Assembly machine for working cylinder of CDC shock absorber

Abstract

The utility model discloses a CDC shock absorber working cylinder assembly machine, which relates to the technical field of automatic assembly and comprises a bottom valve assembly automatic assembly machine and a working cylinder assembly mechanism. The automatic bottom valve assembly assembling machine comprises a bottom valve assembly circulating assembling mechanism, a screw feeding mechanism, a valve plate circulating stacking mechanism, a lower valve plate group stacking and feeding mechanism, a bottom valve feeding mechanism, an upper valve plate group stacking and feeding mechanism and a nut assembling mechanism. According to the circulating assembling mechanism for the bottom valve assembly, assembling stations of all parts of the bottom valve assembly are formed in a circulating mode, and automatic assembling can be sequentially carried out when the assembling stations are circulated to the corresponding stations; working cylinder assembling is achieved based on the bottom valve feeding mechanism, the working cylinder feeding mechanism, the working cylinder transferring mechanism, the working cylinder bottom valve press-fitting mechanism and the bottom valve working cylinder assembly output mechanism, automatic assembling of the CDC shock absorber bottom valve assembly and the working cylinder is efficiently achieved, and the assembling efficiency and the assembling quality are both greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic assembly, in particular to a working cylinder assembly machine for a CDC shock absorber. Background Art

[0002] The CDC shock absorber is an important component of an automobile. During the assembly of the working cylinder of the CDC shock absorber, the assembly of the bottom valve assembly needs to be completed. The bottom valve assembly includes screws, lower valve plate groups, bottom valves, upper valve plate groups and nuts. At present, there is no suitable automatic assembly process and assembly equipment on the market that can efficiently and high-quality realize the automatic assembly of the bottom valve assembly, nor is there an automatic assembly process and equipment for the working cylinder based on the assembly of the bottom valve assembly. Summary of the Utility Model

[0003] In order to solve the technical problem of the automatic assembly of the working cylinder of the CDC shock absorber, the utility model provides a working cylinder assembly machine for a CDC shock absorber. The following technical scheme is adopted:

[0004] A working cylinder assembly machine for a CDC shock absorber includes an automatic bottom valve assembly machine and a working cylinder assembly mechanism. The automatic bottom valve assembly machine includes a bottom valve assembly circulating assembly mechanism, a screw feeding mechanism, a valve plate circulating stacking mechanism, a lower valve plate group stacking feeding mechanism, a bottom valve feeding mechanism, an upper valve plate group stacking feeding mechanism and a nut assembly mechanism. The circulating assembly mechanism includes a circulating chute, a plurality of bottom valve assembly toolings and a circulating driver. The plurality of bottom valve assembly toolings are respectively assembled in the circulating chute, and the circulating driver drives the plurality of bottom valve assembly toolings to move step by step in a circulating manner at the working positions on the circulating chute. The bottom valve assembly tooling is provided with a screw clamping position, and the screw feeding mechanism is used to grab the screws to be assembled and place them in the screw clamping position. The valve plate circulating stacking mechanism is located on one side of the circulating assembly mechanism. The valve plate circulating stacking mechanism includes a valve plate stacking circulating chute, a plurality of valve plate stacking toolings and a stacking circulating driver. The stacking circulating driver drives the plurality of valve plate stacking toolings to move step by step in a circulating manner at the working positions on the valve plate stacking circulating chute. The lower valve plate group stacking feeding mechanism is used to stack the lower valve plate groups to be assembled on the valve plate circulating stacking mechanism and grab the lower valve plate groups to be assembled and place them on the nuts of the screws to be assembled. The bottom valve feeding mechanism is used to grab the bottom valves to be assembled and place them on the lower valve plate groups to be assembled. The upper valve plate group stacking feeding mechanism is used to stack the upper valve plate groups to be assembled on the valve plate circulating stacking mechanism and grab the upper valve plate groups to be assembled and place them on the bottom valves to be assembled. The nut assembly mechanism is used to grab the nuts to be assembled and place them on the upper valve plate groups to be assembled and tighten them to complete the assembly of the bottom valve assembly. The transfer and transverse grabbing and placing mechanism removes the assembled bottom valve assembly and places it at the feeding end of the bottom valve assembly output belt;

[0005] The working cylinder assembly mechanism includes a bottom valve feeding mechanism, a working cylinder feeding mechanism, a working cylinder transfer mechanism, a bottom valve and working cylinder press-fitting mechanism, and a bottom valve and working cylinder assembly output mechanism. The bottom valve feeding mechanism grabs the bottom valve assembly at the discharging end of the bottom valve assembly output belt and places it on the press-fitting support of the bottom valve and working cylinder press-fitting mechanism. The working cylinder feeding mechanism is used to output the working cylinder to be assembled. The working cylinder transfer mechanism is used to transfer the working cylinder to be assembled above the press-fitting support of the bottom valve and working cylinder press-fitting mechanism. The bottom valve and working cylinder press-fitting mechanism sleeves the working cylinder to be assembled downward on the outer wall of the bottom valve assembly. The working cylinder transfer mechanism transfers the assembled bottom valve and working cylinder assembly to the bottom valve and working cylinder assembly output mechanism.

[0006] By adopting the above technical solution, the automatic assembly of the bottom valve and working cylinder of the CDC shock absorber is decomposed into two parts: the bottom valve assembly and the working cylinder assembly. The bottom valve assembly circulating assembly mechanism forms the assembly stations of each component of the bottom valve assembly in a circulating manner, and automatic assembly can be carried out sequentially when circulating to the corresponding stations.

[0007] Cooperating with detection elements such as position detection sensors and photoelectric switches can sense the position of the bottom valve assembly tooling. When the bottom valve assembly tooling runs to the screw assembly position, the assembly controller controls the screw feeding mechanism to grab the screw to be assembled and place it in the screw clamping position. The bottom valve assembly tooling continues to run to the lower valve plate group assembly position. The assembly controller controls the lower valve plate group stacking and feeding mechanism to act, grabs the lower valve plate group to be assembled stacked on the valve plate circulating stacking mechanism, and places it on the nut of the screw to be assembled at the valve plate group assembly position. The bottom valve assembly tooling continues to run to the bottom valve assembly position. The assembly controller controls the bottom valve feeding mechanism to act, grabs the bottom valve to be assembled and places it on the lower valve plate group to be assembled. The bottom valve assembly tooling continues to run to the upper valve plate group assembly position. The assembly controller controls the upper valve plate group stacking and feeding mechanism to grab the upper valve plate group to be assembled and place it on the bottom valve to be assembled. The bottom valve assembly tooling continues to run to the nut assembly position. The assembly controller controls the nut assembly mechanism to grab the nut to be assembled and place it on the upper valve plate group to be assembled and tighten it, thus completing the assembly of the bottom valve assembly. Different detectors can also be set at different stations to detect whether the assembled dimensions are qualified. If the final detection is qualified, the assembly controller controls the bottom valve assembly tooling to continue running to the output end of the bottom valve assembly, and the bottom valve assembly is removed by the transfer crosswise grasping and placing mechanism and placed at the feeding end of the bottom valve assembly output belt.

[0008] The working cylinder assembly is realized based on the bottom valve feeding mechanism, the working cylinder feeding mechanism, the working cylinder transport mechanism, the working cylinder bottom valve pressing mechanism and the bottom valve working cylinder assembly output mechanism, wherein the bottom valve feeding mechanism docks and grabs the bottom valve assembly at the discharge end of the bottom valve assembly output belt, the working cylinder feeding mechanism can realize the automatic feeding of the working cylinder to be assembled, after the working cylinder transport mechanism transports the working cylinder to be assembled to the pressing station, the working cylinder bottom valve pressing mechanism presses the working cylinder to be assembled and the bottom valve assembly into a bottom valve working cylinder assembly, and finally outputs the bottom valve working cylinder assembly through the bottom valve working cylinder assembly output mechanism;

[0009] The automated assembly of the bottom valve assembly and the working cylinder is efficiently realized, and the assembly efficiency and quality are greatly improved.

[0010] Optionally, the circulation assembly mechanism also includes an assembly base plate, which is detachably mounted on the frame via a plurality of support rods, a circulation slide mounted on the upper surface of the assembly base plate, a circulation drive mounted on the bottom surface of the assembly base plate, and a driving rod of the circulation drive being connected to the bottom transmission of the bottom valve assembly tooling via a transmission member; a valve sheet stacking circulation slide mounted on the upper surface of the assembly base plate and located on one side of the circulation slide, a stacking circulation drive mounted on the bottom surface of the assembly base plate, and a driving rod of the stacking circulation drive being connected to the bottom transmission of the valve sheet stacking tooling via a transmission member.

[0011] By adopting the above technical solution, the circulation chute is suspended by a structure in which an assembly base plate is detachably mounted on the frame through multiple support rods, thereby raising the height of the circulation chute to facilitate the installation of other assembly mechanisms. The circulation drive is mainly based on different stroke cylinders. The stroke cylinder can be installed on the back of the assembly base plate, thereby realizing the step-by-step circulation movement of the valve sheet stacking tooling stations. The movement distance each time is the distance from one station to the next station.

[0012] Optionally, the screw feeding mechanism includes at least one automatic screw loader, a screw transverse movement mechanism and a screw grasping and releasing mechanism. The automatic screw loader and the screw transverse movement mechanism are respectively installed on the frame and located on one side of the assembly base plate. The screw grasping and releasing mechanism is installed on the transverse movement part of the screw transverse movement mechanism. The transverse movement part drives the screw grasping and releasing mechanism to move between the screw discharge port of the automatic screw loader and the screw assembly positions of multiple bottom valve assembly tooling. When located at the screw discharge port, the screw grasping and releasing mechanism grasps the screws to be assembled, and puts down the screws to be assembled when it moves transversely to the screw assembly position.

[0013] By adopting the above technical solution, the automatic screw loader can be a purchased standard part. The number of automatic screw loaders is set according to demand, at least one, and multiple units can meet the supply of different screws. The structure of the screw transverse movement mechanism is realized by assembling an electric slide on the bracket, which can drive the lateral movement of the screw grasping and releasing mechanism. The grasping and releasing mechanism refers to a combination of a lifting mechanism and a grasping and releasing mechanism, which can realize lifting and grasping and releasing actions. The cooperation of the screw transverse movement mechanism and the screw grasping and releasing mechanism can realize the automated action requirements of grasping, transverse movement, and then putting down the screws.

