Electric actuator pneumatic assembly machine

Abstract

The present application relates to electric actuator assembly, especially to a kind of electric actuator air pressure assembly machine.It includes fixed frame, assembly frame, support frame, lifting mechanism, extension frame and the like;Assembly frame is located at the rear side of fixed frame, for connecting external mechanical hand execution arm;Support frame is located at the left and right sides of fixed frame, and lifting mechanism is arranged at support frame, and extension frame is arranged at lifting mechanism, and lifting mechanism is used to drive extension frame to move up and down.The present application is folded and shrunk to the center synchronously after being adsorbed and sealed by folding mechanism, actively makes flexible sealing washer produce elastic deformation to the center, thereby reducing its outer diameter, so that its outer diameter is smaller than the inner diameter of hole structure in the process of sending sealing washer into mounting hole, therefore, it can avoid hard metal structure in hole, avoid the risk of sealing washer being scraped and cut in traditional pressing mode, and protect the integrity and sealing performance of sealing washer.

Description

Technical Field

[0001] This invention relates to the assembly of electric actuators, and more particularly to a pneumatic assembly machine for electric actuators. Background Technology

[0002] In the assembly process of existing electric actuators, such as valves and control valves, fitting plastic sealing gaskets into the actuator's mounting holes is one of the core steps. Current traditional assembly methods and equipment have many problems. The mounting holes of electric actuators are usually designed with threads, bosses, steps, or other metal structures. When the sealing gasket is directly pressed or pushed into the mounting hole, the edges of these hard metal structures can easily scratch, cut, or twist the soft rubber sealing gasket, causing scratches, cracks, or permanent deformation on the gasket surface. This damage directly destroys the integrity and sealing performance of the sealing gasket, leading to potential leakage in the assembled product and significantly reducing the product yield. Using rigid clamping methods such as mechanical grippers to pick up and place the sealing gasket makes it difficult to precisely control the clamping force, easily leaving indentations or causing deformation on the soft gasket. Traditional manual or simple mechanical assembly methods cannot guarantee that the sealing gasket is accurately and vertically placed in the preset slot or step surface within the mounting hole each time; eccentricity, tilting, or misplacement frequently occur, affecting assembly consistency.

[0003] Therefore, there is an urgent need to develop an electric actuator pneumatic assembly machine that reduces the risk of assembly damage and improves assembly accuracy and consistency to solve the above problems. Summary of the Invention

[0004] In order to overcome the shortcomings of the current assembly process, such as high risk of assembly damage and poor assembly accuracy and consistency, the purpose of this invention is to provide an electric actuator pneumatic assembly machine that reduces the risk of assembly damage and improves assembly accuracy and consistency.

[0005] The technical solution is as follows: A pneumatic assembly machine for electric actuators includes a fixed frame, an assembly frame, a support frame, a lifting mechanism, an extension frame, a mounting frame, a retraction mechanism, a suction mechanism, a drive mechanism, and an air supply mechanism. The assembly frame is located at the rear of the fixed frame and is used to connect to an external robotic arm. The support frame is located on the left and right sides of the fixed frame. A lifting mechanism is provided at the support frame, and an extension frame is provided at the lifting mechanism. The lifting mechanism is used to drive the extension frame to move up and down. The extension frame has a hollow structure and is used to extend into the sealing gasket mounting hole of the electric actuator. A mounting frame is installed on the lower side of the extension frame. Multiple retraction mechanisms are provided on the outer periphery of the mounting frame. A suction mechanism is detachably provided at the retraction mechanism. Multiple suction mechanisms are arranged around the outer periphery of the mounting frame and are used to adsorb the sealing gasket. The suction mechanism is replaceable to adapt to different assembly diameters. A drive mechanism is provided inside the mounting frame to synchronously drive each retraction mechanism to fold and contract near the center and expand away from the center. An air supply mechanism is provided on the upper side of the support frame. The air supply mechanism is connected to an external suction pump and is connected to the drive mechanism and the suction mechanism respectively to provide negative air pressure.

[0006] Preferably, the lifting mechanism includes a lifting unit and a connecting frame. The lifting unit is installed inside the support frame, and the connecting frame is installed between the moving parts of the lifting unit. The lower side of the connecting frame is fixedly connected to the upper side of the extension frame.

