Industrial robot for automatic assembly of damper

Abstract

The invention relates to the technical field of assembly industrial robots, in particular to an industrial robot for automatic assembly of a damper, which comprises a machine table, a first tray, a second tray and a force application part, the first material disc is rotatably arranged on the machine table around the X axis, and a containing hole used for containing the damper sleeve is formed in the first material disc. The second material disc is rotatably arranged on the machine table around a Y axis basically perpendicular to the X axis and synchronously rotates with the first material disc through a synchronous structure, the second material disc is provided with a containing pipe used for containing the damper insertion rod, one end of the containing pipe is open, the other end of the containing pipe is closed, and the open end of the containing pipe is aligned with the containing hole when the containing pipe is located at the feeding position. By arranging the force application component, the force application component can provide additional thrust for the damper insertion rod to be inserted into the damper sleeve under the self weight, the situation that the insertion rod is prone to being clamped or cannot be completely inserted into the preset station in the rear half section of the insertion stroke can be reduced by means of the thrust effect, and the one-time assembly qualification rate is increased.

Description

Technical Field

[0001] This invention relates to the field of industrial robot assembly technology, specifically to an industrial robot for automated assembly of dampers. Background Technology

[0002] When assembling dampers, the damper insert and damper sleeve are inserted together. Initially, this operation was done manually. Currently, some automation attempts have been made in the industry. For example, Chinese invention patent application number CN202111579386.2 discloses a "progressive oil-gas separation damper assembly equipment". This assembly equipment achieves rapid alignment of the damper sleeve and insert through a specific positioning mechanism, reducing manual intervention and improving the assembly efficiency of dampers to a certain extent, providing a useful idea for the automated production of dampers. However, in actual mass production and application, it has been found that the above-mentioned existing technology and similar traditional assembly equipment still have the following shortcomings: Although the assembly equipment solves the alignment problem, the process of the insert entering the damper sleeve mainly relies on the insertion's own gravity to slide down or initially connect. Since the inside of the damper is usually filled with damping oil, and the sleeve and insert are precisely fitted, there are large clearance tolerances and oil resistance. Relying solely on gravity as the driving force often results in insufficient thrust, causing the insertion rod to easily get stuck or fail to fully insert into the preset position in the latter half of the insertion stroke. This not only affects the first-pass yield of assembly but also sometimes requires manual secondary pressing and correction, making it difficult to meet the needs of high-efficiency and high-stability automated production lines. To address the above problems, this invention proposes an industrial robot for the automated assembly of dampers. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of the prior art and provide an industrial robot for automated assembly of dampers, which provides additional thrust when the damper insert rod is inserted into the damper sleeve under its own weight, thereby improving the pass rate of one-time assembly.

[0004] This invention is achieved through the following technical solution: An industrial robot for automated assembly of dampers, comprising: Machine tool; A first tray is rotatably mounted on the machine base about the X-axis, and the first tray has a mounting hole for mounting the damper sleeve. A second tray, rotatably mounted on the machine base about a Y-axis substantially perpendicular to the X-axis and rotating synchronously with the first tray via a synchronization structure, has a mounting tube for accommodating damper inserts. One end of the mounting tube is open, and the other end is closed. The mounting tube has a feeding position, where the open end is aligned with the mounting hole. A force-applying component is configured to apply a thrust into the damper sleeve to the damper insert at the feeding position. The force-applying component includes a follower, a first elastic element, and a guide. The follower is elastically disposed on the second tray via the first elastic element. The guide is fixed relative to the machine base. During the rotation of the two trays, the guide is configured to guide the follower to store force when the placement tube is in the non-feeding position and release force when it is in the feeding position.

[0005] Optionally, the guide is a closed ring consisting of a power storage section and a power release section. The power storage section is arranged around the X-axis, and the distance between the A end and the B end of the power storage section and the X-axis gradually decreases. The power release section is located adjacent to the feeding position and connects the A end and the B end of the power storage section approximately along the radial direction of the second material tray. The follower has an abutting end and a force-applying end. The abutting end is always in contact with the inner side of the guide during the rotation of the second material tray, and the force-applying end is movably inserted into the interior of the placement tube by the closed end of the placement tube.