[0014] Optionally, the lower valve plate group stacking and loading mechanism includes multiple lower valve plate pushing mechanisms, a lower valve plate positioning and guiding mechanism and a lower valve plate group transverse movement and grasping mechanism. The lower valve plate pushing mechanism includes a pushing base, a pushing cylinder, a pushing connecting plate, a pushing plate and a valve plate stacking device. The pushing base is provided with a pushing plate sliding groove. The bottom of the pushing base is mounted on the assembly base plate and is located on one side of the valve plate circulation stacking mechanism and slides in the pushing plate sliding groove. The pushing cylinder is mounted on the bottom surface of the assembly base plate. The piston rod of the pushing cylinder is connected to the pushing plate through the pushing connecting plate to drive the pushing plate to slide in the pushing plate sliding groove. The valve plate stacking device includes Multiple spring columns, a guide rod assembly, a valve sheet storage rod, a valve sheet frame, a valve sheet lower pressure block and a valve sheet upper pressure block. The bottoms of the multiple spring columns are installed on the pusher base and span over the sliding groove of the pusher plate. The valve sheet lower pressure block is assembled at the bottoms of the multiple spring columns. The multiple spring columns press the valve sheet lower pressure block tightly against the upper surface of the pusher base. The bottom of the guide rod assembly is installed on the valve sheet lower pressure block. The valve sheet frame is installed in the mounting hole in the middle of the valve sheet lower pressure block. One end of the valve sheet storage rod is connected to the top of the guide rod assembly, and the other end is inserted into the valve sheet frame. The valve sheet upper pressure block is located on the valve sheet storage rod. Multiple valve sheets of the same specification are stored on the valve sheet storage rod below the valve sheet upper pressure block.

[0015] The lower valve plate positioning and guiding mechanism comprises a positioning bracket, a plurality of valve plate pressing and releasing cylinders and a plurality of pressure rods. The bottom of the positioning bracket is mounted on the assembly bottom plate and is located in the middle of the valve plate stacking circulation slide. The plurality of valve plate pressing and releasing cylinders are respectively mounted on the positioning bracket. One end of the plurality of pressure rods is respectively connected to the piston rods of the plurality of valve plate pressing and releasing cylinders. When the piston rods of the valve plate pressing and releasing cylinders are extended, the valve plate is pressed onto the valve plate stacking tooling.

[0016] The bottom of the lower valve plate group transverse movement grabbing and placing mechanism is installed on the assembly base plate, grabs the lower valve plate group to be assembled that has been stacked on the valve plate stacking tooling, and moves it transversely to the lower valve plate group assembly position of the valve plate stacking tooling, and places the lower valve plate group to be assembled on the nut of the screw to be assembled.

[0017] By adopting the above technical solutions, valve plates of the same specification are stored on the valve plate storage rods of each lower valve plate feeding mechanism. The lower valve plate group to be assembled is actually formed by stacking multiple valve plates of different specifications in a set order. Therefore, when the piston rods of the feeding cylinders of multiple lower valve plate feeding mechanisms are pushed out, the corresponding valve plates can be pushed above the lower valve plate group assembly position of the valve plate stacking tooling. The corresponding valve plate pressing and placing cylinders of the lower valve plate positioning and guiding mechanism act to press the valve plates onto the positioning rods on the valve plate stacking tooling. The valve plate stacking tooling moves cyclically, and multiple lower valve plate feeding mechanisms cooperate with the lower valve plate positioning and guiding mechanism to stack the lower valve plate group to be assembled on the valve plate stacking tooling. Finally, the lower valve plate group transverse grasping and placing mechanism grasps the lower valve plate group to be assembled, transversely moves and places it at the lower valve plate group assembly position of the valve plate stacking tooling, and places the lower valve plate group to be assembled on the nuts of the screws to be assembled, realizing the automatic stacking and assembly of the lower valve plate group to be assembled.

[0018] Optionally, the bottom valve feeding mechanism includes a bottom valve circulating conveying device and a bottom valve transverse grasping and placing mechanism. The bottom valve circulating conveying device is located on one side of the bottom valve assembly circulating assembly mechanism. The bottom of the bottom valve transverse grasping and placing mechanism is installed on the assembly bottom plate, grasps the bottom valve to be assembled on the bottom valve circulating conveying device, transversely moves it to the bottom valve assembly position of the bottom valve assembly tooling, and places it on the lower valve plate group to be assembled.

[0019] By adopting the above technical solutions, the bottom valve circulating conveying device also adopts a station circulating structure. The feeding end can use a transfer robot to place the bottom valve to be assembled on the circulating station, and the discharging end uses the bottom valve transverse grasping and placing mechanism to grasp and transversely move the bottom valve to be assembled to the bottom valve assembly position of the bottom valve assembly tooling and place it on the lower valve plate group to be assembled, realizing the automatic assembly of the bottom valve; the bottom valve transverse grasping and placing mechanism is realized by a combination of a transverse movement mechanism and a grasping and placing mechanism.

[0020] Optionally, the upper valve plate group stacking and feeding mechanism includes multiple upper valve plate feeding mechanisms, an upper valve plate positioning and pressing mechanism, and an upper valve plate group transverse grasping and placing mechanism. The upper valve plate group stacking and feeding mechanism is installed on the assembly bottom plate and is located on one side of the lower valve plate group stacking and feeding mechanism. The upper valve plate feeding mechanism has the same structure as the lower valve plate feeding mechanism, the upper valve plate positioning and pressing mechanism has the same structure as the lower valve plate positioning and guiding mechanism, and the upper valve plate group transverse grasping and placing mechanism grasps the upper valve plate group to be assembled stacked on the valve plate stacking tooling, transversely moves and places it at the upper valve plate group assembly position of the valve plate stacking tooling, and places the upper valve plate group to be assembled on the upper surface of the bottom valve to be assembled.

[0021] By adopting the above technical solutions, the upper valve plate group stacking and feeding mechanism actually has a structure similar to that of the lower valve plate group stacking and feeding mechanism, except that the specifications of the valve plates pushed out by the upper valve plate feeding mechanism are different.

[0022] Optionally, it further includes a stop seat feeding mechanism, which includes a stop seat feeder and a stop seat transverse transfer and gripping mechanism. The stop seat feeder is installed on the frame. The stop seat transverse transfer and gripping mechanism grabs the stop seat to be assembled on the stop seat feeder and transversely places it at the stop seat assembly position of the bottom valve assembly tooling.

[0023] By adopting the above technical solution, different specifications of bottom valve assemblies may or may not require a stop seat. The stop seat feeding mechanism is set according to requirements, and the implementation form of the stop seat feeding mechanism is also based on the feeder and the transverse transfer and gripping mechanism to achieve automated assembly.

[0024] Optionally, the nut assembly mechanism includes a nut feeder, a nut transverse transfer and gripping mechanism, and a nut tightening gun. The nut feeder and the nut transverse transfer and gripping mechanism are respectively installed on the frame. The nut transverse transfer and gripping mechanism grabs the nut to be assembled at the discharge end of the nut feeder and transversely places it at the nut assembly position of the bottom valve assembly tooling. The nut tightening gun tightens the nut to be assembled onto the screw to be assembled. After tightening, the screw to be assembled, the lower valve plate group to be assembled, the bottom valve to be assembled, the upper valve plate group to be assembled, the stop seat to be assembled, and the nut to be assembled form the bottom valve assembly.

[0025] By adopting the above technical solution, the nut assembly mechanism is the last step of automated assembly. The assembly logic is also feeding plus gripping, transverse transfer, and placement, and finally, automated assembly locking is achieved based on the nut tightening gun. After locking, the automated assembly of the bottom valve assembly is completed.

[0026] Optionally, it further includes a quality inspection system, which includes multiple station position sensors, a screw assembly height detector, a lower valve plate group assembly height detector, a bottom valve assembly height detector, an upper valve plate group assembly height detector, a nut tightening assembly height detector, and a flatness detector for the upper valve plate group after nut tightening. The station position sensors are used to sense the positions of multiple bottom valve assembly toolings, and calibrate the positions of the multiple bottom valve assembly toolings as the screw assembly position, screw detection position, lower valve plate group assembly position, lower valve plate group detection position, bottom valve assembly position, bottom valve detection position, upper valve plate group assembly position, upper valve plate group detection position, stop seat assembly position, nut assembly position, nut tightening detection position, and flatness detection position. The screw assembly height detector is located on one side of the screw detection position, the lower valve plate group assembly height detector is located on one side of the lower valve plate group detection position, the bottom valve assembly height detector is located on one side of the bottom valve detection position, the upper valve plate group assembly height detector is located on one side of the upper valve plate group detection position, the nut tightening assembly height detector is located on one side of the nut tightening detection position, and the flatness detector for the upper valve plate group after nut tightening is located on one side of the flatness detection position. The screw assembly height detector, the lower valve plate group assembly height detector, the bottom valve assembly height detector, the upper valve plate group assembly height detector, and the nut tightening assembly height detector respectively detect the assembly height based on displacement sensors, and the flatness detector for the upper valve plate group after nut tightening detects the flatness value based on the data difference of three displacement sensors. Each component of the quality inspection system is respectively communicatively connected to the assembly controller.

[0027] By adopting the above technical solutions, unqualified semi-finished products can be promptly removed through the detection at each detection station, ensuring the assembly quality.

[0028] Optionally, the bottom valve feeding mechanism includes a bottom valve feeding bracket, a bottom valve linear module, a bottom valve lifting cylinder, a bottom valve grasping connecting plate, and bottom valve jaws. The bottom valve feeding bracket is installed on the working cylinder assembly rack, on one side of the discharge end of the bottom valve assembly output belt. The track of the bottom valve linear module is installed on the bottom valve feeding bracket. The bottom valve lifting cylinder is installed on the slider of the bottom valve linear module. One end of the bottom valve grasping connecting plate is installed at the end of the piston rod of the bottom valve lifting cylinder, and the bottom valve jaws are installed at the other end of the bottom valve grasping connecting plate.