[0007] Preferably, the take-up and take-down mechanism includes a fixed base, a take-up and take-down frame, and a transmission gear. Multiple fixed bases are respectively installed on the mounting frame. The take-up and take-down frame is rotatably installed on the lower side of the fixed base via a rotating shaft. The take-up and take-down frame is used for detachable installation of the air suction mechanism. A transmission gear is fixedly connected to the rotating shaft of the fixed base. The transmission gear cooperates with the drive mechanism.

[0008] Preferably, the air suction mechanism includes an adsorption seat and a connecting pipe. The adsorption seat is detachably installed on the underside of the retracting frame. The bottom of the adsorption seat is provided with multiple adsorption holes, and the number, size, and specifications of the adsorption seats are not unique. The adsorption seat is detachably installed with a connecting pipe on the side facing the center of the mounting frame, and the connecting pipe is connected to the air supply mechanism.

[0009] Preferably, the drive mechanism includes an electric push rod, a drive frame, and toothed belts. The electric push rod is mounted on the upper side of the mounting frame, with the telescopic part of the electric push rod facing downwards and the drive frame mounted thereon. Multiple toothed belts are mounted on the drive frame, and the toothed belts respectively engage with adjacent transmission gears.

[0010] Preferably, the gas supply mechanism includes a fixed rod, an external connecting pipe, a first folded pipe, a pressure relief valve, a gas distribution plate, and a second folded pipe; the fixed rod is installed on the upper side of the support frame, and an external connecting pipe for connecting to an external air pump is installed in the middle of the fixed rod. The lower side of the external connecting pipe is connected to the first folded pipe and the electrically controlled pressure relief valve in sequence; a gas distribution plate is provided on the lower side of the drive frame, and a second folded pipe is connected to the upper side of the gas distribution plate. The upper end of the second folded pipe passes through the upper side of the mounting frame and is connected to the pressure relief valve; the other end of each connecting pipe is installed at the gas distribution plate.

[0011] Preferably, it also includes a control mechanism, which includes a pressure sensor and a solenoid valve; a solenoid valve is installed at the end of each connecting pipe near the air distribution plate, and a pressure sensor for monitoring negative pressure values ​​and outputting them to an external control system is installed at the middle of each connecting pipe.

[0012] Preferably, it also includes a plastic base, and each adsorption base can be detachably installed with a plastic base having an adsorption hole structure on its lower side, the adsorption hole structure of the plastic base being consistent with the adsorption hole structure of the adsorption base.

[0013] Compared with the prior art, the present invention has the following advantages: 1. The present invention uses a retracting mechanism to simultaneously fold and shrink towards the center after adsorbing the sealing gasket, actively causing the flexible sealing gasket to undergo elastic deformation towards the center, thereby reducing its outer diameter. This ensures that during the process of feeding the sealing gasket into the mounting hole, its outer diameter is smaller than the inner diameter of the hole structure, thus avoiding the hard metal structure inside the hole and avoiding the risk of the sealing gasket being scratched or cut in the traditional pressing method, ensuring the integrity and sealing performance of the sealing gasket.

[0014] 2. This invention uses the negative pressure of the air suction mechanism for stable picking and placing, and connects to an external robotic arm for high-precision positioning, which ensures that the sealing gasket is accurately and vertically placed in the preset assembly position in the mounting hole, thus guaranteeing a high degree of consistency and accuracy in the assembly position of batch products.

[0015] 3. The adsorption seat of the present invention is designed to be detachable and available in multiple specifications. It can be quickly replaced according to the mounting hole diameter and sealing gasket size of different electric actuators, so that a single device can easily meet the assembly requirements of multiple product models, enhance the flexibility of the production line, and reduce equipment investment costs.

[0016] 4. By installing a pressure sensor and a solenoid valve at each connecting pipe, a closed-loop control is formed. The pressure sensor can monitor the negative pressure value of the adsorption seat in real time. On the one hand, it can accurately determine whether each adsorption point can effectively adsorb the sealing gasket. Once it fails, the process can be interrupted in time to avoid invalid assembly. On the other hand, by monitoring the negative pressure value, the timing of the solenoid valve closing can be precisely controlled to maintain a set and appropriate negative pressure value inside the adsorption seat. This can not only stabilize the adsorption gasket, but also avoid adsorption damage to the soft sealing gasket caused by excessive negative pressure. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the first posture three-dimensional structure of the present invention.

