston rod support frame assemblies 4. Similarly, before loading, it is necessary to manually select the workpiece model on-site. After confirmation, the two sets of intermediate cylinder piston rod support frame assemblies 4 automatically horizontally move to adjust their respective horizontal positions and the distance between them according to the preset connection distances and positions of the outer cylinders of the corresponding models, and then the automatic loading process is carried out. After the automatic loading is completed, it is manually confirmed again.

[0089] S306. The two sets of intermediate cylinder piston rod support frame assemblies 4 automatically adjust their support heights to make the central axis of the intermediate cylinder coincide with the central axis of the outer cylinder. Specifically, after the initialization of the two waist-shaped support rollers 402 in the two sets of intermediate cylinder piston rod support frame assemblies 4, their vertical heights are the same, and then they synchronously vertically lift and lower to smoothly lift the intermediate cylinder placed on them vertically. According to the adjusted vertical height of the two sets of V-shaped lifting brackets 302 before, the corresponding lifting heights of the two waist-shaped support rollers 402 can be calculated, so that the central axis of the adjusted intermediate cylinder coincides with the central axis of the adjusted outer cylinder, and the intermediate cylinder is separated from the second V-shaped fixed bracket 404.

[0090] S307. The pressing device horizontally moves to push the rear end of the intermediate cylinder to horizontally move it and insert it into the outer cylinder through the intermediate cylinder guide sleeve. Specifically, the moving box body 10 horizontally moves forward, and through the vertical pressing plate 503, it pushes the rear end of the intermediate cylinder to horizontally move it and insert it into the outer cylinder through the intermediate cylinder guide sleeve. At the same time, the two sets of intermediate cylinder piston rod support frame assemblies 4 also synchronously horizontally move forward. When the intermediate cylinder piston rod support frame assemblies 4 reach the position near the outer cylinder port, the waist-shaped support rollers 402 vertically descend, so that the intermediate cylinder piston rod support frame assemblies 4 enter below the end of the outer cylinder port, and the pressing plate 503 moves to the outside of the outer cylinder port to completely press the intermediate cylinder into the outer cylinder.

[0091] Then, the moving box body 10 moves backward a certain distance, and the output rod of the air cylinder 504 contracts, so that the pressing plate 503 flips upward from the vertical state to the horizontal state and is located above the pressing sleeve 11. Then, the rodless air cylinder 501 drives the pressing plate 503 to horizontally move to the rearmost end, so that the pressing plate 503 is re-located above the moving box body 10.

[0092] S308. After the pressing device moves away from the outer cylinder port position, the operator completes the assembly of components such as the intermediate cylinder guide sleeve, half ring, dust cover, and snap ring at the outer cylinder port part, and completes the assembly between the intermediate cylinder and the outer cylinder.

[0093] After the assembly of the intermediate cylinder and the outer cylinder is completed, the pressing device drives the oil injection mechanism 9 to horizontally move again. During the movement, the oil injection mechanism 9 atomizes the oil liquid and evenly sprays it on the inner wall of the intermediate cylinder, and then the pressing device resets.

[0094] S4. The gantry robot transfers the piston rod to the hydraulic column automatic assembly machine, and automatically completes the positioning of the piston rod and the assembly between the piston rod and the combined body of the outer cylinder and the middle cylinder. Specifically, as Figure 20 shown, the specific steps of this process are as follows:

[0095] S401. After the pressing device returns to the initial position, the operator selects the corresponding type of piston rod guide sleeve from the loading rack and installs it on the outside of the piston rod.

[0096] S402. The two sets of middle cylinder piston rod support frame assemblies 4 are automatically adjusted to the connecting position of the piston rod, and the gantry robot loads the piston rod to be assembled onto the two sets of middle cylinder piston rod support frame assemblies 4. This process is the same as the previous feeding process of the middle cylinder.

[0097] S403. The two sets of middle cylinder piston rod support frame assemblies 4 automatically adjust their support heights to make the central axis of the piston rod coincide with the central axis of the middle cylinder. This process is also the same as the previous vertical height adjustment process of the middle cylinder.

[0098] S404. The pressing device moves horizontally, pushing the rear end of the piston rod to make it move horizontally and insert it into the middle cylinder through the piston rod guide sleeve. Since during the reset process of the pressing device mentioned above, the pressing plate posture adjustment mechanism 5 has adjusted the pressing plate 503 above the displacement moving box body 10, at this time the pressing sleeve 11 is exposed and placed on the front side of the moving box body 10. The pressing sleeve height adjustment mechanism 6 works, driving the pressing sleeve 11 to move vertically to make its central axis coincide with the previously set assembly central axis, so that the connecting head at the top of the piston rod can smoothly enter the pressing sleeve 11. The moving box body 10 moves forward horizontally, making the pressing sleeve 11 sleeve on the outside of the connecting head at the top of the piston rod, and the port of the pressing sleeve 11 abuts against the end face of the piston rod, pushing the top of the piston rod to make it move horizontally and insert it into the middle cylinder. At the same time, the two sets of middle cylinder piston rod support frame assemblies 4 also move forward horizontally synchronously until the middle cylinder piston rod support frame assemblies 4 enter below the end of the middle cylinder port, and the pressing sleeve 11 moves to the outside of the middle cylinder port, completely pressing the piston rod into the middle cylinder.