[0029] The working cylinder feeding mechanism includes a material frame assembly, a magnetic adsorption feeding mechanism, and a working cylinder carrier. The material frame assembly contains multiple working cylinders to be assembled. The magnetic adsorption feeding mechanism includes a linear moving mechanism, a lifting mechanism, and an electromagnetic jaw. The linear moving mechanism is installed on the working cylinder assembly rack and is located above the material frame assembly. The lifting mechanism is installed on the slider of the linear moving mechanism, and the electromagnetic jaw is installed on the lifting part of the lifting mechanism. The electromagnetic jaw sucks the working cylinder to be assembled and places it on the working cylinder carrier.

[0030] The working cylinder transfer mechanism includes a feeding linear module, a rotating mechanism, a feeding pneumatic gripper, a transfer linear module, a transfer support, a lifting cylinder, a transfer crossbeam frame, a first transfer pneumatic gripper, and a second transfer pneumatic gripper. The track of the feeding linear module is installed on the working cylinder assembly rack, on one side of the working cylinder carrier. The rotating mechanism is installed on the slider of the feeding linear module, and the feeding pneumatic gripper is installed on the rotating part of the rotating mechanism. The feeding pneumatic gripper grabs the working cylinder to be assembled from the working cylinder carrier and rotates to make the working cylinder to be assembled vertical. The track of the transfer linear module is installed on the working cylinder assembly rack, on one side of the working cylinder bottom valve pressing mechanism. The bottom of the transfer support is installed on the slider of the transfer linear module, the lifting cylinder is installed in the middle of the transfer support, the middle of the transfer crossbeam frame is installed on the piston rod of the lifting cylinder, and the first transfer pneumatic gripper and the second transfer pneumatic gripper are respectively installed at both ends of the transfer crossbeam frame. When the slider of the transfer linear module moves left and right, the first transfer pneumatic gripper moves between the working cylinder feeding mechanism and the working cylinder bottom valve pressing mechanism, and the second transfer pneumatic gripper moves between the working cylinder bottom valve pressing mechanism and the output mechanism of the bottom valve working cylinder assembly.

[0031] The working cylinder bottom valve pressing mechanism includes a pressing support, a pressing servo electric cylinder, a pressing block, a pressing positioning mechanism, and a pressing support member. The bottoms of the pressing support and the pressing support member are respectively installed on the working cylinder assembly rack, the pressing support is located above the pressing support member, the pressing servo electric cylinder is installed on the pressing support, the pressing block is installed at the end of the piston rod of the pressing servo electric cylinder, and the pressing positioning mechanism is installed on the pressing support through a bracket. When the piston rod of the pressing servo electric cylinder presses down, the pressing positioning mechanism clamps on the outer wall of the working cylinder to be assembled.

[0032] The output mechanism of the bottom valve working cylinder assembly includes a clamping and turning mechanism and an output conveyor for the bottom valve working cylinder assembly. The clamping and turning mechanism is installed on the working cylinder assembly rack, on one side of the working cylinder bottom valve pressing mechanism, grabs the bottom valve working cylinder assembly grabbed by the second transfer pneumatic gripper, turns it, and places it at the feeding end of the output conveyor for the bottom valve working cylinder assembly.

[0033] By adopting the above technical solution, the bottom valve feeding mechanism needs to grab the bottom valve assembly at the discharging end of the bottom valve assembly output belt. The action is that the piston rod of the bottom valve lifting cylinder first descends, and after the bottom valve gripper grabs the bottom valve assembly, the bottom valve linear module, the bottom valve lifting cylinder, and the bottom valve gripper cooperate to move and place the bottom valve assembly on the pressing support member.

[0034] At the same time, the magnetic adsorption feeding mechanism of the working cylinder feeding mechanism grabs the working cylinder to be assembled in the material frame assembly and places it on the working cylinder carrier.

[0035] The working cylinder transfer mechanism is divided into two-stage transfer. The first stage includes a feeding linear module, a rotating mechanism, and a feeding pneumatic gripper. The feeding pneumatic gripper grabs the to-be-assembled working cylinder at a specified position on the working cylinder carrier. The feeding linear module and the rotating mechanism cooperate to achieve lateral movement and steering, so that the to-be-assembled working cylinder is in a vertical state for subsequent transfer and pressing;

[0036] The second-stage transfer includes a transfer linear module, a transfer bracket, a lifting cylinder, a transfer crossbeam frame, a first transfer pneumatic gripper, and a second transfer pneumatic gripper, which realizes the transfer between three workstations. The first transfer pneumatic gripper first grabs the to-be-assembled working cylinder grabbed by the feeding pneumatic gripper. The slider of the transfer linear module moves, and the first transfer pneumatic gripper is directly above the pressing support at the pressing position. The lifting cylinder acts to make the to-be-assembled working cylinder abut against the bottom valve assembly. The pressing positioning mechanism acts, and the pressing positioning block abuts against the outer wall of the to-be-assembled working cylinder to position the to-be-assembled working cylinder. The first transfer pneumatic gripper releases. At this time, the pressing servo cylinder of the working cylinder bottom valve pressing mechanism acts, and the piston rod drives the pressing block to press down on the top of the to-be-assembled working cylinder. The pressing positioning block of the pressing positioning mechanism abuts against the outer wall of the to-be-assembled working cylinder to apply pressure evenly. The piston rod of the pressing servo cylinder continues to press down. When the pressing force reaches the set pressure value and the pressing displacement reaches the set pressing displacement value, the pressing is completed, and the working cylinder bottom valve pressing mechanism resets;

[0037] The slider of the transfer linear module acts, and the second transfer pneumatic gripper grabs the outer wall of the bottom valve working cylinder assembly that has completed pressing. The first transfer pneumatic gripper returns to the position of the feeding pneumatic gripper to continue transferring the to-be-pressed working cylinder. The second transfer pneumatic gripper transfers the bottom valve working cylinder assembly that has completed pressing to the clamping and steering mechanism of the bottom valve working cylinder assembly output mechanism. The clamping and steering mechanism first grabs the bottom valve working cylinder assembly, and then places it at the feeding end of the bottom valve working cylinder assembly output conveyor after turning;

[0038] Realize the automatic assembly of the bottom valve assembly and the working cylinder of the CDC shock absorber, and greatly improve the assembly efficiency and assembly quality.

[0039] A control method for a CDC shock absorber working cylinder assembly machine, which uses a CDC shock absorber working cylinder assembly machine to automatically assemble the bottom valve assembly, including the following steps:

[0040] Step 1, the assembly controller controls the circulation driver to drive multiple bottom valve assembly toolings to move step by step in the upper working position in the circulation chute. Multiple station position sensors mark the step positions as the screw assembly position, the screw detection position, the lower valve plate group assembly position, the lower valve plate group detection position, the bottom valve assembly position, the bottom valve detection position, the upper valve plate group assembly position, the upper valve plate group detection position, the stop seat assembly position, the nut assembly position, the nut locking detection position, and the flatness detection position;

[0041] Step 2, when the bottom valve assembly tooling runs to the screw assembly position, the assembly controller controls the screw feeding mechanism to grab the screw to be assembled and place it in the screw clamping position, controls the cyclic driver to act, the bottom valve assembly tooling runs to the screw detection position, the screw assembly height detector feeds back the initial height of the detected screw assembly surface, and the bottom valve assembly tooling continues to run to the lower valve plate group assembly position;

[0042] Step 3, the assembly controller controls the lower valve plate group stacking and feeding mechanism to act, grabs the lower valve plate group to be assembled stacked on the valve plate cyclic stacking mechanism, and places it on the nut of the screw to be assembled at the valve plate group assembly position, controls the bottom valve assembly tooling to run to the lower valve plate group detection position, the lower valve plate group assembly height detector feeds back the lower valve plate detection height. If the assembly controller judges it qualified based on the lower valve plate detection height and the bottom valve detection height reference, the bottom valve assembly tooling continues to run to the bottom valve assembly position;

[0043] Step 4, the assembly controller controls the bottom valve feeding mechanism to act, grabs the bottom valve to be assembled and places it on the lower valve plate group to be assembled, controls the bottom valve assembly tooling to run to the bottom valve detection position, the bottom valve assembly height detector feeds back the bottom valve detection height, then the bottom valve assembly tooling continues to run to the upper valve plate group assembly position;

[0044] Step 5, the assembly controller controls the upper valve plate group stacking and feeding mechanism to act, grabs the upper valve plate group to be assembled and places it on the bottom valve to be assembled, controls the bottom valve assembly tooling to run to the upper valve plate group detection position, the upper valve plate group assembly height detector feeds back the upper valve plate detection height. The assembly controller takes the bottom valve detection height as the reference and judges it qualified based on the upper valve plate detection height and the bottom valve detection height reference, then the bottom valve assembly tooling continues to run to the nut assembly position;

[0045] Step 6, the assembly controller controls the nut assembly mechanism to act, grabs the nut to be assembled and places it on the upper valve plate group to be assembled and tightens it, controls the bottom valve assembly tooling to run to the nut locking detection position. After the nut is locked, the assembly height detector feeds back the detected nut assembly surface height. The assembly controller is based on the nut assembly surface height after assembly completion and the top surface height of the screw to be assembled. The assembly controller takes the nut assembly surface height as the reference and judges it qualified based on the top surface height of the screw to be assembled and the nut assembly surface height reference, then the bottom valve assembly tooling continues to run to the flatness detection position. After the nut is locked, the upper valve plate group flatness detector feeds back that the detection is qualified, then the assembly controller controls the bottom valve assembly tooling to continue to run to the output end of the bottom valve assembly, and the bottom valve assembly is removed by the transfer crosswise grasping and placing mechanism and placed at the feeding end of the bottom valve assembly output belt;

[0046] Step 7, the assembly controller controls the bottom valve feeding mechanism to grasp the bottom valve assembly at the discharging end of the output belt of the bottom valve assembly and place it on the pressing support of the bottom valve pressing mechanism of the working cylinder. It controls the working cylinder feeding mechanism to act and output the working cylinder to be assembled, controls the working cylinder transfer mechanism to transfer the working cylinder to be assembled to the pressing support of the bottom valve pressing mechanism of the working cylinder, controls the bottom valve pressing mechanism of the working cylinder to act to sleeved the working cylinder to be assembled downward on the outer wall of the bottom valve assembly to form a bottom valve working cylinder assembly, and controls the output mechanism of the bottom valve working cylinder assembly to output the bottom valve working cylinder assembly.