[0018] Figure 2 This is a schematic diagram of the second posture three-dimensional structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the third posture three-dimensional structure of the present invention.

[0020] Figure 4 This is a three-dimensional structural diagram of the lifting mechanism of the present invention.

[0021] Figure 5 This is a three-dimensional structural diagram of the tensioning mechanism of the present invention.

[0022] Figure 6 This is a three-dimensional structural diagram of the adsorption seat portion of the present invention.

[0023] Figure 7 This is a schematic diagram of the first partial three-dimensional structure of the present invention.

[0024] Figure 8 This is a schematic diagram of the second partial three-dimensional structure of the present invention.

[0025] Figure 9 This is a schematic diagram of the third partial three-dimensional structure of the present invention.

[0026] Figure 10 This is a schematic diagram of the fourth partial three-dimensional structure of the present invention.

[0027] Figure 11 This is a schematic diagram of the fifth partial three-dimensional structure of the present invention.

[0028] Figure 12 This is a three-dimensional structural diagram of the driving mechanism of the present invention.

[0029] Figure 13 This is a three-dimensional structural diagram of the air suction mechanism of the present invention.

[0030] Figure 14 This is a three-dimensional structural diagram of the gas supply mechanism of the present invention.

[0031] The labels in the diagram are as follows: 1-Fixed frame, 2-Assembly frame, 3-Support frame, 4-Lifting mechanism, 5-Extension frame, 6-Mounting frame, 7-Tensioning mechanism, 8-Air suction mechanism, 9-Drive mechanism, 10-Air supply mechanism, 41-Lifting unit, 42-Connecting frame, 71-Fixed seat, 72-Tensioning frame, 73-Transmission gear, 81-Suction seat, 82-Connecting pipe, 91-Electric push rod, 92-Drive frame, 93-Toothed belt, 101-Fixed rod, 102-External pipe, 103-First folding pipe, 104-Pressure relief valve, 105-Air distribution plate, 106-Second folding pipe, 11-Control mechanism, 111-Air pressure sensor, 112-Solenoid valve, 12-Plastic seat. Detailed Implementation

[0032] The above-described solution will be further illustrated below with reference to specific embodiments. It should be understood that these embodiments are for illustrative purposes only and are not intended to limit the scope of this application. The implementation conditions used in the embodiments may be further adjusted according to the conditions of specific manufacturers, and the implementation conditions not specified are generally those in routine experiments.

[0033] Example 1: A pneumatic assembly machine with an electric actuator, such as... Figures 1-14 As shown, the device includes a fixed frame 1, an assembly frame 2, a support frame 3, a lifting mechanism 4, an extension frame 5, a mounting frame 6, a retraction mechanism 7, a pneumatic suction mechanism 8, a drive mechanism 9, and an air supply mechanism 10. The assembly frame 2 is mounted on the rear side of the fixed frame 1 and is used to mount the robotic arm to the external environment. Support frames 3 are mounted on both the left and right sides of the fixed frame 1. Lifting mechanisms 4 are located at the support frames 3, and extension frames 5 are located at the lifting mechanisms 4. The lifting mechanisms 4 are used to move the extension frames 5 up and down. The extension frames 5 are used to extend into the sealing gasket mounting hole of the electric actuator. The extension frame 5 has a hollow structure, and a mounting frame 6 is installed on its lower side. The mounting frame 6 has a regular polygonal hollow structure, and each surface of the outer periphery of the mounting frame 6 is provided with a retraction mechanism 7. Each retraction mechanism 7 is detachably equipped with a suction mechanism 8. The retraction mechanism 7 and the suction mechanism 8 surround the outer periphery of the mounting frame 6. Multiple suction mechanisms 8 are used together to adsorb and place the sealing gasket. The number, size, and specifications of the suction mechanisms 8 are not unique. The suction mechanisms 8 are replaceable to accommodate electric actuator mounting holes and sealing gaskets of different assembly diameters. The 6 unit contains a drive mechanism 9, which synchronously drives each tensioning mechanism 7, causing the tensioning mechanism 7 to fold and contract closer to the center and expand away from the center. This causes the tensioning mechanism 7 to drive the suction mechanism 8, which holds the sealing gasket, to fold and contract towards the center, deforming the sealed gasket and reducing its outer diameter. This ensures that the outer diameter of the sealing gasket is smaller than the internal structure of the electric actuator's mounting hole, such as threads or protrusions. This avoids problems when assembling the sealing gasket onto the electric actuator. When the device is installed in the mounting hole, the metal outer edge of the structure inside the mounting hole of the electric actuator will not scratch the plastic sealing gasket, thus avoiding damage to the sealing gasket during assembly. Furthermore, the gasket is picked up and put down by adsorbing it with the air suction mechanism 8, which, combined with the connected external robotic arm, not only facilitates the assembly of the sealing gasket but also ensures assembly accuracy. An air supply mechanism 10 is provided on the upper side of the support frame 3. The air supply mechanism 10 is connected to an external air suction pump, and the lower side of the air supply mechanism 10 is connected to the drive mechanism 9. The air supply mechanism 10 is connected to the air suction mechanism 8 and supplies it with negative air pressure.