[0006] Optionally, the abutting end is provided with rollers.

[0007] Optionally, the industrial robot further includes a pneumatic clamping component that cooperates with the force-applying component. The pneumatic clamping component includes a first piston head, a cylinder, a second piston head, a second elastic element, and an air passage. The first piston head is disposed at the force-applying end of the follower component. The first piston head and the inner wall of the placement tube are dynamically sealed, and together with the closed end of the placement tube, they form a sealed cavity. The first end of the cylinder is connected to the open end of the placement tube, and the second end is connected to the sealed cavity through the air passage. The second piston head is elastically connected to the cylinder in the radial direction of the placement tube through the second elastic element, and can enter the interior of the placement tube from the connection between the cylinder and the placement tube.

[0008] Optionally, the second piston head has a large-diameter end and a small-diameter end, the diameter of the large-diameter end being larger than the diameter of the small-diameter end. A connecting hole is provided between the cylinder body and the placement tube, allowing the small-diameter end to move through. The connecting hole connects the cylinder body and the placement tube. The second elastic element is a compression spring, which is located between the large-diameter end and the placement tube and is movably sleeved outside the small-diameter end.

[0009] Optionally, the pneumatic clamping component further includes an airtight element, which is disposed at the connection position between the follower and the placement tube.

[0010] Optionally, the industrial robot further includes a feeding component, which includes a feeding tube fixed relative to the machine base. The feeding tube also has a receiving position, and when the feeding tube is in the receiving position, it is aligned with the feeding tube.

[0011] Optionally, the feeding component further includes a first material box for storing damper inserts, a second material box for storing damper sleeves, and a robotic arm. The robotic arm is used to place the damper inserts in the first material box into the placement tube of the second material tray and to place the damper sleeves in the second material box into the placement hole of the first material tray.

[0012] Optionally, the first tray is driven to rotate by a rotary drive device, and the synchronization structure is a bevel gear structure disposed on the first tray and the second tray.

[0013] Optionally, the first tray has at least two holes, and correspondingly, the second tray has the same number of tubes as the first tray.

[0014] Compared with the prior art, the present invention provides an industrial robot for automated assembly of dampers, which has the following advantages: 1. The present invention provides a force-applying component that cooperates with the first and second material trays. The force-applying component can provide additional thrust when the damper rod is inserted into the damper sleeve under its own weight. With the help of the thrust, the situation that the rod is prone to jamming or not being able to be fully inserted into the preset position in the latter half of the insertion stroke can be reduced, thereby improving the pass rate of one-time assembly. 2. The present invention provides a roller at the abutting end of the follower, enabling the abutting end of the follower to roll into contact with the inner side of the guide, thereby reducing friction and wear between components and improving the smoothness of movement and service life. 3. By setting up a pneumatic clamping component that cooperates with the force-applying component, the present invention can effectively improve the precise alignment accuracy of the damper rod and the damper sleeve; 4. By setting up a robotic arm, a first material box, and a second material box, the present invention can replace manual labor to accurately place the materials in the first and second material boxes onto the first and second material trays, thereby improving the automation level of the assembly industrial robot. Attached Figure Description

[0015] Figure 1 A schematic diagram of the overall structure of an industrial robot used for automated assembly of dampers; Figure 2 A partial structural diagram of an industrial robot used for automated assembly of dampers; Figure 3 for Figure 2 Front view structural diagram; Figure 4 This is a structural diagram of the second material tray, the upright frame, and the guide components. Figure 5 This is a schematic diagram of the guide component structure; Figure 6 This is a structural diagram of the follower, the mounting tube, and the pneumatic clamping component.

[0016] In the diagram: 100, machine base; 110, upright frame; 120, rotating shaft; 200, first material tray; 201, mounting hole; 300, second material tray; 301, mounting tube; 302, connecting hole; 310, following component; 311, abutting end; 312, force-applying end; 313, roller; 320, first elastic element; 330, guide component; 331, energy storage section; 332, energy release section; 340, pneumatic clamping component; 341, first piston head; 342, cylinder body; 343, second piston head; 344, second elastic element; 345, air passage; 346, airtight element; 400, discharge pipe; 410, robotic arm; 420, first material box; 430, second material box; 500, drive device; 510, bevel gear structure; 600, damper insert rod; 610, damper sleeve. Detailed Implementation

[0017] 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.