[0047] In summary, the present invention includes at least one of the following beneficial technical effects:

[0048] The present invention can provide a CDC shock absorber working cylinder assembly machine. The bottom valve assembly circulating assembly mechanism forms the assembly stations of each component of the bottom valve assembly in a circulating manner, and can perform automatic assembly in sequence when circulating to the corresponding stations; cooperating with detection elements such as position detection sensors and photoelectric switches can sense the position of the bottom valve assembly tooling.

[0049] The working cylinder assembly is realized based on the bottom valve feeding mechanism, the working cylinder feeding mechanism, the working cylinder transfer mechanism, the bottom valve pressing mechanism of the working cylinder and the output mechanism of the bottom valve working cylinder assembly. The bottom valve feeding mechanism docks and grasps the bottom valve assembly at the discharging end of the output belt of the bottom valve assembly. The working cylinder feeding mechanism can realize the automatic feeding of the working cylinder to be assembled. The working cylinder transfer mechanism transfers the working cylinder to be assembled to the pressing station, and then the bottom valve pressing mechanism of the working cylinder presses the working cylinder to be assembled and the bottom valve assembly into a bottom valve working cylinder assembly, and finally outputs the bottom valve working cylinder assembly through the output mechanism of the bottom valve working cylinder assembly; it efficiently realizes the automatic assembly of the bottom valve assembly and the working cylinder of the CDC shock absorber, and greatly improves the assembly efficiency and assembly quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 is a top view structural schematic diagram of an automatic assembly machine for the bottom valve working cylinder of a CDC shock absorber of the present invention;

[0051] Figure 2 is a three-dimensional structural schematic diagram of the automatic assembly machine for the bottom valve assembly of an automatic assembly machine for the bottom valve working cylinder of a CDC shock absorber of the present invention;

[0052] Figure 3 is a top view structural schematic diagram of the automatic assembly machine for the bottom valve assembly of the present invention;

[0053] Figure 4 is a schematic diagram of the layout of the detection positions of the automatic assembly machine for the bottom valve assembly of the present invention;

[0054] Figure 5 is a three-dimensional structural schematic diagram of the combined state of the bottom valve assembly circulating assembly mechanism and the valve sheet circulating stacking mechanism of the automatic assembly machine for the bottom valve assembly of the present invention;

[0055] Figure 6 It is a schematic top view structural diagram of the combined state of the bottom valve assembly circulating assembly mechanism and the valve plate circulating stacking mechanism of the bottom valve assembly automatic assembly machine of the present invention;

[0056] Figure 7 It is a schematic three-dimensional structural diagram of the lower valve plate feeding mechanism of the bottom valve assembly automatic assembly machine of the present invention;

[0057] Figure 8 It is a schematic side view structural diagram of the combined state of the lower valve plate feeding mechanism and the lower valve plate positioning and guiding mechanism of the bottom valve assembly automatic assembly machine of the present invention;

[0058] Figure 9 It is a schematic side view structural diagram of the combined state of the screw transverse movement mechanism and the screw grasping and placing mechanism of the bottom valve assembly automatic assembly machine of the present invention;

[0059] Figure 10 It is a schematic three-dimensional structural diagram of the lower valve plate group transverse movement grasping and placing mechanism of the bottom valve assembly automatic assembly machine of the present invention;

[0060] Figure 11 It is a schematic three-dimensional structural diagram of the combined state of the nut transverse movement grasping and placing mechanism and the nut tightening gun of the bottom valve assembly automatic assembly machine of the present invention;

[0061] Figure 12 It is a schematic three-dimensional structural diagram of the bottom valve assembly of the present invention;

[0062] Figure 13 It is a schematic structural diagram of the working cylinder assembly mechanism of the present invention;

[0063] Figure 14 It is a schematic structural diagram of the magnetic adsorption type feeding mechanism of the working cylinder assembly mechanism of the present invention;

[0064] Figure 15 It is a partial schematic structural diagram of the working cylinder feeding mechanism and the working cylinder transfer mechanism of the present invention;

[0065] Figure 16 It is a partial schematic structural diagram of the working cylinder transfer mechanism of the present invention;

[0066] Figure 17 It is a schematic structural diagram of the bottom valve feeding mechanism of the working cylinder assembly mechanism of the present invention;

[0067] Figure 18 It is a schematic structural diagram of the bottom valve pressing mechanism of the working cylinder of the present invention.

[0068] Description of reference numerals: 11, circulating chute; 12, bottom valve assembly tooling; 13, circulating driver; 21, valve plate stacking circulating chute; 22, valve plate stacking tooling; 23, stacking circulating driver; 31, screw automatic feeder; 32, screw transverse movement mechanism; 33, screw grasping and placing mechanism; 41, pushing base; 42, pushing cylinder; 43, pushing connecting plate; 44, pushing plate; 46, spring column; 47, guide rod assembly; 48, valve plate storage rod; 49, valve plate frame; 50, valve plate pressing block; 51, valve plate upper pressing block; 52, positioning bracket; 53, valve plate pressing and placing cylinder; 54, pressing rod; 55, lower valve plate group transverse movement grasping and placing mechanism; 61, bottom valve circulating conveying device; 62, bottom valve transverse movement grasping and placing mechanism; 71, upper valve plate pushing mechanism; 72, upper valve plate positioning and pressing mechanism; 73, upper valve plate group transverse movement grasping and placing mechanism; 74, stop seat feeder; 75, stop seat transverse movement grasping and placing mechanism; 81, nut feeder; 82, nut transverse movement grasping and placing mechanism; 83, nut tightening gun; 91, screw assembly height detector; 92, lower valve plate group assembly height detector; 93, bottom valve assembly height detector; 94, upper valve plate group assembly height detector; 95, nut locking rear assembly height detector; 96, nut locking rear upper valve plate group flatness detector; 101, screws to be assembled; 102, lower valve plate group to be assembled; 103, bottom valve to be assembled; 104, upper valve plate group to be assembled; 105, nuts to be assembled; 106, assembly bottom plate; 107, frame; 108, transfer transverse movement grasping and placing mechanism; 109, bottom valve assembly output belt; 110, working cylinder to be assembled; 111, working cylinder assembly frame; 64, bottom valve feeding bracket; 65, bottom valve linear module; 66, bottom valve lifting cylinder; 67, bottom valve grasping connecting plate; 68, bottom valve jaw; 14, material frame assembly; 15, magnetic adsorption feeding mechanism; 151, electromagnetic jaw; 16, working cylinder carrier; 17, feeding linear module; 18, rotating mechanism; 19, feeding pneumatic jaw; 24, transfer linear module; 25, transfer bracket; 26, lifting cylinder; 27, transfer cross beam frame; 28, first transfer pneumatic jaw; 29, second transfer pneumatic jaw; 34, pressing mounting bracket; 35, pressing mounting servo electric cylinder; 36, pressing block; 37, pressing mounting positioning mechanism; 371, pressing mounting positioning block; 38, pressing mounting support; 56, clamping steering mechanism; 57, bottom valve working cylinder assembly output conveyor. Detailed implementation mode

[0069] The present invention will be further described in detail below with reference to the accompanying drawings.

[0070] An embodiment of the present invention discloses a working cylinder assembly machine for a CDC shock absorber.

[0071] Refer to Figure 1 - Figure 18, Embodiment 1, A working cylinder assembly machine for a CDC shock absorber, comprising a bottom valve assembly automatic assembly machine and a working cylinder assembly mechanism. The bottom valve assembly automatic assembly machine includes a bottom valve assembly circulating assembly mechanism, a screw feeding mechanism, a valve sheet circulating stacking mechanism, a lower valve sheet group stacking feeding mechanism, a bottom valve feeding mechanism, an upper valve sheet group stacking feeding mechanism, and a nut assembly mechanism. The circulating assembly mechanism includes a circulating chute 11, a plurality of bottom valve assembly toolings 12, and a circulating driver 13. The plurality of bottom valve assembly toolings 12 are respectively assembled in the circulating chute 11, and the circulating driver 13 drives the plurality of bottom valve assembly toolings 12 to perform step-by-step cyclic movement at the workstations on the circulating chute 11. The bottom valve assembly tooling 12 is provided with a screw clamping position, and the screw feeding mechanism is used to grab the screws 101 to be assembled and place them in the screw clamping position. The valve sheet circulating stacking mechanism is located on one side of the circulating assembly mechanism. The valve sheet circulating stacking mechanism includes a valve sheet stacking circulating chute 21, a plurality of valve sheet stacking toolings 22, and a stacking circulating driver 23. The stacking circulating driver 23 drives the plurality of valve sheet stacking toolings 22 to perform step-by-step cyclic movement at the workstations on the valve sheet stacking circulating chute 21. The lower valve sheet group stacking feeding mechanism is used to stack the lower valve sheet groups 102 to be assembled on the valve sheet circulating stacking mechanism, and grab the lower valve sheet groups 102 to be assembled and place them on the nuts of the screws 101 to be assembled. The bottom valve feeding mechanism is used to grab the bottom valves 103 to be assembled and place them on the lower valve sheet groups 102 to be assembled. The upper valve sheet group stacking feeding mechanism is used to stack the upper valve sheet groups 104 to be assembled on the valve sheet circulating stacking mechanism, and grab the upper valve sheet groups 104 to be assembled and place them on the bottom valves 103 to be assembled. The nut assembly mechanism is used to grab the nuts 105 to be assembled and place them on the upper valve sheet groups 104 to be assembled and tighten them, completing the assembly of the bottom valve assembly. The transfer and transverse grasping and placing mechanism 108 removes the assembled bottom valve assembly and places it at the feeding end of the bottom valve assembly output belt 109;

[0072] The working cylinder assembly mechanism includes a bottom valve feeding mechanism, a working cylinder feeding mechanism, a working cylinder transfer mechanism, a working cylinder bottom valve pressing mechanism, and a bottom valve working cylinder assembly output mechanism. The bottom valve feeding mechanism grabs the bottom valve assembly at the discharging end of the bottom valve assembly output belt 109 and places it on the pressing support 38 of the working cylinder bottom valve pressing mechanism. The working cylinder feeding mechanism is used to output the working cylinders 110 to be assembled. The working cylinder transfer mechanism is used to transfer the working cylinders 110 to be assembled above the pressing support 38 of the working cylinder bottom valve pressing mechanism. The working cylinder bottom valve pressing mechanism sleeves the working cylinders 110 to be assembled downward on the outer wall of the bottom valve assembly. The working cylinder transfer mechanism transfers the pressed bottom valve working cylinder assembly to the bottom valve working cylinder assembly output mechanism.

