Torsion spring energy storage assembly system and method

Abstract

The invention discloses a torsional spring energy storage assembly system and method. The system comprises a feeding mechanism, a posture conversion mechanism, an energy storage mechanism and a transfer assembly manipulator. The feeding mechanism is used for sorting and conveying the scattered torsional springs; the posture conversion mechanism converts the lying torsion spring into a standing posture; the energy storage mechanism applies accurate torque to the torsion spring through cooperation of a first positioning column, a rotatable second column body and a pressing device so that the torsion spring can store energy. The transferring and assembling manipulator is provided with an outer pipe with a bayonet and an inner rod capable of sliding relatively, the pins are clamped into the bayonet through the tension of the torsional spring so as to be locked and maintain the energy storage state, and after the torsional spring is transferred to the assembling station, the inner rod is pushed downwards to release the torsional spring to complete assembling. The full-process automation of loading, energy storage, transferring and assembling of the torsion spring is realized, the problems of low manual operation efficiency, poor consistency, potential safety hazards and the like are solved, and particularly, the technical problem of state maintenance of the energy-stored torsion spring in the transferring process is solved through the design of a manipulator.

Description

Technical Field

[0001] This invention relates to the field of automated assembly technology, specifically to a torsion spring energy storage assembly system and method. Background Technology

[0002] Torsion springs, as a common mechanical energy storage element, store and release energy through their own torsional elastic deformation, thereby achieving functions such as force or torque transmission and mechanism reset. They play an indispensable role in many products, including nail guns, circuit breakers, and car seat adjusters.

[0003] However, the assembly of torsion springs has always been a thorny issue in the manufacturing industry. The core difficulty lies in the significant difference in shape and position between the vast majority of torsion springs in their free state and their working, installed state. Before installation, torque must be applied to them to store energy, that is, torsion from the free state to the preloaded state, and then they are installed in the specific position of the product and locked by the limiting mechanism to maintain their preload.

[0004] If this process is done manually, there are several major drawbacks: 1. Manually tightening torsion springs and precisely positioning them for installation requires skilled techniques and is time-consuming, making it difficult to match the pace requirements of modern production lines.

[0005] 2. Manual operation cannot precisely control the preload angle and torque of the torsion spring, resulting in poor consistency between products and affecting the performance and quality stability of the final product.

[0006] 3. During operation, the stored torsion spring contains a large elastic potential energy. If it slips out of the hand, it can easily be ejected, causing serious personal injury such as blows and cuts to the operator.

[0007] 4. Continuous and repetitive torsion spring assembly work can easily lead to hand fatigue in operators and even cause occupational diseases such as tenosynovitis. Summary of the Invention

[0008] The primary objective of this invention is to provide a torsion spring energy storage assembly system, which aims to automate the entire process from the arrival of torsion springs to the final assembly, completely replacing manual operation.

[0009] Another objective of this invention is to provide a corresponding assembly method, which has a clear process, precise control, and can ensure that the energy storage state of each torsion spring is consistent and the assembly position is accurate.

[0010] A further objective of this invention is to solve the problem of maintaining the state of a stored torsion spring during spatial transfer. Through an innovative robotic arm design, it is ensured that the stored energy of the torsion spring is not accidentally released during its movement from the energy storage station to the product station.

[0011] To achieve the above-mentioned objectives, the present invention adopts the following technical solution: A torsion spring energy storage assembly system includes: a feeding mechanism for orderly supply of torsion springs, a posture conversion mechanism for adjusting the spatial attitude of the torsion springs, an energy storage mechanism for applying a predetermined torque to the torsion springs to store energy, and a transfer assembly robot for gripping, transferring, and ultimately releasing the torsion springs. These mechanisms operate sequentially according to a predetermined program to complete the entire assembly cycle.

[0012] The feeding mechanism is the starting point of the system, responsible for screening, orienting, and continuously conveying the randomly stacked individual torsion springs to the next workstation. Preferably, this mechanism is a vibratory feeding device. Under vibration, the torsion springs move along the track, and under the screening of the track's specific structure, only torsion springs conforming to a specific posture can pass through, ultimately being uniformly arranged into a flat posture, that is, the central axis of the torsion springs is basically parallel to the horizontal plane and is sequentially fed out from the track. This feeding method is efficient and reliable, and is the foundation for realizing automated mass production.