[0018] As described in the background section, existing damper assembly equipment still suffers from the following shortcomings: the insertion of the insert rod into the damper sleeve relies primarily on its own gravity for sliding or initial engagement. Since the damper is typically filled with damping oil, and the sleeve and insert rod are precisely fitted, there are significant clearance tolerances and oil resistance. Relying solely on gravity as the driving force often results in insufficient thrust, causing the insert rod to easily jam or fail to fully engage with the preset position in the latter half of the insertion stroke. This not only affects the first-pass yield rate but also sometimes requires manual secondary pressing and correction, making it difficult to meet the demands of high-efficiency, high-stability automated production lines.

[0019] To address the above issues, please refer to the following implementation example: Figures 1 to 6According to an embodiment of the present invention, an industrial robot for automated assembly of dampers is provided, mainly including a machine base 100, a first material tray 200, a second material tray 300, and a force-applying component; the first material tray 200 is rotatably mounted on the machine base 100 about the X-axis, and the first material tray 200 has a mounting hole 201 for mounting a damper sleeve 610. After the machine base 100 is installed, the extension direction of the X-axis is the direction of gravity. Figure 1 In this configuration, the direction of gravity is vertical. The mounting hole 201 can be a blind hole formed on the top surface of the first tray 200. The damper sleeve 610 is inserted into the mounting hole 201. The second tray 300 is rotatably mounted on the machine base 100 about a Y-axis substantially perpendicular to the X-axis and rotates synchronously with the first tray 200 via a synchronization structure. The second tray 300 has a mounting tube 301 for mounting the damper insert 600. One end of the mounting tube 301 is open, and the other end is closed. The mounting tube 301 has a feeding position. When the mounting tube 301 is in the feeding position, its open end is aligned with the mounting hole 201. The damper insert 600 is inserted into the mounting tube 301, and the damper insert 600 can pass smoothly through the open end of the mounting tube 301. As the second tray 300 rotates, the position of the mounting tube 301 continuously changes, such as... Figure 1 As shown, the placement tube 301 on the second tray 300 is only in the feeding position when it moves to the bottom of the second tray 300. Therefore, the downward-facing side of the second tray 300 can be considered as the feeding position. When the placement tube 301 moves to the feeding position, the opening of the placement tube 301 faces downward and is aligned with the damper sleeve 610 in the placement hole 201 on the first tray 200. The damper rod 600 can be discharged through the opening of the placement tube 301 under the action of gravity and dock with the damper sleeve 610. In order to prevent the damper rod 600 from sliding out of the placement tube 301 before the placement tube 301 reaches the feeding position, in some embodiments, the damper rod 600 can be pre-installed. The damper rod 600 is fixed inside the placement tube 301 by magnetic attraction or vacuum adsorption. When the placement tube 301 moves to the feeding position, the damper rod 600 is released. The force-applying component is configured to apply a thrust to the damper rod 600 into the damper sleeve 610 at the feeding position. The force-applying component includes a follower 310, a first elastic element 320 and a guide 330. The follower 310 is elastically disposed on the second tray 300 through the first elastic element 320. The guide 330 is fixed relative to the machine base 100. During the rotation of the two trays, the guide 330 is configured to guide the follower 310 to store force when the placement tube 301 is in the non-feeding position and release force when it is in the feeding position.

[0020] In this embodiment, by setting a force-applying component that cooperates with the first tray 200 and the second tray 300, the force-applying component can provide additional thrust when the damper rod 600 is inserted into the damper sleeve 610 under its own weight. With the help of the thrust, the situation where the rod is prone to jamming or not being able to be fully inserted into the preset position in the latter half of the insertion stroke can be reduced, thereby improving the pass rate of one-time assembly.