[0099] S405. After the pressing device moves away from the position of the outer cylinder port, the operator manually completes the assembly of components such as the piston rod guide sleeve, half ring, dust cover, and snap ring on the piston rod at the middle cylinder port part, completes the assembly between the piston rod and the middle cylinder, and thus completes the overall assembly of the entire hydraulic column.

[0100] S5. The gantry robot grabs the assembled assembly from the hydraulic column automatic assembly machine and transfers it to the unloading station, and feeds back the material information to the warehouse management system.

[0101] S6. The AGV cart transports the assembly to the finished product area and feeds back the material information to the warehouse management system.

[0102] Embodiment 3:

[0103] As Figure 21 shown, another automatic assembly process for hydraulic columns is also provided, which is also applied to the automatic hydraulic column assembly machine described in Embodiment 1. The main difference between this process and the automatic assembly process provided in Embodiment 2 is that two assembly machines are set, namely the A-area hydraulic column automatic assembly machine and the B-area hydraulic column automatic assembly machine. The middle cylinder and the outer cylinder are assembled on the A-area hydraulic column automatic assembly machine to form an outer cylinder-middle cylinder assembly, and then it is transferred to the B-area hydraulic column automatic assembly machine to complete the assembly between the piston rod and the outer cylinder-middle cylinder assembly. Therefore, there is no need to set the pressing plate posture adjustment mechanism 5 on the moving boxes of the two assembly machines, and only the aforementioned pressing plate 503 needs to be vertically and fixedly set on the front side of the moving box 10 of the A-area hydraulic column automatic assembly machine, without setting the pressing sleeve height adjustment mechanism 6 and the pressing sleeve 11.

[0104] Specifically, it includes the following steps:

[0105] S1. The production line information system sends the assembly area processing work order information to the master control PLC, and the master control PLC calls the warehouse management system for feeding.

[0106] S2. The AGV cart transports the large cylinder, middle cylinder, and piston rod to be assembled from the warehouse to their respective feeding stations, and automatically completes the cleaning operation.

[0107] S3. The truss manipulator transfers the large cylinder and the middle cylinder to the A-area hydraulic column automatic assembly machine. The A-area hydraulic column automatic assembly machine automatically completes the positioning of the outer cylinder and the middle cylinder and the assembly between the middle cylinder and the outer cylinder to form an outer cylinder-middle cylinder assembly.

[0108] The above processes are the same as those in Embodiment 2 and will not be repeated here.

[0109] S4. The truss manipulator grabs and transfers the outer cylinder-middle cylinder assembly to the A-area unloading station. The AGV cart transports the outer cylinder-middle cylinder assembly to the B-area feeding station. After arriving, the AGV cart feeds back information to the master control PLC.

[0110] S5. The truss manipulator transfers the large cylinder-middle cylinder assembly and the piston rod to the B-area hydraulic column automatic assembly machine respectively. The B-area hydraulic column automatic assembly machine automatically completes the positioning of the outer cylinder-middle cylinder assembly and the piston rod and the assembly between the piston rod and the outer cylinder-middle cylinder assembly. Since the middle cylinder has been sleeved into the outer cylinder at this time, the positioning method of the outer cylinder-middle cylinder assembly is exactly the same as the positioning process of the large cylinder in Embodiment 2, and the positioning method of the piston rod is also exactly the same as the positioning process of the piston rod in Embodiment 2.

[0111] S6. The truss manipulator grabs and transfers the assembled assembly from the B-area hydraulic column automatic assembly machine to the unloading station and feeds back the material information to the warehouse management system. This process is exactly the same as the assembly unloading process in Embodiment 2.

[0112] S7. The AGV cart transports the assembly to the finished product area and feeds back the material information to the warehouse management system. This process is also exactly the same as the assembly transportation process in Embodiment 2.

[0113] The two assembly stages are set to be carried out separately in two assembly areas. On the one hand, it can simplify the structure of the equipment and facilitate logistics management. On the other hand, due to the different radii of the middle cylinder and the piston rod, when assembling in sequence, the height of the middle cylinder piston rod support frame assembly 4 needs to be adjusted. However, by adopting the separate assembly method, for the same type of hydraulic column, the assembly positions of its middle cylinder or cylinder body on the same assembly machine are the same. Therefore, the frequency of the vertical reciprocating movement of the V-shaped lifting bracket 302 and the kidney-shaped support roller 402 can be reduced.

