Automatic assembling device for cylinder lever and cylinder barrel of hydraulic oil cylinder

Abstract

The utility model provides a hydraulic oil cylinder lever and cylinder barrel automatic assembling device which comprises a workbench, a grabbing robot mechanical arm, a visual camera system, a positioning tool and a clamping mechanism, and a control box is installed on a base of the grabbing robot mechanical arm. Through combination of the grabbing robot mechanical arm, the visual camera system, the positioning tool and the clamping mechanism, the assembly quality is improved, damage to the sealing element in the assembly process is completely avoided, meanwhile, the production efficiency is remarkably improved, real-time feedback of the visual camera system is combined with accurate adjustment of the control system, and the production efficiency is improved. The precision of each assembly stage is guaranteed, especially in the link that a cylinder lever piston sealing piece is installed and enters a cylinder barrel, in addition, unmanned assembly is completely achieved, dependence on high-skill operators is reduced, the labor cost is reduced, an innovative automatic assembly solution is provided for the manufacturing industry of hydraulic oil cylinders, and the production efficiency of the hydraulic oil cylinders is improved. And the method has remarkable economic benefits and practical application values.

Description

Technical Field

[0001] The utility model relates to the technical field of hydraulic oil cylinder barrel and cylinder rod assembly, in particular to a hydraulic oil cylinder rod and cylinder barrel automatic assembly device. Background Art

[0002] In the traditional hydraulic cylinder production process, the assembly process of the cylinder rod and the cylinder barrel is usually completed manually. This traditional method has several key problems, which are significantly limited in terms of quality control, output improvement, defective product rate reduction and maintenance costs:

[0003] First, from the perspective of quality control, the accuracy and consistency of manual assembly are difficult to guarantee. Differences in operator skill levels and experience, as well as factors such as fatigue and distraction, may lead to fluctuations in assembly quality, thus affecting the stability and reliability of the final product.

[0004] Secondly, in terms of output, the efficiency of manual assembly is limited by the workers' operating speed and work intensity. It is difficult to significantly improve production efficiency in a short period of time by relying on manual operation, and the increase in production pressure will further affect the assembly quality, forming a vicious circle;

[0005] In addition, the defective rate in the manual assembly process is relatively high. Due to the lack of precise control, small errors in the assembly process may cause large product defects, which not only affects the product shipment rate, but also increases the waste of raw materials and human resources (see Figure 1 );

[0006] Finally, defective products produced by manual assembly often require further disassembly and reassembly, which not only increases additional material consumption, but also requires more manpower and time, thereby increasing production costs. Utility Model Content

[0007] The utility model aims to provide a hydraulic cylinder rod and cylinder barrel automatic assembly device to solve the problems raised in the above background technology.

[0008] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0009] An automatic assembly device for a hydraulic cylinder rod and a cylinder barrel, comprising a workbench, a grabbing robot arm, a visual camera system, a positioning tool and a clamping mechanism;

[0010] A control box is installed on the base of the mechanical arm of the grabbing robot, and a PLC control component is arranged inside the control box;

[0011] The visual camera system includes a fixed rod and a high-resolution industrial camera, wherein the high-resolution industrial camera is mounted on the fixed rod and the high-resolution industrial camera is arranged on one side of the workbench;

[0012] The positioning tool comprises a position detection sensor, a V-shaped base and a stopper, wherein the V-shaped base and the stopper are both fixed to the surface of the workbench, and the position detection sensor is installed in the V-shaped base;

[0013] The clamping mechanism comprises a cylinder stroke sensor, a clamping cylinder and a clamping block, wherein the cylinder stroke sensor is mounted on the clamping cylinder, the clamping cylinder is fixed on one side of the V-shaped base, and the clamping block is arranged at the output end of the clamping cylinder.

[0014] Preferably, the V-shaped base and the stopper are distributed on the same midline.

[0015] Preferably, the grasping robot mechanical arm and the high-resolution industrial camera are connected to the PLC control component via industrial Ethernet, and the in-position detection sensor, cylinder stroke sensor and clamping cylinder are connected to the PLC control component via an IO port.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The utility model improves the assembly quality and completely avoids the damage of the seals during the assembly process through the combination of the grasping robot mechanical arm, the visual camera system, the positioning tooling and the clamping mechanism, and significantly improves the production efficiency. The real-time feedback of the visual camera system is combined with the precise adjustment of the control system to ensure the accuracy of each assembly stage, especially when the cylinder rod piston seal is installed into the cylinder barrel. In addition, unmanned assembly is completely realized, which reduces the dependence on highly skilled operators and reduces the labor cost. The hydraulic cylinder manufacturing industry provides an innovative automatic assembly solution with significant economic benefits and practical application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the installation of the guide ring in the prior art;

[0019] Figure 2 It is a schematic diagram of the main structure of the utility model;

[0020] Figure 3 For this utility model Figure 2 Schematic diagram of the enlarged structure of area A in the middle;

[0021] Figure 4 This is a schematic diagram of the main structure of the visual camera system of the utility model;

[0022] Figure 5This is the principle diagram of the coaxiality accuracy control of the automatic assembly of the cylinder rod assembly and the cylinder barrel assembly of the utility model;

[0023] Figure 6 This is the principle diagram of the automatic control system of the utility model.