[0021] like Figures 4 to 6 As shown, in some embodiments, the guide 330 is a closed ring consisting of a power storage section 331 and a power release section 332. The power storage section 331 is arranged around the X-axis, and the distance between end A and end B of the power storage section 331 and the X-axis gradually decreases. The power release section 332 is located near the feeding position and connects end A and end B of the power storage section 331 approximately radially along the second material tray 300. The follower 310 has an abutment end 311 and a force application end 312. The abutment end 311 is always in contact with the inner side of the guide 330 during the rotation of the second material tray 300, and the force application end 312 is movably inserted into the interior of the placement tube 301 from the closed end of the placement tube 301. Figure 3 As shown, when the second tray 300 rotates counterclockwise, if the initial position of the abutting end 311 of the following member 310 is at the feeding position (i.e., the bottom of the second tray 300), as the second tray 300 rotates, the abutting end 311 of the following member 310 moves from end A to end B along the storage section 331. During this process, the distance between the abutting end 311 and the X-axis gradually decreases, and the first elastic element 320 gradually stores power as the following member 310 moves, thus opening the opening end of the placement tube 301, allowing the damper rod 600 to be inserted. Once the abutting end 311 passes end B of the storage section 331, the following member 310 returns to its initial position along the release section 332 of the guide member 330 under the elastic force of the first elastic element 320. At this time, the following member 310 moves towards the opening end of the placement tube 301, pushing out the damper rod 600 inside the tube, thereby providing additional thrust for the damper rod 600 to be inserted into the sleeve.

[0022] like Figure 6 As shown, in some embodiments, the abutment end 311 is provided with a roller 313. By providing a roller 313 on the abutment end 311 of the follower 310, the abutment end 311 of the follower 310 can roll into contact with the inner side of the guide 330, reducing friction and wear between components and improving the smoothness of movement and service life.

[0023] like Figure 6 As shown, in some embodiments, the first elastic element 320 may be a compression spring.

[0024] In the above embodiment, as the placement tube 301 rotates with the second tray 300, the angle of the placement tube 301 is constantly changing. To ensure that the damper rod 600 placed inside the placement tube 301 only slides out at the feeding position, the conventional approach is to install a clamp on the placement tube 301 to fix the damper rod 600, and then release the damper rod 600 when the placement tube 301 moves to the feeding position. However, the fit between the clamp and the force-applying component is generally poor, and the timing of clamping and releasing is not accurately controlled, affecting the precise alignment of the damper rod 600 and the damper sleeve 610. Therefore, as... Figure 6As shown, in some embodiments, the industrial robot further includes a pneumatic clamping component 340 that cooperates with the force-applying component. The pneumatic clamping component 340 includes a first piston head 341, a cylinder 342, a second piston head 343, a second elastic element 344, and an air passage 345. The first piston head 341 is disposed at the force-applying end 312 of the follower 310. The first piston head 341 and the inner wall of the placement tube 301 are dynamically sealed and together with the closed end of the placement tube 301, form a sealed cavity. The first end of the cylinder 342 is connected to the open end of the placement tube 301, and the second end is connected to the sealed cavity through the air passage 345. The second piston head 343 is radially elastically connected to the cylinder 342 through the second elastic element 344 and can enter the interior of the placement tube 301 from the connection between the cylinder 342 and the placement tube 301. By setting a pneumatic clamping component 340 that cooperates with the force-applying component, the precise alignment accuracy between the damper rod 600 and the damper sleeve 610 can be effectively improved. The working principle is as follows: When the placement tube 301 rotates to the top position with the second material tray 300, the open end of the placement tube 301 faces upward, and the feeding operation of the damper rod 600 is completed at this time; as the following component 310 continues to move towards the storage section 331B end, the first piston head 341 moves towards the closed end of the placement tube 301, and the compressed air in the sealed cavity is forced into the cylinder 342 through the air passage 345, driving the second piston head 343 to move towards the damper rod 600 in the placement tube 301 until it is pressed and fixed, realizing the anti-drop positioning of the damper rod 600 in the non-feeding position. When the placement tube 301 rotates to the feeding position, the follower 310 resets under the action of the first elastic element 320, driving the first piston head 341 to move towards the open end of the placement tube 301. The air in the cylinder 342 flows back to the sealed cavity through the air passage 345. The second piston head 343 moves in the opposite direction to release the clamp. Under the thrust of the first piston head 341, the damper rod 600 achieves precise docking with the damper sleeve 610. For more precise alignment, multiple cylinders 342 and second piston heads 343 can be provided and distributed around the placement tube 301. By using multiple piston heads to simultaneously apply force to fix the damper rod 600 in the placement tube 301, the damper rod 600 can be kept from deviating from the center of the placement tube 301, and the damper rod 600 can be more precisely aligned with the damper sleeve 610 on the first material tray 200.