[0013] Since the subsequent energy storage operation requires the torsion spring to be in an upright position, i.e., its central axis is perpendicular to the horizontal plane, it is necessary to change the posture of the lying torsion spring delivered by the feeding mechanism. The posture changing mechanism is located at the end of the feeding mechanism track. It includes a power source and a receiving component. The power source is preferably a rotary cylinder with precisely controllable rotation angle; of course, a servo motor with a reducer is also a feasible alternative. The receiving component is a receiving groove fixed to the rotating shaft, its shape and size capable of receiving a single torsion spring sliding in from the discharge channel. When the sensor detects that the torsion spring has entered the receiving groove, the rotary cylinder drives the receiving groove to rotate 90 degrees, thereby precisely changing the torsion spring in the groove from a lying position to an upright position, preparing it for the next step of energy storage.

[0014] The energy storage mechanism is the core of the system, responsible for applying precise torque to the torsion spring in an upright position. The energy storage mechanism includes a platform, a first positioning column fixedly mounted on the platform, a rotatable second column, and a clamping device for clamping the first pin of the torsion spring.

[0015] The first positioning post has a diameter that matches the inner diameter of the torsion spring and is used as the core shaft and rotation center reference of the torsion spring during the energy storage process.

[0016] The clamping device typically includes a linear drive element, such as a cylinder, and a pressure plate driven by it. When the upright torsion spring is placed on the first positioning post, the cylinder actuates, pushing the pressure plate downwards and firmly pressing the first pin of the torsion spring onto the platform, preventing it from moving during subsequent energy storage.

[0017] The second column is configured to rotate around the first positioning column. In a preferred embodiment, the second column is mounted on a rotating ring surrounding the first positioning column. This rotating ring is driven by a separate drive source, such as a servo motor, stepper motor, or another rotary cylinder. When the clamping device presses down on the first pin, the drive source is activated, causing the rotating ring and the second column to revolve around the first positioning column. During rotation, the second column contacts and pushes the second pin of the torsion spring. Since the first pin is fixed, the pushing of the second pin forces the torsion spring body to twist around its own axis, thereby storing energy in the torsion spring. By controlling the rotation angle of the rotating ring, the preload torque or preload angle of the torsion spring can be precisely controlled.

[0018] The transfer assembly robot comprises an outer tube and an inner rod coaxially disposed within it. The outer tube and the inner rod can slide axially relative to each other. One or more locking slots are provided on the wall of the outer tube at its end. After the torsion spring has completed energy storage in the energy storage mechanism, its two leads have a strong tendency to open outwards due to the torsion of the spring body. At this time, the robot moves directly above the torsion spring, and the outer tube and the inner rod descend as a whole. The outer tube then wraps around the entire torsion spring. During this process, the open leads of the torsion spring, under the action of their own elastic restoring force, will naturally pop outwards and precisely engage with or abut against the locking slots on the outer tube wall. This design utilizes the inherent characteristics of the torsion spring to achieve passive gripping and locking, eliminating the need for an additional active clamping power source, resulting in a simple and reliable structure. Once the leads are restricted by the locking slots, the energy storage state of the torsion spring is effectively locked inside the outer tube and maintained throughout the transfer process.

[0019] When the robotic arm moves the torsion spring to the assembly position of a component on the target product, such as a nail gun, it performs a release action. At this time, the inner rod is driven by an external force, for example, pushed downward relative to the outer tube by a cylinder. The lower end face of the inner rod acts on the end of the torsion spring, smoothly pushing it out of the outer tube. The moment the torsion spring is completely released from the constraint of the outer tube's latch, its accumulated elastic potential energy is immediately released, and the two pins quickly open outward, thus accurately engaging or hooking onto a pre-set hook, groove, or pin on the target product, completing the final assembly.

[0020] The present invention adopts the following technical solution: A method for assembling a torsion spring for energy storage This method is based on the above system and its process is as follows: S1: Feeding and Orientation Steps. The loose materials are screened and arranged by a vibrating feeding device, so that they are transported to the receiving station in an orderly manner in a flat position.

[0021] S2: Posture Conversion Step. The rotary driver rotates the receiving trough and its internal torsion spring by 90 degrees, changing the torsion spring from a lying position to an upright position.

[0022] S3: Torsion spring positioning step. Using an auxiliary robot or other transfer device, the upright torsion spring is fitted onto the first positioning post of the energy storage mechanism.

[0023] S4: Pin clamping procedure. Activate the clamping device to firmly clamp the first pin of the torsion spring onto the energy storage platform, thus fixing it in place.

[0024] S5: Torsion spring energy storage step. Drive the second column to rotate around the first positioning column, causing it to push the second pin of the torsion spring, forcing the torsion spring to twist around its own axis to reach the predetermined energy storage angle.

[0025] S6: Grasping and Locking Step. The transfer assembly robot moves to the energy storage station, and its outer tube descends to enclose the already energized torsion spring. Utilizing the elastic force of the torsion spring's own open leads, the leads are engaged into the slots of the outer tube, thereby grasping and locking the torsion spring to maintain its energized state.