[0073] The automatic assembly of the CDC shock absorber bottom valve working cylinder is decomposed into two parts: bottom valve assembly and working cylinder assembly. The bottom valve assembly circulating assembly mechanism forms the assembly workstations of each component of the bottom valve assembly in a circulating manner, and automatic assembly can be carried out sequentially when circulating to the corresponding workstations;

[0074] Detection components such as the mating position detection sensor and the photoelectric switch can sense the position of the bottom valve assembly tooling 12. When the bottom valve assembly tooling 12 runs to the screw assembly position, the assembly controller controls the screw feeding mechanism to grab the screw to be assembled 101 and place it in the screw clamping position. The bottom valve assembly tooling 12 continues to run to the lower valve plate group assembly position; the assembly controller controls the lower valve plate group stacking and feeding mechanism to act, grabs the lower valve plate group 102 to be assembled stacked on the valve plate circulating stacking mechanism, and places it on the nut of the screw 101 to be assembled at the valve plate group assembly position. The bottom valve assembly tooling 12 continues to run to the bottom valve assembly position; the assembly controller controls the bottom valve feeding mechanism to act, grabs the bottom valve 103 to be assembled and places it on the lower valve plate group 102 to be assembled. The bottom valve assembly tooling 12 continues to run to the upper valve plate group assembly position; the assembly controller controls the upper valve plate group stacking and feeding mechanism to grab the upper valve plate group 104 to be assembled and place it on the bottom valve 103 to be assembled. The bottom valve assembly tooling 12 continues to run to the nut assembly position; the assembly controller controls the nut assembly mechanism to grab the nut 105 to be assembled and place it on the upper valve plate group 104 to be assembled and tighten it, thus completing the assembly of the bottom valve assembly. Different detectors can also be set at different workstations to detect whether the assembled dimensions are qualified. If the final detection is qualified, the assembly controller controls the bottom valve assembly tooling 12 to continue running to the output end of the bottom valve assembly, and the bottom valve assembly is removed through the transfer crosswise grasping and placing mechanism 108 and placed at the feeding end of the bottom valve assembly output belt 109;

[0075] The working cylinder assembly is realized based on the bottom valve feeding mechanism, the working cylinder feeding mechanism, the working cylinder transfer mechanism, the working cylinder bottom valve pressing mechanism and the bottom valve working cylinder assembly output mechanism. Among them, the bottom valve feeding mechanism docks and grabs the bottom valve assembly at the discharging end of the bottom valve assembly output belt 109. The working cylinder feeding mechanism can realize the automatic feeding of the working cylinder 110 to be assembled. After the working cylinder transfer mechanism transfers the working cylinder 110 to be assembled to the pressing position, the working cylinder bottom valve pressing mechanism presses the working cylinder 110 to be assembled and the bottom valve assembly into a bottom valve working cylinder assembly, and finally outputs the bottom valve working cylinder assembly through the bottom valve working cylinder assembly output mechanism;

[0076] The automatic assembly of the bottom valve assembly and the working cylinder is efficiently realized, and both the assembly efficiency and the assembly quality are greatly improved.

[0077] Embodiment 2. The cyclic assembly mechanism further includes an assembly base plate 106. The assembly base plate 106 is detachably mounted on the frame 107 by a plurality of support rods. The cyclic chute 11 is mounted on the upper surface of the assembly base plate 106. The cyclic drive 13 is mounted on the bottom surface of the assembly base plate 106. The drive rod of the cyclic drive 13 is in transmission connection with the bottom of the bottom valve assembly tooling 12 through a transmission member. The valve plate stacking cyclic chute 21 is mounted on the upper surface of the assembly base plate 106 and is located on one side of the cyclic chute 11. The stacking cyclic drive 23 is mounted on the bottom surface of the assembly base plate 106. The drive rod of the stacking cyclic drive 23 is in transmission connection with the bottom of the valve plate stacking tooling 22 through a transmission member.

[0078] The structure of using the assembly base plate 106 detachably mounted on the frame 107 by a plurality of support rods to elevate the cyclic chute 11 and raise the height of the cyclic chute 11 facilitates the installation of other assembly mechanisms. The cyclic drive 13 is mainly implemented based on cylinders with different strokes. The stroke cylinders can be mounted on the back of the assembly base plate 106, so as to realize the step-by-step cyclic movement of the valve plate stacking tooling 22. The moving distance each time is the distance from one station to the next station.

[0079] Embodiment 3. The screw feeding mechanism includes at least one screw automatic feeder 31, a screw transverse movement mechanism 32, and a screw grasping and placing mechanism 33. The screw automatic feeder 31 and the screw transverse movement mechanism 32 are respectively mounted on the frame 107 and are located on one side of the assembly base plate 106. The screw grasping and placing mechanism 33 is mounted on the transverse movement part of the screw transverse movement mechanism 32. The transverse movement part drives the screw grasping and placing mechanism 33 to move between the screw discharge port of the screw automatic feeder 31 and the screw assembly positions of a plurality of bottom valve assembly toolings 12. When located at the screw discharge port, the screw grasping and placing mechanism 33 grabs the screws 101 to be assembled and drops the screws 101 to be assembled when moving to the screw assembly position.

[0080] The screw automatic feeder 31 can be a purchased standard part. The number of screw automatic feeders 31 is set according to requirements and is at least one. Multiple ones can meet the supply of different screws. The structure of the screw transverse movement mechanism 32 is realized by assembling an electric slide table on a bracket, which can drive the transverse movement of the screw grasping and placing mechanism 33. The grasping and placing mechanism refers to a combination of a lifting mechanism and a grasping and placing mechanism, which can realize the lifting and grasping and placing actions. The cooperation of the screw transverse movement mechanism 32 and the screw grasping and placing mechanism 33 can meet the automated action requirements of screw grasping, transverse movement, and then dropping.

[0081] Embodiment 4, the lower valve plate group stacking and loading mechanism includes multiple lower valve plate pushing mechanisms, lower valve plate positioning and guiding mechanisms and lower valve plate group transverse movement grasping and releasing mechanisms 55, the lower valve plate pushing mechanism includes a pushing base 41, a pushing cylinder 42, a pushing connecting plate 43, a pushing plate 44 and a valve plate stacking device, the pushing base 41 is provided with a pushing plate sliding groove, the bottom of the pushing base 41 is installed on the assembly base plate 106, and is located on one side of the valve plate circulation stacking mechanism, and slides in the pushing plate sliding groove, the pushing cylinder 42 is installed on the bottom surface of the assembly base plate 106, the piston rod of the pushing cylinder 42 is connected to the pushing plate 44 through the pushing connecting plate 43, driving the pushing plate 44 to slide in the pushing plate sliding groove, the valve plate stacking device includes multiple spring columns 46, guide Rod assembly 47, valve sheet storage rod 48, valve sheet frame 49, valve sheet lower pressing block 50 and valve sheet upper pressing block 51, the bottom of multiple spring columns 46 are installed on the pusher base 41 and span above the pusher plate sliding groove, the valve sheet lower pressing block 50 is assembled on the bottom of multiple spring columns 46, and multiple spring columns 46 press the valve sheet lower pressing block 50 against the upper surface of the pusher base 41, the bottom of the guide rod assembly 47 is installed on the valve sheet lower pressing block 50, the valve sheet frame 49 is installed in the mounting hole in the middle of the valve sheet lower pressing block 50, one end of the valve sheet storage rod 48 is connected to the top of the guide rod assembly 47, and the other end is inserted into the valve sheet frame 49, the valve sheet upper pressing block 51 is located on the valve sheet storage rod 48, and multiple valve sheets of the same specification are stored on the valve sheet storage rod 48 below the valve sheet upper pressing block 51;

[0082] The lower valve plate positioning and guiding mechanism comprises a positioning bracket 52, a plurality of valve plate pressing and releasing cylinders 53 and a plurality of pressing rods 54. The bottom of the positioning bracket 52 is mounted on the assembly base plate 106 and is located in the middle of the valve plate stacking circulation slide 21. The plurality of valve plate pressing and releasing cylinders 53 are respectively mounted on the positioning bracket 52. One end of the plurality of pressing rods 54 is respectively connected to the piston rods of the plurality of valve plate pressing and releasing cylinders 53. When the piston rods of the valve plate pressing and releasing cylinders 53 are extended, the valve plate is pressed and placed on the valve plate stacking tooling 22.

[0083] The bottom of the lower valve plate group transverse movement grasping and releasing mechanism 55 is installed on the assembly base plate 106, grabs the lower valve plate group 102 to be assembled that has been stacked on the valve plate stacking tooling 22, and moves it transversely to the lower valve plate group assembly position of the valve plate stacking tooling 22, and places the lower valve plate group 102 to be assembled on the nut of the screw 101 to be assembled.