[0024] In the figure: 1. workbench; 2. grabbing robot arm; 3. visual camera system; 31. fixing rod; 32. high-resolution industrial camera; 4. positioning tooling; 41. V-shaped base; 42. stopper; 5. clamping mechanism; 51. clamping cylinder; 52. clamping block; 6. control box. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the utility model.

[0026] See also Figure 1 , Figure 1 Schematic diagram of installing a guide ring on a hydraulic cylinder in the prior art

[0027] Embodiment 1

[0028] See also Figure 2-6 The utility model provides a hydraulic cylinder rod and cylinder barrel automatic assembly device, including a workbench 1, a grasping robot mechanical arm 2, a visual camera system 3, a positioning tool 4 and a clamping mechanism 5;

[0029] In this embodiment, a gripping robot arm 2 with high flexibility and stability is used to automatically grip and assemble the cylinder rod and cylinder barrel. The end of the gripping robot arm 2 is equipped with a tool head that can be quickly replaced to adapt to cylinder rods and cylinder barrels of different sizes and models to ensure efficient and accurate assembly. The gripping robot arm 2 exchanges information and completes instructions with other systems through a digital communication system. The visual camera system 3 can capture the position information of the cylinder barrel on the positioning tool 4 during the assembly process in real time, and analyze the position and angle of the cylinder barrel through image processing software, and provide the micro deviation data of the position to the real-time system. The grasping robot arm 2 grasps the cylinder rod assembly. After receiving the micro-deviation data, the grasping robot arm 2 grasps the cylinder rod assembly and performs micro-compensation adjustment on the installation position to ensure that the coaxiality of the center line of the cylinder rod assembly and the center line of the cylinder barrel assembly meet the accuracy requirements. The positioning tool 4 is used for fast positioning and stable clamping of the cylinder barrel, and cooperates with the visual camera system 3 to complete high-precision control of the position during the assembly process. The clamping mechanism 5 is used to clamp the cylinder barrel on the surface of the workbench 1 to ensure that the cylinder barrel does not shift during assembly, and the clamping force of the clamping mechanism 5 is adjustable, which is suitable for cylinder barrels of different diameters and lengths to ensure the optimal clamping force.

[0030] A control box 6 is installed on the base of the grabbing robot mechanical arm 2, and a PLC control component is arranged inside the control box 6;

[0031] See also Figure 2 The PLC control component is used to process the feedback signals and command signals of the grasping robot arm 2, the visual camera system 3, the positioning tooling 4 and the clamping mechanism 5, so as to realize the automatic assembly of the cylinder rod assembly and the cylinder assembly. During assembly, the grasping robot arm 2 uses a gripper to grasp the cylinder assembly from the conveyor line, and then places the cylinder assembly onto the positioning tooling 4.

[0032] In this embodiment, the PLC control component is only used as a control structure to connect with other systems and equipment, and is not used independently as a specific structure or device. Its specific working principle and usage method are technical means well known to technical personnel in this field.

[0033] The positioning tool 4 includes a detection position sensor, a V-shaped base 41 and a stopper 42. The V-shaped base 41 and the stopper 42 are both fixed to the surface of the workbench 1. The detection position sensor is installed in the V-shaped base 41. The V-shaped base 41 and the stopper 42 are distributed on the same center line.

[0034] See also Figure 2 and 3In the positioning fixture 4, the cylinder assembly is supported by the V-shaped base 41, and the cylinder assembly falls into the V-shaped area of ​​the V-shaped base 41. At this time, the V-shaped base 41 can locate the Y-axis position of the cylinder assembly, and then the grasping robot arm 2 continues to move, so that one end of the cylinder assembly abuts against the stopper 42. At this time, the stopper 42 can locate the X-axis position of the cylinder assembly. In the above process, the in-position sensor transmits the real-time signal to the PLC control component.

[0035] The clamping mechanism 5 includes a cylinder stroke sensor, a clamping cylinder 51 and a clamping block 52 . The cylinder stroke sensor is installed on the clamping cylinder 51 . The clamping cylinder 51 is fixed on one side of the V-shaped base 41 . The clamping block 52 is arranged at the output end of the clamping cylinder 51 .

[0036] See also Figure 2 and 3 When the X-axis and Y-axis positions of the cylinder assembly are determined, the clamping cylinder 51 is actuated to drive the clamping block 52 to fix the cylinder assembly on the V-shaped base 41, thereby positioning the Z-axis position of the cylinder assembly, and the cylinder stroke sensor transmits the real-time signal to the PLC control component.

[0037] The visual camera system 3 includes a fixed rod 31 and a high-resolution industrial camera 32 . The high-resolution industrial camera 32 is mounted on the fixed rod 31 . The high-resolution industrial camera 32 is disposed on one side of the workbench 1 .