[0034] When assembling the sealing gasket in the mounting hole of the electric actuator, a suction mechanism 8 smaller than the inner diameter of the mounting hole is selected and assembled at the retracting mechanism 7. Then, an external robotic arm can be used to transfer the electric actuator pneumatic assembly machine to the sealing gasket assembly area. After aligning the center of the mounting bracket 6 with the center of the sealing gasket, the external robotic arm is controlled to make the suction mechanism 8 adhere to the upper surface of the sealing gasket. Then, the external suction pump is operated, creating negative pressure through the air supply mechanism 10 and the inside of the suction mechanism 8, causing the suction mechanism 8 to suck up the sealing gasket. This completes the suction of one sealing gasket. Afterwards, the drive mechanism 9 can be activated, causing the retracting mechanism 7 to fold and contract closer to the center. The retracting mechanism 7 then causes the suction mechanism 8, which has sucked up the sealing gasket, to fold and contract towards the center, causing the sucked sealing gasket to deform and reduce its outer diameter. Finally, the robotic arm can be controlled to drive the electric actuator... The pneumatic assembly machine is moved to directly above the mounting hole of the electric actuator where the sealing gasket needs to be installed. Then, the lifting mechanism 4 is controlled to drive the extension frame 5 downward, causing the extension frame 5 to move the mounting frame 6, the suction mechanism 8 (which has picked up the sealing gasket), and the retracting mechanism 7 downward into the electric actuator mounting hole until the sealing gasket is at the required installation height. At this point, the retracting mechanism 7 can be controlled to expand and reset, causing the sealing gasket to return to its original deformation. Then, the pressure is released through the air supply mechanism 10, making the pressure inside the air supply mechanism 10 and the suction mechanism 8 the same as the outside pressure. At this point, the suction mechanism 8 will not use negative air pressure to suction the sealing gasket, thus allowing the sealing gasket to naturally be in the assembly position of the electric actuator mounting hole. Afterward, the lifting mechanism 4 can be controlled to drive the mounting frame 6 upward to reset, causing the expansion mechanism and the suction mechanism 8 to move upward and withdraw from the mounting hole of the electric actuator. As described above, the next sealing gasket is picked up and assembled into the next electric actuator mounting hole.

[0035] like Figure 4 As shown, the lifting mechanism 4 includes a lifting unit 41 and a connecting frame 42. The lifting unit 41 is installed in the support frame 3. The lifting unit 41 is pneumatically driven and controlled by a servo system. The connecting frame 42 is installed between the moving parts of the lifting unit 41. The connecting frame 42 is a square frame structure. The lower side of the connecting frame 42 is fixedly connected to the upper side of the extension frame 5. When the lifting unit 41 is controlled, the lifting unit 41 will drive the connecting frame 42 and the extension frame 5 to move up and down, thereby driving the mounting frame 6, the retracting mechanism 7 and the air suction mechanism 8 to move up and down. The pneumatic lifting control method can make the lifting process of the retracting mechanism 7 and the air suction mechanism 8 flexible, avoiding direct hard lifting that could damage the components. It provides a flexible buffer for the assembly process of the sealing gasket and avoids hard collisions and mechanical squeezing between the electric actuator pneumatic assembly machine and the electric actuator during the lifting process.