[0025] like Figure 4 As shown, in some embodiments, a stand 110 is fixed on the machine base 100, and the second material tray 300 is rotatably connected to the stand 110 via a rotating shaft 120, the axis of which is the Y-axis.

[0026] like Figure 6As shown, in some embodiments, the second piston head 343 has a large-diameter end and a small-diameter end, with the diameter of the large-diameter end being larger than that of the small-diameter end. A connecting hole 302 is provided between the cylinder body 342 and the placement tube 301, allowing the small-diameter end to move through. The connecting hole 302 connects the cylinder body 342 and the placement tube 301. The second elastic element 344 is a compression spring, located between the large-diameter end and the placement tube 301, and movably sleeved outside the small-diameter end. The large-diameter end and the cylinder body 342 are in a sliding sealing fit, and the small-diameter end of the second piston head 343 can pass through the connecting hole 302 on the placement tube 301 and abut against the damper insert 600 inside the placement tube 301.

[0027] like Figure 6 As shown, in some embodiments, the pneumatic clamping component 340 further includes an airtight element 346, which is disposed at the connection position between the follower 310 and the placement tube 301. The airtight element 346 can be a rubber sealing ring. By providing the airtight element 346, the airtightness of the sealed cavity can be improved, air leakage can be reduced, and the stability of the pneumatic clamping component 340 when fixing the damper insert 600 can be improved.

[0028] like Figure 2 As shown, in some embodiments, the industrial robot also includes a feeding component, which includes a feeding tube 400 fixed relative to the machine base 100. A placement tube 301 also has a receiving position, which aligns with the feeding tube 400 when in the receiving position. When the placement tube 301 moves to the receiving position, a damper rod 600 is inserted into the feeding tube 400. The damper rod 600 can fall directly into the placement tube 301 through the opening at the lower end of the feeding tube 400, thus facilitating accurate feeding into the placement tube 301.

[0029] like Figure 1 As shown, in some embodiments, the feeding component further includes a first material box 420 for storing damper inserts 600, a second material box 430 for storing damper sleeves 610, and a robotic arm 410. The robotic arm 410 is used to place the damper inserts 600 in the first material box 420 into the placement tube 301 of the second material tray 300 and to place the damper sleeves 610 in the second material box 430 into the placement hole 201 of the first material tray 200. By setting up the robotic arm 410, the first material box 420, and the second material box 430, the robotic arm 410 can replace manual labor to accurately place the materials in the first material box 420 and the second material box 430 onto the first material tray 200 and the second material tray 300, thereby improving the automation level of the assembly industrial robot.

[0030] like Figure 2In some embodiments shown, the first tray 200 is driven to rotate by a rotary drive device 500, and the synchronization structure is a bevel gear structure 510 disposed on the first tray 200 and the second tray 300. Specifically, the drive device 500 can be a rotary cylinder, which is installed between the machine base 100 and the first tray 200. By driving the two trays through the bevel gear structure 510, the placement tubes 301 and placement holes 201 on the two trays can be more accurately aligned at the feeding position, improving the assembly accuracy of the damper insert rod 600 and the damper sleeve 610.

[0031] 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. An industrial robot for automated assembly of dampers, characterized in that, include: Machine (100); The first tray (200) is rotatably mounted on the machine base (100) about the X-axis, and the first tray (200) has a mounting hole (201) for mounting the damper sleeve (610). A second tray (300) is rotatably mounted on the machine base (100) about a Y-axis substantially perpendicular to the X-axis and rotates synchronously with the first tray (200) via a synchronization structure. The second tray (300) has a mounting tube (301) for mounting a damper insert (600). One end of the mounting tube (301) is open, and the other end is closed. The mounting tube (301) has a feeding position, and when in the feeding position, its open end is aligned with the mounting hole (201). A force-applying component is configured to apply a thrust into the damper sleeve (610) to the damper insert (600) at the feeding position. The force-applying component includes a follower (310), a first elastic element (320), and a guide (330). The follower (310) is elastically disposed on the second tray (300) via the first elastic element (320). The guide (330) is fixed relative to the machine base (100). During the rotation of the two trays, the guide (330) is configured to guide the follower (310) to store force when the placement tube (301) is in the non-feeding position and to release force when it is in the feeding position.