[0114] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

Claims

1. A hydraulic column assembly machine, comprising a frame, characterized in that: A rear top support plate is fixedly provided at one end of the top of the frame, and a horizontally movable pressing device is provided at the other end of the top. At least two sets of horizontally movable outer cylinder support frame assemblies are provided on one side of the top of the frame close to the rear top support plate, and at least two sets of horizontally movable middle cylinder piston support frame assemblies are provided on one side close to the pressing device. The press-fitting device includes a movable box, a press-fitting plate posture adjustment mechanism arranged on the top of the movable box, and a press-fitting sleeve height adjustment mechanism arranged at the front end of the inner part of the movable box. The press-fitting sleeve height adjustment mechanism is detachably provided with a press-fitting sleeve on one side close to the rear top support plate. A horizontal telescopic mechanism is provided in the movable box, and an axial position detection mechanism and an oil injection mechanism are fixedly provided at the telescopic ends of the horizontal telescopic mechanism.

2. The hydraulic column assembly machine according to claim 1, characterized in that: The outer cylinder support frame assembly includes a first movable frame plate, a V-shaped lifting bracket movably arranged in the first movable frame plate, and a first electric cylinder fixedly installed at the bottom of the first movable frame plate. The output shaft end of the first electric cylinder is fixedly connected to the bottom end of the V-shaped lifting bracket, and the first movable frame plate is fixedly provided with a first V-shaped fixed bracket located on both sides of the V-shaped lifting bracket.

3. The hydraulic column assembly machine according to claim 1, characterized in that: The middle cylinder active column support frame assembly includes a second movable frame plate, a waist-shaped support roller movably arranged in the second movable frame plate, and a second electric cylinder fixedly installed at the bottom of the second movable frame plate. The output shaft end of the second electric cylinder is fixedly connected to the bottom end of the waist-shaped support roller, and a second V-shaped fixed bracket is fixedly arranged on the second movable frame plate on both sides of the waist-shaped support roller.

4. The hydraulic column assembly machine according to any one of claims 1 to 3, characterized in that: The height adjustment mechanism of the press-fitting sleeve includes a fourth drive motor fixedly installed in the moving box, a first screw rod vertically rotatably arranged in the moving box and transmission-connected to the output shaft end of the fourth drive motor, a first nut seat threadedly sleeved on the first screw rod, and a connecting plate fixedly connected to the side surface of the first nut seat. The other end of the connecting plate passes through the outside of the moving box and is fixedly connected to the lifting mounting plate. The press-fitting sleeve is movably embedded in the side surface of the lifting mounting plate.

5. The hydraulic column assembly machine according to any one of claims 1 to 3, characterized in that: The press plate posture adjustment mechanism includes a rodless cylinder fixedly arranged on the top of the mobile box, a mobile frame connected to the output end of the top of the rodless cylinder, and a press plate rotatably installed at the end of the mobile frame. The top two sides of the mobile frame are respectively hinged with cylinders, and the output shaft end of the cylinder is hinged with a rocker arm, and the other end of the rocker arm is fixedly connected to the shaft end of the rotating shaft of the press plate.

6. The hydraulic column assembly machine according to any one of claims 1 to 3, characterized in that: The horizontal telescopic mechanism includes a bracket fixedly arranged in the mobile box, a fifth drive motor fixedly installed at the bottom of the bracket, a second screw rod horizontally rotatably arranged at the bottom of the bracket and transmission-connected to the output shaft end of the fifth drive motor, a second nut seat threadedly sleeved on the second screw rod, and a cascade telescopic frame plate fixedly connected to the top of the second nut seat. The inner output end of the cascade telescopic frame plate is connected to a hollow rod, and the oil injection mechanism is fixedly arranged at the end of the hollow rod.

7. The hydraulic column assembly machine according to claim 6, characterized in that: The axis position detection mechanism includes a pneumatic clamp fixedly installed on the top of the hollow rod end, a laser sensor fixedly installed on the bottom of the hollow rod end, and protective covers rotatably connected to both sides of the hollow rod end. The two fingers of the pneumatic clamp are respectively fixedly connected to a moving block, and the bottom end of the moving block is rotatably connected to the top end of the protective cover.