[0036] like Figures 5-11As shown, the take-up and take-up mechanism 7 includes a fixed base 71, a take-up and take-up frame 72, and a transmission gear 73. A fixed base 71 is installed on each side of the outer periphery of the mounting frame 6. The take-up and take-up frame 72 is rotatably installed on the lower side of the fixed base 71 via a rotating shaft. The take-up and take-up frame 72 surrounds the outer periphery of the mounting frame 6 around its center. The take-up and take-up frame 72 is used for detachable installation of the air suction mechanism 8. A transmission gear 73 is fixedly connected to the middle of the rotating shaft of the take-up and take-up frame 72. The drive mechanism 9 cooperates with each transmission gear 73.

[0037] like Figures 5-11 As shown, the air suction mechanism 8 includes an adsorption seat 81 and a connecting pipe 82. The adsorption seats 81 are detachably installed on the lower side of the retracting frame 72. The number, size, and specifications of the adsorption seats 81 are not unique, so as to be suitable for electric actuator mounting holes and sealing gaskets with different assembly diameters. The adsorption seats 81 are all structures with multiple adsorption holes at the bottom. The connecting pipes 82 are detachably installed on the side of the adsorption seats 81 facing the center of the mounting frame 6. The connecting pipes 82 are all connected to the air supply mechanism 10. When the adsorption seats 81 are installed on the lower side of the retracting frame 72, multiple adsorption seats 81 with suitable sealing gasket sizes and electric actuator mounting hole inner diameters can be selected and installed on the lower side of the retracting frame 72, so that the overall outer diameter of the multiple adsorption seats 81 is still smaller than the inner diameter of the electric actuator mounting hole when not in a contracted state. In this way, after the sealing gasket is sucked up and placed in the electric actuator mounting hole in this state, the adsorption seats 81 can still be smoothly removed from the electric actuator mounting hole.

[0038] like Figures 10-12 As shown, the drive mechanism 9 includes an electric push rod 91, a drive frame 92, and a toothed belt 93. The electric push rod 91 is mounted on the upper side of the mounting frame 6, with its telescopic component facing downwards. The drive frame 92 is mounted on the lower end of the telescopic component of the electric push rod 91. The drive frame 92 is a double-layered hollow frame with a regular polyhedral structure. The number of faces of the drive frame 92 is the same as the number of faces of the mounting frame 6. A toothed belt 93 is mounted on each face of the outer periphery of the drive frame 92, and the toothed belt 93 engages with the adjacent transmission gear 73. When the electric push rod 91 moves the drive frame 92 upwards through its telescopic component, the drive frame 92 drives each transmission gear 73 to rotate through the toothed belt 93, causing each retracting frame 72 to fold and retract closer to the center. When the electric push rod 91 moves the drive frame 92 downwards through its telescopic component, each retracting frame 72 expands away from the center.