[0038] See also Figure 2 and 4 , the high-resolution industrial camera 32 captures the end position of the cylinder assembly, calculates the offset from the reference position and feeds back the signal to the PLC control assembly, then the grasping robot arm 2 uses a gripper to grasp the cylinder rod from the conveyor line, and automatically adjusts the cylinder rod arrival position according to the offset fed back by the high-resolution industrial camera 32 to ensure that the cylinder rod assembly and the cylinder assembly are concentric, at this time the grasping robot arm 2 uses a gripper to grasp the cylinder rod assembly and moves along the axis of the cylinder assembly, and moves the cylinder rod assembly smoothly until the piston part on the cylinder rod assembly enters the cylinder assembly and continues to move until the guide sleeve part on the cylinder rod assembly fits with the cylinder assembly and stops, finally the grasping robot arm 2 uses a gripper to grasp the overall assembly of the cylinder rod assembly and the cylinder assembly to the next station, thus completing the automatic assembly of the cylinder rod assembly and the cylinder assembly.

[0039] The grasping robot arm 2 and the high-resolution industrial camera 32 are connected to the PLC control component via industrial Ethernet, and the in-position sensor, cylinder stroke sensor and clamping cylinder 51 are connected to the PLC control component via the IO port.

[0040] Specifically, the cylinder assembly and the cylinder bar assembly are assembled by the grasping robot arm 2 and the high-resolution industrial camera 32 to determine the position of the cylinder assembly and the cylinder bar assembly after compensation each time. The grasping robot arm 2 clamps the cylinder bar assembly on the assembly trajectory after compensation. The coaxiality accuracy of the cylinder rod assembly and the cylinder assembly meets the assembly requirements. Only when the coaxiality is maintained consistently can the damage to the piston seal in the cylinder bar assembly be fundamentally avoided. At the same time, the force is regulated by a precise torque control system to avoid damage to the seal due to excessive assembly force. In order to facilitate the overall control of the grasping robot arm 2, the visual camera system 3, the positioning tooling 4 and the clamping mechanism 5, a touch screen needs to be installed and connected to the PLC control component through the industrial Ethernet. The touch screen plays the role of inputting commands, thereby realizing the overall control.

[0041] Embodiment 2

[0042] This embodiment is suitable for automatic assembly of a cylinder rod assembly and a cylinder barrel assembly.

[0043] In this embodiment, the visual camera system 3 is installed on the grasping robot arm 2. The visual camera system 3 on the grasping robot arm 2 is used to determine the initial installation position of the cylinder assembly, and the motion trajectory of the grasping robot arm 2 during the installation of the cylinder rod assembly is corrected through the electrical feedback system transmission, thereby ensuring the accuracy of each assembly stage, especially in the process of installing the cylinder rod piston seal into the cylinder.

[0044] Embodiment 3

[0045] This embodiment is suitable for automatic assembly of a cylinder rod assembly and a cylinder barrel assembly.

[0046] In this embodiment, a high-repeatability grasping robot arm 2 is used. The high-repeatability grasping robot arm 2 is utilized to accurately install the cylinder rod assembly into the cylinder barrel assembly, thereby ensuring the accuracy of each assembly stage, especially in the process of installing the cylinder rod piston seal into the cylinder barrel.

[0047] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A hydraulic cylinder rod and cylinder barrel automatic assembly device, characterized in that: It comprises a workbench (1), a grasping robot arm (2), a visual camera system (3), a positioning tool (4) and a clamping mechanism (5); A control box (6) is installed on the base of the grasping robot mechanical arm (2), and a PLC control component is arranged inside the control box (6); The visual camera system (3) comprises a fixed rod (31) and a high-resolution industrial camera (32), wherein the high-resolution industrial camera (32) is mounted on the fixed rod (31), and the high-resolution industrial camera (32) is arranged on one side of the workbench (1); The positioning tool (4) comprises a positioning sensor, a V-shaped base (41) and a stopper (42), wherein the V-shaped base (41) and the stopper (42) are both fixed to the surface of the workbench (1), and the positioning sensor is installed in the V-shaped base (41); The clamping mechanism (5) comprises a cylinder stroke sensor, a clamping cylinder (51) and a clamping block (52); the cylinder stroke sensor is mounted on the clamping cylinder (51); the clamping cylinder (51) is fixed on one side of the V-shaped base (41); and the clamping block (52) is arranged at the output end of the clamping cylinder (51).

2. The automatic assembly device for a hydraulic cylinder rod and a cylinder barrel according to claim 1, characterized in that: The V-shaped base (41) and the stopper (42) are distributed on the same midline.

3. The automatic assembly device for a hydraulic cylinder rod and a cylinder barrel according to claim 1, characterized in that: The grasping robot mechanical arm (2) and the high-resolution industrial camera (32) are connected to the PLC control component via industrial Ethernet, and the in-position detection sensor, cylinder stroke sensor and clamping cylinder (51) are connected to the PLC control component via an IO port.

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