2. The industrial robot for automated assembly of dampers according to claim 1, characterized in that: The guide (330) is a closed ring consisting of a power storage section (331) and a power release section (332). The power storage section (331) is arranged around the X-axis. The distance between the power storage section (331) from end A to end B and the X-axis gradually decreases. The power release section (332) is located near the feeding position. The power release section (332) is basically connected to end A and end B of the power storage section (331) along the radial direction of the second material tray (300). The follower (310) has an abutment end (311) and a force application end (312). The abutment end (311) always abuts against the inner side of the guide (330) during the rotation of the second material tray (300). The force application end (312) is movably inserted into the interior of the placement tube (301) by the closed end of the placement tube (301).

3. The industrial robot for automated assembly of dampers according to claim 3, characterized in that: The abutting end (311) is provided with a roller (313).

4. The industrial robot for automated assembly of dampers according to claim 2, characterized in that: The industrial robot also includes a pneumatic clamping component (340) that cooperates with the force-applying component. The pneumatic clamping component (340) includes a first piston head (341), a cylinder (342), a second piston head (343), a second elastic element (344), and an air passage (345). The first piston head (341) is disposed at the force-applying end (312) of the follower (310). The first piston head (341) is dynamically sealed to the inner wall of the placement tube (301) and to the placement tube. The closed ends of (301) together form a sealed cavity; the first end of the cylinder (342) is connected to the open end of the placement tube (301), and the second end is connected to the sealed cavity through the air passage (345); the second piston head (343) is radially elastically connected to the cylinder (342) through the second elastic element (344) along the placement tube (301), and can enter the interior of the placement tube (301) from the connection between the cylinder (342) and the placement tube (301).

5. The industrial robot for automated assembly of dampers according to claim 4, characterized in that: The second piston head (343) has a large-diameter end and a small-diameter end. The diameter of the large-diameter end is larger than the diameter of the small-diameter end. A connecting hole (302) is provided between the cylinder body (342) and the placement tube (301) for the small-diameter end to move through. The connecting hole (302) connects the cylinder body (342) and the placement tube (301). The second elastic element (344) is a compression spring. The compression spring is located between the large-diameter end and the placement tube (301) and is movably sleeved outside the small-diameter end.

6. The industrial robot for automated assembly of dampers according to claim 4, characterized in that: The pneumatic clamping component (340) also includes an airtight element (346), which is disposed at the connection position between the follower (310) and the placement tube (301).

7. The industrial robot for automated assembly of dampers according to any one of claims 1 to 6, characterized in that: The industrial robot also includes a feeding component, which includes a feeding tube (400) that is fixed relative to the machine base (100). The placement tube (301) also has a receiving position, which is aligned with the feeding tube (400) when it is in the receiving position.

8. The industrial robot for automated assembly of dampers according to claim 7, characterized in that: The feeding component also includes a first material box (420) for storing damper inserts (600), a second material box (430) for storing damper sleeves (610), and a robotic arm (410). The robotic arm (410) is used to put the damper inserts (600) in the first material box (420) into the placement tube (301) of the second material tray (300) and to put the damper sleeves (610) in the second material box (430) into the placement hole (201) of the first material tray (200).

9. The industrial robot for automated assembly of dampers according to claim 1, characterized in that: The first tray (200) is driven to rotate by a rotary drive device (500), and the synchronization structure is a bevel gear structure (510) set on the first tray (200) and the second tray (300).

10. The industrial robot for automated assembly of dampers according to claim 1, characterized in that: The first tray (200) has at least two holes (201), and correspondingly, the second tray (300) has the same number of tubes (301) as the first tray (200) has holes (201).

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