[0039] like Figures 13-14As shown, the air supply mechanism 10 includes a fixed rod 101, an external pipe 102, a first folded pipe 103, a pressure relief valve 104, an air distribution plate 105, and a second folded pipe 106. The fixed rod 101 is installed on the upper side of the support frame 3. The external pipe 102 is installed in the middle of the fixed rod 101. The external pipe 102 is used to connect to an external air pump. The first folded pipe 103 is installed on the lower side of the external pipe 102. The pressure relief valve 104 is installed on the lower side of the first folded pipe 103. The pressure relief valve 104 is electrically controlled and drives the frame. A distribution plate 105 is installed on the lower side of the inner part of the 92. A second folded pipe 106 is installed on the upper side of the distribution plate 105. The upper end of the second folded pipe 106 passes through the upper side of the mounting bracket 6 and is fixedly connected to it. The upper end of the second folded pipe 106 is connected to the pressure relief valve 104. The other end of each connecting pipe 82 is installed at the bottom of the distribution plate 105. When an external suction pump is operated, the external suction pump sucks air from each connecting pipe 82 and the adsorption seat 81 through the external pipe 102, the first folded pipe 103 and the distribution plate 105. This creates a negative pressure at the adsorption holes of the adsorption seat 81, causing the adsorption seat 81 to adhere to the sealing gasket through the negative pressure, thus completing the adsorption of one sealing gasket. Then, the retraction mechanism 7 can be controlled to retract while maintaining the negative pressure adsorption state of the adsorption seat 81. When the lifting unit 41 moves the extension frame 5 and mounting frame 6 up and down, the mounting frame 6 will fold and extend the first folding tube 103. When the electric push rod 91 moves the drive frame 92 up and down, the drive frame 92 will move the second folding tube... 106 is folded and extended to maintain negative pressure supply during movement; after the adsorption seat 81 assembles the adsorbed sealing gasket into the electric actuator mounting hole, the pressure relief valve 104 can be opened, and the external air pump is turned off at the same time, so that the air pressure in the external pipe 102, the first folded pipe 103, the air distribution plate 105, the second folded pipe 106, the connecting pipe 82 and the adsorption seat 81 is consistent with the outside, so that the adsorption seat 81 is removed from the negative air pressure adsorption state, and at this time the sealing gasket will naturally separate from the adsorption seat 81.

[0040] like Figure 13As shown, it also includes a control mechanism 11, which includes a pressure sensor 111 and a solenoid valve 112. Each connecting pipe 82 is equipped with a control mechanism 11 to ensure the stability of the negative pressure at the connecting pipe 82 and the adsorption seat 81. Each connecting pipe 82 has a solenoid valve 112 installed near the gas distribution plate 105, and a pressure sensor 111 installed in the middle of each connecting pipe 82. The pressure sensor 111 monitors the negative pressure value within the connecting pipe 82 and outputs it to the external control system. When the external suction pump is started to create a negative pressure suction seal between the connecting pipe 82 and the adsorption seat 81, if each adsorption seat 81 stably adheres to the surface of the seal, the pressure sensor 111 will detect an increase in the negative pressure value. At this time, the pressure sensor 111 feeds the numerical signal back to the control system, which then controls the solenoid valve 112 to close, causing the connecting pipe 82 to... 2. The suction seat 81 naturally holds the sealing gasket by its internal negative pressure. The closing time of the solenoid valve 112 can be precisely controlled by the value of the air pressure sensor 111 at a certain negative pressure value, so that the connecting pipe 82 and the suction seat 81 hold the sealing gasket by the internal negative pressure value. This avoids damage to the sealing gasket caused by excessive negative pressure. If the value of the air pressure sensor 111 connected to a certain suction seat 81 changes during the shrinkage or transfer process, it indicates that the negative pressure adsorption of the sealing gasket by the suction seat 81 has failed. The suction seat 81 cannot shrink and deform the sealing gasket, that is, the sealing gasket cannot be installed smoothly. At this time, the value output by the air pressure sensor 111 to the external control system can be used to control the interruption of the assembly process in time. Subsequently, the external suction pump is turned on, and the sealing gasket is pushed to re-contact the suction seat 81, so that the suction seat 81 adsorbs the sealing gasket.

[0041] like Figures 7-11 As shown, it also includes a plastic seat 12. Each adsorption seat 81 is equipped with a plastic seat 12 on its lower side. The plastic seat 12 is detachable and has a structure with adsorption holes. The adsorption hole structure of the plastic seat 12 is consistent with the adsorption hole structure of the adsorption seat 81. The material of the adsorption seat 81 is not unique. The plastic seat 12 is used to further ensure the fit between the adsorption seat 81 and the sealing gasket.

[0042] Example 2, as Figures 1-14 As shown, the assembly of the pneumatic assembly machine for the electric actuator is as follows: the assembly frame 2 is installed on the actuator arm of the external robotic arm; according to the inner diameter of the mounting hole of the electric actuator to be assembled and the size of the sealing gasket, a suitable adsorption seat 81 with an outer diameter smaller than the inner diameter of the mounting hole of the electric actuator after overall installation is selected, and the adsorption seat 81 is installed on the underside of each tensioning frame 72.