[0084] On the valve sheet storage rod 48 of each lower valve sheet feeding mechanism, valve sheets of the same specification are stored. The lower valve sheet group 102 to be assembled is actually formed by stacking multiple valve sheets of different specifications in a set order. Therefore, when the piston rods of the feeding cylinders 42 of multiple lower valve sheet feeding mechanisms are pushed out, the corresponding valve sheets can be pushed above the lower valve sheet group assembly position of the valve sheet stacking tooling 22. The corresponding valve sheet pressing cylinder 53 of the lower valve sheet positioning and guiding mechanism acts to press the valve sheet onto the positioning rod on the valve sheet stacking tooling 22. The valve sheet stacking tooling 22 moves cyclically, and multiple lower valve sheet feeding mechanisms cooperate with the lower valve sheet positioning and guiding mechanism to stack the lower valve sheet group 102 to be assembled on the valve sheet stacking tooling 22. Finally, the lower valve sheet group transverse transfer and grasping mechanism 55 grasps the lower valve sheet group 102 to be assembled, and transversely places it at the lower valve sheet group assembly position of the valve sheet stacking tooling 22, and places the lower valve sheet group 102 to be assembled on the nut of the screw 101 to be assembled, realizing the automatic stacking and assembly of the lower valve sheet group 102 to be assembled.

[0085] Embodiment 5, the bottom valve feeding mechanism includes a bottom valve circulating conveying device 61 and a bottom valve transverse transfer and grasping mechanism 62. The bottom valve circulating conveying device 61 is located on one side of the bottom valve assembly circulating assembly mechanism. The bottom of the bottom valve transverse transfer and grasping mechanism 62 is installed on the assembly bottom plate 106, grasps the bottom valve 103 to be assembled on the bottom valve circulating conveying device 61, transversely moves it to the bottom valve assembly position of the bottom valve assembly tooling 12, and places it on the lower valve sheet group 102 to be assembled.

[0086] The bottom valve circulating conveying device 61 also adopts a station circulating structure. The feeding end can use a transfer robot to place the bottom valve 103 to be assembled on the circulating station. The discharging end uses the bottom valve transverse transfer and grasping mechanism 62 to grasp and transversely move the bottom valve 103 to be assembled to the bottom valve assembly position of the bottom valve assembly tooling 12, and place it on the lower valve sheet group 102 to be assembled, realizing the automatic assembly of the bottom valve; the bottom valve transverse transfer and grasping mechanism 62 is implemented in the form of a combination of a transverse transfer mechanism and a grasping and releasing mechanism.

[0087] Embodiment 6, the upper valve sheet group stacking and feeding mechanism includes multiple upper valve sheet feeding mechanisms 71, an upper valve sheet positioning and pressing mechanism 72, and an upper valve sheet group transverse transfer and grasping mechanism 73. The upper valve sheet group stacking and feeding mechanism is installed on the assembly bottom plate 106, on one side of the lower valve sheet group stacking and feeding mechanism. The upper valve sheet feeding mechanism 71 has the same structure as the lower valve sheet feeding mechanism, the upper valve sheet positioning and pressing mechanism 72 has the same structure as the lower valve sheet positioning and guiding mechanism, and the upper valve sheet group transverse transfer and grasping mechanism 73 grasps the upper valve sheet group 104 to be assembled stacked on the valve sheet stacking tooling 22, and transversely places it at the upper valve sheet group assembly position of the bottom valve assembly tooling 12, and places the upper valve sheet group 104 to be assembled on the upper surface of the bottom valve 103 to be assembled.

[0088] The upper valve plate stack feeding mechanism actually has a structure similar to that of the lower valve plate stack feeding mechanism, except that the valve plates pushed out by the upper valve plate pushing mechanism 71 are of different specifications.

[0089] Embodiment 7 further includes a stop seat feeding mechanism, which includes a stop seat feeder 74 and a stop seat transverse moving grasping and placing mechanism 75. The stop seat feeder 74 is installed on the frame 107. The stop seat transverse moving grasping and placing mechanism 75 grasps the stop seat to be assembled on the stop seat feeder 74 and transversely places it at the stop seat assembly position of the valve plate stacking tooling 22.

[0090] Bottom valve assemblies of different specifications may or may not require a stop seat. The stop seat feeding mechanism is set according to requirements, and the implementation form of the stop seat feeding mechanism is also based on the feeder and the transverse moving grasping and placing mechanism to achieve automatic assembly.

[0091] Embodiment 8, the nut assembly mechanism includes a nut feeder 81, a nut transverse moving grasping and placing mechanism 82 and a nut tightening gun 83. The nut feeder 81 and the nut transverse moving grasping and placing mechanism 82 are respectively installed on the frame 107. The nut transverse moving grasping and placing mechanism 82 grasps the nut 105 to be assembled at the discharging end of the nut feeder 81 and transversely places it at the nut assembly position of the bottom valve assembly tooling 12. The nut tightening gun 83 tightens the nut 105 to be assembled on the screw 101 to be assembled. After tightening, the screw 101 to be assembled, the lower valve plate group 102 to be assembled, the bottom valve 103 to be assembled, the upper valve plate group 104 to be assembled, the stop seat to be assembled and the nut 105 to be assembled form a bottom valve assembly.

[0092] The nut assembly mechanism is the last step of automatic assembly. The assembly logic is also feeding plus grasping, transverse movement and placement, and finally automatic assembly and locking are achieved based on the nut tightening gun 83. After locking, the automatic assembly of the bottom valve assembly is completed.

[0093] Embodiment 9 further includes a quality inspection system, which includes a plurality of station position sensors, a screw assembly height detector 91, a lower valve plate group assembly height detector 92, a bottom valve assembly height detector 93, an upper valve plate group assembly height detector 94, a post-nut-locking assembly height detector 95, and a post-nut-locking upper valve plate group flatness detector 96. The station position sensors are used to sense the positions of a plurality of bottom valve assembly toolings 12, and calibrate the positions of the plurality of bottom valve assembly toolings 12 as a screw assembly position, a screw inspection position, a lower valve plate group assembly position, a lower valve plate group inspection position, a bottom valve assembly position, a bottom valve inspection position, an upper valve plate group assembly position, an upper valve plate group inspection position, a stop seat assembly position, a nut assembly position, a nut-locking inspection position, and a flatness inspection position. The screw assembly height detector 91 is located on one side of the screw inspection position, the lower valve plate group assembly height detector 92 is located on one side of the lower valve plate group inspection position, the bottom valve assembly height detector 93 is located on one side of the bottom valve inspection position, the upper valve plate group assembly height detector 94 is located on one side of the upper valve plate group inspection position, the post-nut-locking assembly height detector 95 is located on one side of the nut-locking inspection position, and the post-nut-locking upper valve plate group flatness detector 96 is located on one side of the flatness inspection position. The screw assembly height detector 91, the lower valve plate group assembly height detector 92, the bottom valve assembly height detector 93, the upper valve plate group assembly height detector 94, and the post-nut-locking assembly height detector 95 respectively detect the assembly height based on displacement sensors, and the post-nut-locking upper valve plate group flatness detector 96 detects the flatness value based on the data difference of three displacement sensors. Each component of the quality inspection system is communicatively connected to the assembly controller.

[0094] Through the inspections at each inspection station, unqualified semi-finished products can be promptly removed to ensure the assembly quality.

[0095] Embodiment 10, the bottom valve feeding mechanism includes a bottom valve feeding bracket 64, a bottom valve linear module 65, a bottom valve lifting cylinder 66, a bottom valve grasping connecting plate 67, and a bottom valve jaw 68. The bottom valve feeding bracket 64 is installed on the working cylinder assembly frame 111, on one side of the discharge end of the bottom valve assembly output belt 109. The track of the bottom valve linear module 65 is installed on the bottom valve feeding bracket 64. The bottom valve lifting cylinder 66 is installed on the slider of the bottom valve linear module 65. One end of the bottom valve grasping connecting plate 67 is installed at the end of the piston rod of the bottom valve lifting cylinder 66, and the bottom valve jaw 68 is installed at the other end of the bottom valve grasping connecting plate 67;

[0096] The working cylinder feeding mechanism includes a material frame assembly 14, a magnetic adsorption type feeding mechanism 15, and a working cylinder carrier 16. The material frame assembly 14 contains multiple working cylinders 110 to be assembled. The magnetic adsorption type feeding mechanism 15 includes a linear movement mechanism, a lifting mechanism, and an electromagnetic gripper 151. The linear movement mechanism is installed on the working cylinder assembly rack 111 and is located above the material frame assembly 14. The lifting mechanism is installed on the slider of the linear movement mechanism, and the electromagnetic gripper 151 is installed on the lifting part of the lifting mechanism. The electromagnetic gripper 151 sucks the working cylinder 110 to be assembled and places it on the working cylinder carrier 16;

[0097] The working cylinder transfer mechanism includes a feeding linear module 17, a rotating mechanism 18, a feeding pneumatic gripper 19, a transfer linear module 24, a transfer support 25, a lifting cylinder 26, a transfer crossbeam frame 27, a first transfer pneumatic gripper 28, and a second transfer pneumatic gripper 29. The track of the feeding linear module 17 is installed on the working cylinder assembly rack 111 and is located on one side of the working cylinder carrier 16. The rotating mechanism 18 is installed on the slider of the feeding linear module 17, and the feeding pneumatic gripper 19 is installed on the rotating part of the rotating mechanism 18. The feeding pneumatic gripper 19 grabs the working cylinder 110 to be assembled from the working cylinder carrier 16 and rotates to make the working cylinder 110 to be assembled vertical. The track of the transfer linear module 24 is installed on the working cylinder assembly rack 111 and is located on one side of the working cylinder bottom valve pressing mechanism. The bottom of the transfer support 25 is installed on the slider of the transfer linear module 24. The lifting cylinder 26 is installed in the middle of the transfer support 25. The middle of the transfer crossbeam frame 27 is installed on the piston rod of the lifting cylinder 26. The first transfer pneumatic gripper 28 and the second transfer pneumatic gripper 29 are respectively installed at both ends of the transfer crossbeam frame 27. When the slider of the transfer linear module 24 moves left and right, the first transfer pneumatic gripper 28 moves between the working cylinder feeding mechanism and the working cylinder bottom valve pressing mechanism, and the second transfer pneumatic gripper 29 moves between the working cylinder bottom valve pressing mechanism and the bottom valve working cylinder assembly output mechanism;

[0098] The working cylinder bottom valve pressing mechanism includes a pressing support 34, a pressing servo electric cylinder 35, a pressing block 36, a pressing positioning mechanism 37, and a pressing support 38. The bottoms of the pressing support 34 and the pressing support 38 are respectively installed on the working cylinder assembly rack 111. The pressing support 34 is located above the pressing support 38. The pressing servo electric cylinder 35 is installed on the pressing support 34. The pressing block 36 is installed at the end of the piston rod of the pressing servo electric cylinder 35. The pressing positioning mechanism 37 is installed on the pressing support 34 through a bracket. When the piston rod of the pressing servo electric cylinder 35 presses down, the pressing positioning mechanism 37 clamps the outer wall of the working cylinder 110 to be assembled;

[0099] The output mechanism of the foot valve working cylinder assembly includes a clamping and steering mechanism 56 and an output conveyor 57 of the foot valve working cylinder assembly. The clamping and steering mechanism 56 is installed on the working cylinder assembly rack 111, on one side of the foot valve pressing mechanism of the working cylinder, grabs the foot valve working cylinder assembly clamped by the second transfer pneumatic gripper 29, and after steering, places it at the feeding end of the output conveyor 57 of the foot valve working cylinder assembly.