[0026] S7: Spatial transfer step. The robotic arm, carrying the pre-charged torsion spring, moves above the product to be assembled.

[0027] S8: Release and Assembly Steps. Drive the inner rod downwards relative to the outer tube, pushing the torsion spring out of the outer tube. After releasing from the bayonet constraint, the torsion spring springs back, and its pins accurately engage with the corresponding structure on the product, completing the assembly.

[0028] Compared with the prior art, the technical solution provided by the present invention has the following significant advantages: This invention achieves full automation from bulk material loading to final assembly, seamlessly connecting each process, greatly improving production efficiency, matching modern high-speed production lines, and completely eliminating the safety risks and health hazards caused by manual operation.

[0029] Through sophisticated mechanical mechanisms and a programmable controller, the system can apply the exact same process to each torsion spring: consistent preload angle, consistent transfer path, and consistent assembly action. This ensures that the torsion springs in every product leaving the factory have highly consistent preload and performance, significantly improving the overall quality and reliability of the product.

[0030] A unique transfer assembly robot design. Through a clever combination of a jaw and the elastic tension of a torsion spring, it achieves stable locking of the energized torsion spring during the transfer process in an extremely simple and passive manner. This method is more reliable than active grippers and more economical than complex locking mechanisms, overcoming a major technical obstacle in the automated assembly of torsion springs.

[0031] The inner rod push-out release method provides a smooth and direct action, enabling precise insertion of the torsion spring into confined or complex installation spaces. Because the stored energy is reliably maintained until the very last moment, the energy release direction is definite upon release, significantly improving assembly success rate and reducing downtime.

[0032] The entire system has a reasonable layout, a high degree of modularity, and a small footprint, making it easy to integrate into existing automated production lines as a standalone workstation. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the feeding mechanism of the present invention; Figure 3 This is a schematic diagram showing the cooperative state of the attitude conversion mechanism and the feeding mechanism of the present invention; Figure 4 This is a schematic diagram of a two-axis Cartesian coordinate robot. Figure 5 This is a schematic diagram of the energy storage mechanism; Figure 6 This is a schematic diagram of the energy storage mechanism storing energy in the torsion spring. Figure 7 A schematic diagram of the structure of the transfer assembly robot; Figure 8 This is a schematic diagram of the bayonet structure; Figure 9 This is a schematic diagram of the assembly of the inner and outer rods; Reference numerals: 1. Feeding mechanism; 101. Vibrating feeder; 102. Material channel; 2. Attitude conversion mechanism; 201. Rotary driver; 201a. Receiving groove; 3. Torsion spring; 4. Transfer assembly robot; 4. Outer tube; 401. Bayonet; 401a. Inner rod; 402. Thrust cylinder; 403. Energy storage mechanism; 5. First positioning column; 501. Second column; 502. Rotating ring; 503. Pressure plate; 504. Servo motor; 505. Two-axis rectangular coordinate robot; 6. Pneumatic clamp; 7. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Reference Figures 1 to 9 The torsion spring energy storage assembly system shown.

[0036] The vibrating feeder 101 is located on one side of the system, and its feed channel 102 extends to the center of the working area.

[0037] The attitude conversion mechanism 2 is fixedly installed on the worktable, located in front of the end of the material channel 102. The receiving groove 201a is fixed on the cylinder shaft of the rotary cylinder, i.e., the rotary driver 201. When the torsion spring 3 slides from the material channel 102 into the receiving groove 201a, it is automatically positioned. Subsequently, the rotary cylinder rotates ninety degrees, erecting the torsion spring 3.

[0038] Next, a simple two-axis Cartesian coordinate robot 6 carrying a pneumatic gripper (7) takes the upright torsion spring 3 out of the receiving groove 201a and places it on the first positioning post 501 of the energy storage mechanism 5.

[0039] The energy storage mechanism 5's platform is fixed to the workbench. The first positioning column 501 is fixed to the platform. The cylinder of the clamping device is mounted on one side of the platform via a bracket, and its pressure plate 504 is connected to the cylinder's output shaft. The surface of the pressure plate 504 may be covered with polyurethane elastomer to prevent damage to the pins of the torsion spring 3. The rotating ring 503 is mounted in the platform via a set of deep groove ball bearings and is driven to rotate by a servo motor 505. The second column 502 is a pin, vertically mounted on the edge of the rotating ring 503.

[0040] After the torsion spring 3 is placed, the cylinder drives the pressure plate 504 to press down and fix the first pin. Then, the servo motor 505 starts, driving the rotating ring 503 to rotate the second column 502 around the first positioning post 501. The second column 502 contacts and pushes the second pin, causing the torsion spring 3 to twist around the first positioning post 501. Based on encoder feedback, the servo motor 505 precisely controls the rotation angle, for example, rotating it seventy degrees, so that the torsion spring 3 reaches the predetermined energy storage state.