8. A hydraulic column automatic assembly process, applied to the hydraulic column automatic assembly machine according to any one of claims 1 to 7, comprising the following steps: S1. The production line information system sends the assembly area processing work order information to the master control PLC, and the master control PLC calls the warehouse management system for material loading; S2, AGV trolley transports the large cylinder, medium cylinder and plunger to be assembled from the warehouse to their respective loading stations and automatically completes the cleaning operation; S3. The truss manipulator moves the large cylinder and the middle cylinder to the hydraulic column automatic assembly machine respectively. The hydraulic column automatic assembly machine automatically completes the positioning of the outer cylinder and the middle cylinder and the assembly between the middle cylinder and the outer cylinder to form an outer cylinder and middle cylinder assembly; S4. The truss manipulator transfers the plunger to the hydraulic column automatic assembly machine, which automatically completes the positioning of the plunger and the assembly between the plunger and the outer cylinder and inner cylinder assembly; S5. The truss manipulator grabs the assembled assembly from the hydraulic column automatic assembly machine and transfers it to the unloading station, feeding back material information to the warehouse management system; S6, AGV transports the assembly to the finished product area and feeds back material information to the warehouse management system.

9. The automatic assembly process of hydraulic columns according to claim 8, characterized in that: The specific steps for automatic positioning and assembly of the middle cylinder and the outer cylinder are as follows: S301, the two sets of outer cylinder support frame assemblies are automatically adjusted to the connection position of the outer cylinder, and the truss manipulator places the outer cylinder to be assembled onto the two sets of outer cylinder support frame assemblies; S302, the two sets of outer cylinder support frame assemblies move horizontally, automatically moving the outer cylinder to its rear end to contact the working surface of the rear top support plate, completing the axial positioning of the outer cylinder; S303, the two sets of outer cylinder support frame assemblies automatically adjust their support heights so that the central axis of the outer cylinder is adjusted to a horizontal state; S304, manually assembling the middle cylinder guide sleeve to the outer side of the middle cylinder of the outer cylinder; S305: The two sets of middle cylinder active column support frame assemblies are automatically adjusted to the connection position of the middle cylinder, and the truss manipulator places the middle cylinder parts to be assembled onto the two sets of middle cylinder active column support frame assemblies; S306. The two sets of middle cylinder plunger support bracket assemblies automatically adjust their support heights so that the central axis of the middle cylinder coincides with the central axis of the outer cylinder. S307, the press-fitting device moves horizontally, pushing the rear end of the middle cylinder to move horizontally and insert it into the outer cylinder through the middle cylinder guide sleeve; S308, manually assemble the outer cylinder mouth accessories.

10. The automatic assembly process of hydraulic columns according to claim 8 or 9, characterized in that: The specific steps for automatic positioning of the plunger and assembly of the plunger with the outer cylinder and inner cylinder assembly are as follows: S401, manually assembling the plunger guide sleeve to the outside of the plunger; S402: The two sets of center cylinder plunger support frame assemblies are automatically adjusted to the plunger connection positions, and the truss manipulator places the plunger to be assembled onto the two sets of center cylinder plunger support frame assemblies. S403: The two sets of middle cylinder plunger support bracket assemblies automatically adjust their support heights so that the central axis of the plunger coincides with the central axis of the middle cylinder; S404, the press-fitting device moves horizontally, pushing the rear end of the plunger to move horizontally and insert it into the middle cylinder through the plunger guide sleeve; S405, manually assemble the cylinder mouth accessories.

11. A hydraulic column automatic assembly process, applied to the hydraulic column automatic assembly machine according to any one of claims 1 to 7, comprising the following steps: S1. The production line information system sends the assembly area processing work order information to the master control PLC, and the master control PLC calls the warehouse management system for material loading; S2, AGV trolley transports the large cylinder, medium cylinder and plunger to be assembled from the warehouse to their respective loading stations and automatically completes the cleaning operation; S3. The truss manipulator transfers the large cylinder and the middle cylinder to the hydraulic column automatic assembly machine in area A. The hydraulic column automatic assembly machine in area A automatically completes the positioning of the outer cylinder and the middle cylinder and the assembly between the middle cylinder and the outer cylinder to form an outer cylinder and middle cylinder assembly; S4: The truss manipulator grabs the outer cylinder and inner cylinder assembly and transfers it to the unloading station in area A. The AGV transports the outer cylinder and inner cylinder assembly to the loading station in area B. S5. The truss manipulator transfers the large-cylinder-in-cylinder assembly and the plunger to the hydraulic column automatic assembly machine in area B. The hydraulic column automatic assembly machine in area B automatically completes the positioning of the outer-cylinder-in-cylinder assembly and the plunger, and the assembly between the plunger and the outer-cylinder-in-cylinder assembly; S6: The truss manipulator grabs the assembled parts from the hydraulic column automatic assembly machine in area B and transfers them to the unloading station, feeding back the material information to the warehouse management system. S7 and AGV transport the assembly to the finished product area and feed back material information to the warehouse management system.

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