[0100] The foot valve feeding mechanism needs to grab the foot valve assembly at the discharging end of the foot valve assembly output belt 109. The action is that first, the piston rod of the foot valve lifting cylinder 66 descends. After the foot valve gripper 68 grabs the foot valve assembly, the foot valve linear module 65, the foot valve lifting cylinder 66, and the foot valve gripper 68 cooperate to move and place the foot valve assembly on the pressing support 38.

[0101] At the same time, the magnetic adsorption feeding mechanism 15 of the working cylinder feeding mechanism grabs the working cylinder 110 to be assembled in the material frame assembly 14 and places it on the working cylinder carrier 16.

[0102] The working cylinder transfer mechanism is divided into two-stage transfer. The first stage includes a feeding linear module 17, a rotating mechanism 18, and a feeding pneumatic gripper 19. The feeding pneumatic gripper 19 grabs the working cylinder 110 to be assembled at a specified position on the working cylinder carrier 16. The feeding linear module 17 and the rotating mechanism 18 cooperate to achieve lateral movement and steering, so that the working cylinder 110 to be assembled is in a vertical state for subsequent transfer and pressing.

[0103] The second-stage transfer includes a transfer linear module 24, a transfer bracket 25, a lifting cylinder 26, a transfer crossbeam frame 27, a first transfer pneumatic gripper 28, and a second transfer pneumatic gripper 29, which realizes transfer between three workstations. The first transfer pneumatic gripper 28 first grabs the working cylinder 110 clamped by the feeding pneumatic gripper 19. The slider of the transfer linear module 24 moves. The first transfer pneumatic gripper 28 is directly above the pressing support 38 at the pressing position. The lifting cylinder 26 acts to make the working cylinder 110 to be assembled abut against the foot valve assembly. The pressing and positioning mechanism 37 acts, and the pressing and positioning block 371 abuts against the outer wall of the working cylinder 110 to position the working cylinder 110 to be assembled. The first transfer pneumatic gripper 28 releases. At this time, the pressing servo electric cylinder 35 of the working cylinder foot valve pressing mechanism acts, and the piston rod drives the pressing block 36 to press down on the top of the working cylinder 110 to be assembled. The pressing and positioning block 371 of the pressing and positioning mechanism 37 abuts against the outer wall of the working cylinder 110 to be assembled to apply the pressure evenly. The piston rod of the pressing servo electric cylinder 35 continues to press down. When the pressing force reaches the set pressure value and the pressing displacement reaches the set pressing displacement value, the pressing is completed, and the working cylinder foot valve pressing mechanism resets.

[0104] The slider of the transfer linear module 24 moves. The second transfer pneumatic gripper 29 grabs the outer wall of the bottom valve working cylinder assembly that has completed the press-fitting. The first transfer pneumatic gripper 28 returns to the position of the feeding pneumatic gripper 19 to continue transferring the working cylinder 110 to be press-fitted. The second transfer pneumatic gripper 29 transfers the bottom valve working cylinder assembly that has completed the press-fitting to the clamping and turning mechanism 56 of the output mechanism of the bottom valve working cylinder assembly. The clamping and turning mechanism 56 first grabs the bottom valve working cylinder assembly, and then places it at the feeding end of the bottom valve working cylinder assembly output conveyor 57 after turning;

[0105] Automatically assemble the bottom valve assembly and the working cylinder of the CDC shock absorber, and greatly improve the assembly efficiency and assembly quality.

[0106] Embodiment 11, a control method for a CDC shock absorber working cylinder assembly machine, which uses a CDC shock absorber working cylinder assembly machine to automatically assemble the bottom valve assembly, including the following steps:

[0107] Step 1, the assembly controller controls the circulating driver 13 to drive multiple bottom valve assembly toolings 12 to move step by step in a circulating manner at the upper working position in the circulating chute 11. Multiple station position sensors label the step positions as the screw assembly position, the screw detection position, the lower valve plate group assembly position, the lower valve plate group detection position, the bottom valve assembly position, the bottom valve detection position, the upper valve plate group assembly position, the upper valve plate group detection position, the stop seat assembly position, the nut assembly position, the nut locking detection position, and the flatness detection position;

[0108] Step 2, when the bottom valve assembly tooling 12 runs to the screw assembly position, the assembly controller controls the screw feeding mechanism to grab the screw 101 to be assembled and place it in the screw clamping position, controls the circulating driver 13 to act, the bottom valve assembly tooling 12 runs to the screw detection position, and the screw assembly height detector 91 feeds back the initial height of the detected screw assembly surface. The bottom valve assembly tooling 12 continues to run to the lower valve plate group assembly position;

[0109] Step 3, the assembly controller controls the lower valve plate group stacking and feeding mechanism to act, grabs the lower valve plate group 102 to be assembled stacked on the valve plate group circulating stacking mechanism, and places it on the nut of the screw 101 to be assembled at the valve plate group assembly position. Controls the bottom valve assembly tooling 12 to run to the lower valve plate group detection position, and the lower valve plate group assembly height detector 92 feeds back the lower valve plate detection height. If the assembly controller determines that it is qualified based on the lower valve plate detection height and the bottom valve detection height reference, the bottom valve assembly tooling 12 continues to run to the bottom valve assembly position;

[0110] Step 4, the assembly controller controls the bottom valve feeding mechanism to act, grabs the bottom valve 103 to be assembled and places it on the lower valve plate group 102 to be assembled. Controls the bottom valve assembly tooling 12 to run to the bottom valve detection position, and the bottom valve assembly height detector 93 feeds back the bottom valve detection height. Then the bottom valve assembly tooling 12 continues to run to the upper valve plate group assembly position;

[0111] Step 5: The assembly controller controls the action of the upper valve plate group stacking and feeding mechanism, grabs the to-be-assembled upper valve plate group 104 and places it on the to-be-assembled bottom valve 103, controls the bottom valve assembly tooling 12 to run to the upper valve plate group detection position, the upper valve plate group assembly height detector 94 feeds back the detected height of the upper valve plate. The assembly controller takes the detected height of the bottom valve as the reference, and if it is judged to be qualified based on the detected height of the upper valve plate and the detected height reference of the bottom valve, then the bottom valve assembly tooling 12 continues to run to the nut assembly position;

[0112] Step 6: The assembly controller controls the action of the nut assembly mechanism, grabs the to-be-assembled nut 105 and places it on the to-be-assembled upper valve plate group 104 and tightens it. Controls the bottom valve assembly tooling 12 to run to the nut locking detection position. After the nut is locked, the assembly height detector 95 feeds back the height of the nut assembly surface and the height of the top surface of the to-be-assembled screw 101 after the detection of the assembly is completed. The assembly controller takes the height of the nut assembly surface as the reference, and if it is judged to be qualified based on the height of the top surface of the to-be-assembled screw 101 and the height reference of the nut assembly surface, then the bottom valve assembly tooling 12 continues to run to the flatness detection position. After the nut is locked, the upper valve plate group flatness detector 96 feeds back that the detection is qualified, then the assembly controller controls the bottom valve assembly tooling 12 to continue to run to the output end of the bottom valve assembly, and the bottom valve assembly is taken off by the transfer crosswise grasping and placing mechanism 108 and placed at the feeding end of the bottom valve assembly output belt 109;

[0113] Step 7: The assembly controller controls the bottom valve feeding mechanism to grab the bottom valve assembly at the discharging end of the bottom valve assembly output belt 109 and place it on the pressing support 38 of the working cylinder bottom valve pressing mechanism. Controls the action of the working cylinder feeding mechanism to output the to-be-assembled working cylinder 110, controls the working cylinder transfer mechanism to transfer the to-be-assembled working cylinder 110 to the pressing support 38 of the working cylinder bottom valve pressing mechanism, controls the action of the working cylinder bottom valve pressing mechanism to sleeved the to-be-assembled working cylinder 110 downward on the outer wall of the bottom valve assembly to form a bottom valve working cylinder assembly, and controls the bottom valve working cylinder assembly output mechanism to output the bottom valve working cylinder assembly.