[0041] The two-axis Cartesian coordinate robot 6 also carries the transfer assembly robot 4. After energy storage is complete, the transfer assembly robot 4 moves above the energy storage station. The two-axis Cartesian coordinate robot 6 drives the transfer assembly robot 4 to descend as a whole, so that the outer tube 401 fits the stored torsion spring 3 from top to bottom. During the fitting process, the first and second pins of the torsion spring 3, which are in a tense state, pop outward under their own elastic force and embed into the bayonet 401a, thus being reliably locked. At this point, the stored energy state of the torsion spring 3 is completely locked inside the robot.

[0042] The two-axis Cartesian coordinate robot 6 then moves the transfer assembly robot 4, which has grasped the torsion spring 3, to the target product, such as above a nail gun. Then, a thrust cylinder 403 located on top of the transfer assembly robot 4 actuates, pushing the inner rod 402 downward relative to the outer tube 401. The lower end face of the inner rod 402 abuts against the upper end ring of the torsion spring 3, smoothly pushing it out of the outer tube 401. The instant the torsion spring 3 completely disengages from the outer tube 401, its accumulated elastic potential energy is released instantaneously, and the two prongs quickly open outward. The first prong engages with a fixed hook on the product, and the second prong engages with a groove in a movable part, thus completing the assembly.

[0043] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A torsion spring energy storage assembly system, characterized in that, include: Feeding mechanism (1) for directional conveying of torsion spring (3); A posture conversion mechanism (2) for converting the torsion spring (3) from a conveying posture to an assembly posture; An energy storage mechanism (5) for storing energy in the torsion spring (3) after attitude change; And a transfer assembly robot (4), which includes an outer tube (401) and an inner rod (402) arranged coaxially. The outer tube (401) is configured to be fitted around the stored torsion spring (3) and maintain its stored energy state, and the inner rod (402) is configured to push the torsion spring (3) out of the outer tube (401).

2. The torsion spring energy storage assembly system according to claim 1, characterized in that, The feeding mechanism (1) is a vibratory feeding device, which is configured to feed the torsion spring (3) in a horizontal position with its axis horizontal.

3. The torsion spring energy storage assembly system according to claim 1, characterized in that, The posture conversion mechanism (2) includes a rotary driver (201) and a receiving groove (201a) disposed thereon. The receiving groove (201a) is configured to receive the torsion spring (3) and rotate the torsion spring (3) by 90 degrees driven by the rotary driver (201) so that the torsion spring (3) becomes a vertical posture with its axis vertical.

4. The torsion spring energy storage assembly system according to claim 1, characterized in that, The energy storage mechanism (5) includes: A fixed first positioning post (501) is used to mount the torsion spring (3); A rotatable second cylinder (502); And a clamping device for clamping the first pin of the torsion spring (3); The second column (502) is driven to rotate around the first positioning column (501), and the torsion spring (3) is twisted to store energy by pushing the second pin of the torsion spring (3).

5. The torsion spring energy storage assembly system according to claim 4, characterized in that, The second column (502) is mounted on a rotating ring (503) surrounding the first positioning column (501).

6. The torsion spring energy storage assembly system according to claim 4, characterized in that, The clamping device includes a pressure plate (504) driven by a cylinder.

7. The torsion spring energy storage assembly system according to claim 4, characterized in that, The outer tube (401) has a bayonet (401a) on its wall, which is used to hold the pin when the torsion spring (3) is fitted, so as to maintain its energy storage state during the transfer process.

8. A method for assembling a torsion spring (3) using the system described in any one of claims 1-7, characterized in that, Includes the following steps: Change the torsion spring (3) from a lying position to a standing position; The torsion spring (3) in the standing posture stores energy; A robotic arm with an outer tube (401) and an inner rod (402) is used to grasp the stored torsion spring (3) and maintain its stored energy state through the outer tube (401); The torsion spring (3) is transferred to the target station and pushed out of the outer tube (401) by the relative movement of the inner rod (402) to complete the assembly.

9. The energy storage assembly method for the torsion spring (3) according to claim 8, characterized in that, In the grasping step, the elastic force of the pin opening after the torsion spring (3) stores energy is used to hold it in the outer tube (401).

10. The energy storage assembly method for the torsion spring (3) according to claim 8, characterized in that, In the energy storage step, the first pin of the torsion spring (3) is first pressed and fixed, and then the second pin is pushed by a rotatable second column (502) so that the torsion spring (3) twists around its own axis to complete the energy storage.

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