[0043] The pneumatic assembly machine for the electric actuator assembles the sealing gaskets as follows: ① An external robotic arm moves the pneumatic assembly machine to the sealing gasket assembly area, aligning the center of the mounting frame 6 with the center of the sealing gasket, and lowers it so that each adsorption seat 81 adheres to the upper surface of the sealing gasket; ② An external suction pump is started, creating negative pressure in each adsorption seat 81 through the external pipe 102, folding pipe, and air distribution plate 105, thereby firmly adsorbing the sealing gasket and maintaining the negative pressure adsorption state; ③ The electric push rod 91 is started, driving the drive frame 92 upward, and through the meshing of the toothed belt 93 and the transmission gear 73, all the retracting frames 72 are driven to fold and retract synchronously towards the center of the mounting frame 6. At this time, the adsorbed sealing gasket folds towards the center with the retracting frame 72, producing elastic deformation, and its outer diameter is significantly reduced, ensuring that its maximum outer diameter is less than the minimum inner diameter of the thread or protruding structure in the mounting hole of the electric actuator. ④ The robotic arm moves the pneumatic assembly machine for the electric actuator to directly above the mounting hole of the target electric actuator, starts the lifting unit 41, and drives the mounting frame 6 and the retracted sealing gasket through the connecting frame 42 and the extension frame 5, flexibly and smoothly extending them into the mounting hole of the electric actuator until the preset assembly height is reached; ⑤ Control the electric push rod 91 to drive the drive frame 92 downward, causing the retracting frame 72 to expand and reset outward, and the sealing gasket to elastically reset and fit into the assembly slot on the inner wall of the mounting hole. The external air pump is turned off and the pressure relief valve 104 is opened, so that the air supply mechanism 10 and the adsorption seat 81 return to normal pressure, the adsorption force disappears, and the sealing gasket separates naturally from the adsorption seat 81; ⑥ Control the lifting mechanism 4 to move the mounting frame 6 upward, so that the retracting mechanism 7 and the adsorption seat 81 can be smoothly withdrawn from the mounting hole. Since the outer diameter of the adsorption seat 81 is smaller than the hole diameter, there is no risk of interference. ⑦ Repeat the above material picking, retraction, insertion, release, and reset process to assemble the sealing gasket for the next electric actuator.

[0044] The centripetal folding and contraction mechanism 7 actively deforms the sealing gasket to reduce its outer diameter, ensuring it completely avoids sharp metal structures such as threads and bosses within the mounting hole when entering. This avoids the risk of the sealing gasket being scratched, cut, or twisted in traditional press-fit methods, improving assembly yield. The adsorption seat 81 is detachable and multi-specification, allowing for quick replacement according to different electric actuator models and sealing gasket sizes. This makes the pneumatic assembly machine for electric actuators compatible with the assembly needs of various products, enhancing the flexibility of the production line. The negative pressure adsorption method avoids mechanical clamping damage to the sealing gasket, and combined with external robotic arm positioning, it ensures high consistency and accuracy in assembly position. The air pressure sensor 111 monitors the negative pressure value at each adsorption point in real time, accurately determining whether adsorption has failed and precisely controlling the closing timing of the solenoid valve 112 to set the optimal negative pressure value, preventing damage to the soft sealing gasket due to excessive suction.

[0045] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A pneumatic assembly machine with an electric actuator, characterized in that: It includes a fixed frame (1), an assembly frame (2), a support frame (3), a lifting mechanism (4), an extension frame (5), a mounting frame (6), a retraction mechanism (7), an air suction mechanism (8), a drive mechanism (9), and an air supply mechanism (10). The assembly frame (2) is located on the rear side of the fixed frame (1) and is used to connect the external robotic arm. The support frame (3) is located on the left and right sides of the fixed frame (1). The support frame (3) is equipped with a lifting mechanism (4), and the lifting mechanism (4) is equipped with an extension frame (5). The lifting mechanism (4) is used to drive the extension frame (5) to move up and down. The extension frame (5) has a hollow structure and is used to extend into the sealing gasket mounting hole of the electric actuator. A mounting bracket (6) is installed on the lower side of the extension frame (5). The mounting frame (6) is provided with multiple retracting mechanisms (7) on its outer periphery. The retracting mechanism (7) is provided with a detachable air suction mechanism (8). Multiple air suction mechanisms (8) are arranged around the outer periphery of the mounting frame (6) and are used together to adsorb the sealing gasket. The air suction mechanism (8) is replaceable to adapt to different assembly diameters. The mounting frame (6) is equipped with a drive mechanism (9) for synchronously driving each retraction mechanism (7) to fold and retract near the center and expand away from the center; An air supply mechanism (10) is provided on the upper side of the support frame (3). The air supply mechanism (10) is connected to an external air pump and to the drive mechanism (9) and the air suction mechanism (8) respectively, for providing negative air pressure. The take-up mechanism (7) includes a fixed seat (71), a take-up frame (72), and a transmission gear (73). Multiple fixed seats (71) are respectively installed on the mounting frame (6). The take-up frame (72) is rotatably installed on the lower side of the fixed seat (71) via a rotating shaft. The take-up frame (72) is used for detachable installation of the air suction mechanism (8). The transmission gear (73) is fixedly connected at the rotating shaft of the fixed seat (71). The transmission gear (73) cooperates with the drive mechanism (9). The air suction mechanism (8) includes an adsorption seat (81) and a connecting pipe (82). The adsorption seat (81) is detachably installed on the underside of the retracting frame (72). The bottom of the adsorption seat (81) is provided with multiple adsorption holes, and the number, size and specifications of the adsorption seats (81) are not unique. The adsorption seat (81) is detachably installed with the connecting pipe (82) on the side facing the center of the mounting frame (6). The connecting pipe (82) is connected to the air supply mechanism (10). The drive mechanism (9) includes an electric push rod (91), a drive frame (92) and a toothed belt (93). The electric push rod (91) is mounted on the upper side of the mounting frame (6). The telescopic part of the electric push rod (91) faces downward and is mounted on the drive frame (92). Multiple toothed belts (93) are installed at the drive frame (92). The toothed belts (93) are respectively engaged with the adjacent transmission gears (73).

2. The electric actuator pneumatic assembly machine according to claim 1, characterized in that: The lifting mechanism (4) includes a lifting unit (41) and a connecting frame (42). The lifting unit (41) is installed inside the support frame (3). The connecting frame (42) is installed between the moving parts of the lifting unit (41). The lower side of the connecting frame (42) is fixedly connected to the upper side of the extension frame (5).

3. The electric actuator pneumatic assembly machine according to claim 1, characterized in that: The gas supply mechanism (10) includes a fixed rod (101), an external pipe (102), a first folded pipe (103), a pressure relief valve (104), a gas distribution plate (105), and a second folded pipe (106). The fixed rod (101) is installed on the upper side of the support frame (3). An external pipe (102) for connecting an external air pump is installed in the middle of the fixed rod (101). The lower side of the external pipe (102) is connected to the first folded pipe (103) and the electrically controlled pressure relief valve (104). A gas distribution plate (105) is provided on the lower side of the drive frame (92). A second folded pipe (106) is connected to the upper side of the gas distribution plate (105). The upper end of the second folded pipe (106) passes through the upper side of the mounting frame (6) and is connected to the pressure relief valve (104). The other end of each connecting pipe (82) is installed at the gas distribution plate (105).

4. The electric actuator pneumatic assembly machine according to claim 3, characterized in that: It also includes a control mechanism (11), which includes a pressure sensor (111) and a solenoid valve (112); a solenoid valve (112) is installed at the end of each connecting pipe (82) near the gas distribution plate (105), and a pressure sensor (111) for monitoring the negative pressure value and outputting it to the external control system is installed at the middle position of each connecting pipe (82).

5. The electric actuator pneumatic assembly machine according to claim 1, characterized in that: It also includes a plastic base (12), and each adsorption base (81) can be detachably installed with a plastic base (12) having an adsorption hole structure on its underside. The adsorption hole structure of the plastic base (12) is consistent with the adsorption hole structure of the adsorption base (81).

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