[0114] The above are all the preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby. Therefore, all equivalent changes made according to the structure, shape and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A CDC shock absorber working cylinder assembly machine, characterized in that: The invention comprises a bottom valve assembly automatic assembly machine and a working cylinder assembly mechanism. The bottom valve assembly automatic assembly machine comprises a bottom valve assembly circulation assembly mechanism, a screw feeding mechanism, a valve sheet circulation stacking mechanism, a lower valve sheet group stacking feeding mechanism, a bottom valve feeding mechanism, an upper valve sheet group stacking feeding mechanism and a nut assembly mechanism. The circulation assembly mechanism comprises a circulation slide (11), a plurality of bottom valve assembly tooling (12) and a circulation drive (13). The plurality of bottom valve assembly tooling (12) are respectively assembled in the circulation slide (11). The circulation drive (13) drives the plurality of bottom valve assembly tooling (12) to move in a stepwise circulation manner at the upper station of the circulation slide (11). The bottom valve assembly tooling (12) is provided with a screw clamping position. The screw feeding mechanism is used to grab the screws (101) to be assembled and put them into the screw clamping position. The valve sheet circulation stacking mechanism is located on one side of the circulation assembly mechanism. The valve sheet circulation stacking mechanism comprises a valve sheet stacking circulation slide (21), a plurality of valve sheet stacking tooling (22) and a stacking circulation drive ( 23), the stacking cycle driver (23) drives the plurality of valve sheet stacking tools (22) to move in a step-by-step cycle on the upper station of the valve sheet stacking cycle slide (21), the lower valve sheet stacking loading mechanism is used to stack the lower valve sheet group (102) to be assembled on the valve sheet cycle stacking mechanism, and grab the lower valve sheet group (102) to be assembled and place it on the nut of the screw (101) to be assembled, the bottom valve loading mechanism is used to grab the bottom valve (103) to be assembled and place it on the lower valve sheet group (102) to be assembled, and the upper valve The plate stacking and loading mechanism is used to stack the upper valve plate group (104) to be assembled on the valve plate circulation stacking mechanism, and grab the upper valve plate group (104) to be assembled and place it on the bottom valve (103) to be assembled; the nut assembly mechanism is used to grab the nut (105) to be assembled, place it on the upper valve plate group (104) to be assembled and tighten it to complete the assembly of the bottom valve assembly; the transfer and transverse grasping and placing mechanism (108) removes the assembled bottom valve assembly and places it on the feed end of the bottom valve assembly output belt (109); The working cylinder assembly mechanism comprises a bottom valve feeding mechanism, a working cylinder feeding mechanism, a working cylinder transfer mechanism, a working cylinder bottom valve pressing mechanism and a bottom valve working cylinder assembly output mechanism. The bottom valve feeding mechanism grabs the bottom valve assembly at the discharge end of the bottom valve assembly output belt (109) and places it on a pressing support (38) of the working cylinder bottom valve pressing mechanism. The working cylinder feeding mechanism is used to output the working cylinder (110) to be assembled. The working cylinder transfer mechanism is used to transfer the working cylinder (110) to be assembled above the pressing support (38) of the working cylinder bottom valve pressing mechanism. The working cylinder bottom valve pressing mechanism downwardly sleeves the working cylinder (110) to be assembled onto the outer wall of the bottom valve assembly. The working cylinder transfer mechanism transfers the pressed bottom valve working cylinder assembly to the bottom valve working cylinder assembly output mechanism.

2. The CDC shock absorber working cylinder assembly machine according to claim 1, characterized in that: The circulation assembly mechanism also includes an assembly base plate (106), the assembly base plate (106) is detachably mounted on the frame (107) via a plurality of support rods, the circulation chute (11) is mounted on the upper surface of the assembly base plate (106), the circulation driver (13) is mounted on the bottom surface of the assembly base plate (106), the driving rod of the circulation driver (13) is transmission-connected to the bottom of the bottom valve assembly assembly tool (12) via a transmission member; the valve sheet stacking circulation chute (21) is mounted on the upper surface of the assembly base plate (106) and is located on one side of the circulation chute (11), the stacking circulation driver (23) is mounted on the bottom surface of the assembly base plate (106), and the driving rod of the stacking circulation driver (23) is transmission-connected to the bottom of the valve sheet stacking tool (22) via a transmission member.

3. A CDC shock absorber working cylinder assembly machine according to claim 2, characterized in that: The screw feeding mechanism comprises at least one automatic screw feeding machine (31), a screw transverse movement mechanism (32) and a screw grasping and releasing mechanism (33). The automatic screw feeding machine (31) and the screw transverse movement mechanism (32) are respectively mounted on a frame (107) and located on one side of an assembly base plate (106). The screw grasping and releasing mechanism (33) is mounted on a transverse movement portion of the screw transverse movement mechanism (32). The transverse movement portion drives the screw grasping and releasing mechanism (33) to move between a screw discharge port of the automatic screw feeding machine (31) and screw assembly positions of a plurality of bottom valve assembly tooling (12). When located at the screw discharge port, the screw grasping and releasing mechanism (33) grasps the screws to be assembled (101), and when transversely moved to the screw assembly position, the screw grasping and releasing mechanism (33) puts down the screws to be assembled (101).

4. A CDC shock absorber working cylinder assembly machine according to claim 3, characterized in that: The lower valve plate stacking and loading mechanism comprises a plurality of lower valve plate pushing mechanisms, a lower valve plate positioning and guiding mechanism and a lower valve plate group transverse movement and grasping mechanism (55). The lower valve plate pushing mechanism comprises a pushing base (41), a pushing cylinder (42), a pushing connecting plate (43), a pushing plate (44) and a valve plate stacking device. The pushing base (41) is provided with a pushing plate sliding groove. The bottom of the pushing base (41) is mounted on an assembly base plate (106) and is located on one side of the valve plate circulation stacking mechanism and slides in the pushing plate sliding groove. The pushing cylinder (42) is mounted on the bottom surface of the assembly base plate (106). The piston rod of the pushing cylinder (42) is transmission-connected to the pushing plate (44) through the pushing connecting plate (43) to drive the pushing plate (44) to slide in the pushing plate sliding groove. The valve plate stacking device comprises a plurality of spring columns (46), a guide rod assembly (47), a valve plate A storage rod (48), a valve plate frame (49), a valve plate lower pressing block (50) and a valve plate upper pressing block (51); the bottom of the plurality of spring columns (46) are mounted on the pusher base (41) and span the top of the pusher plate sliding groove; the valve plate lower pressing block (50) is assembled on the bottom of the plurality of spring columns (46); the plurality of spring columns (46) press the valve plate lower pressing block (50) against the upper surface of the pusher base (41); the bottom of the guide rod assembly (47) is mounted on the valve plate lower pressing block (50); the valve plate frame (49) is mounted on the mounting hole in the middle of the valve plate lower pressing block (50); one end of the valve plate storage rod (48) is connected to the top of the guide rod assembly (47) and the other end is inserted into the valve plate frame (49); the valve plate upper pressing block (51) is located on the valve plate storage rod (48); and a plurality of valve plates of the same specification are stored on the valve plate storage rod (48) below the valve plate upper pressing block (51); The lower valve plate positioning and guiding mechanism comprises a positioning bracket (52), a plurality of valve plate pressing and releasing cylinders (53) and a plurality of pressing rods (54); the bottom of the positioning bracket (52) is mounted on the assembly base plate (106) and is located in the middle of the valve plate stacking circulation slideway (21); the plurality of valve plate pressing and releasing cylinders (53) are respectively mounted on the positioning bracket (52); one end of the plurality of pressing rods (54) is respectively connected to the piston rods of the plurality of valve plate pressing and releasing cylinders (53); when the piston rods of the valve plate pressing and releasing cylinders (53) are extended, the valve plate is pressed onto the valve plate stacking tooling (22); The bottom of the lower valve plate group transverse movement grasping and placing mechanism (55) is mounted on the assembly bottom plate (106), grasps the lower valve plate group (102) to be assembled that has been stacked on the valve plate stacking tool (22), and transversely moves and places it on the lower valve plate group assembly position of the valve plate stacking tool (22), and places the lower valve plate group (102) to be assembled on the nut of the screw (101) to be assembled.

5. A CDC shock absorber working cylinder assembly machine according to claim 4, characterized in that: The bottom valve feeding mechanism comprises a bottom valve circulating conveying device (61) and a bottom valve transverse moving grasping and releasing mechanism (62), wherein the bottom valve circulating conveying device (61) is located on one side of the bottom valve assembly circulating assembly mechanism, and the bottom of the bottom valve transverse moving grasping and releasing mechanism (62) is installed on an assembly bottom plate (106), and the bottom valve (103) to be assembled on the bottom valve circulating conveying device (61) is grasped and transversely moved to the bottom valve assembly position of the bottom valve assembly assembly tool (12), and is placed on the lower valve plate group (102) to be assembled.

6. A CDC shock absorber working cylinder assembly machine according to claim 5, characterized in that: The upper valve plate stacking and feeding mechanism comprises a plurality of upper valve plate pushing mechanisms (71), an upper valve plate positioning and pressing mechanism (72) and an upper valve plate transverse shifting and grasping mechanism (73). The upper valve plate stacking and feeding mechanism is mounted on an assembly base plate (106) and is located on one side of the lower valve plate stacking and feeding mechanism. The upper valve plate pushing mechanism (71) has the same structure as the lower valve plate pushing mechanism. The upper valve plate positioning and pressing mechanism (72) has the same structure as the lower valve plate positioning and guiding mechanism. The upper valve plate transverse shifting and grasping mechanism (73) grasps the upper valve plate group (104) to be assembled that has been stacked on the valve plate stacking tooling (22), and transversely shifts and places it on the upper valve plate group assembly position of the bottom valve assembly tooling (12), and places the upper valve plate group (104) to be assembled on the upper surface of the bottom valve (103) to be assembled.

7. A CDC shock absorber working cylinder assembly machine according to claim 6, characterized in that: It also includes a stop seat feeding mechanism, which includes a stop seat feeding machine (74) and a stop seat transverse movement grasping and placing mechanism (75), wherein the stop seat feeding machine (74) is mounted on a frame (107), and the stop seat transverse movement grasping and placing mechanism (75) grasps the stop seat to be assembled of the stop seat feeding machine (74), and transversely moves and places it at the stop seat assembly position of the valve sheet stacking tooling (22).

8. The CDC shock absorber working cylinder assembly machine according to claim 7, characterized in that: The nut assembly mechanism comprises a nut loader (81), a nut transverse movement grasping and releasing mechanism (82) and a nut tightening gun (83). The nut loader (81) and the nut transverse movement grasping and releasing mechanism (82) are respectively mounted on a frame (107). The nut transverse movement grasping and releasing mechanism (82) grasps the nut (105) to be assembled at the discharge end of the nut loader (81), and transversely moves and places it at a nut assembly position of a bottom valve assembly assembly tool (12). The nut tightening gun (83) tightens the nut (105) to be assembled onto the screw (101) to be assembled. After tightening, the screw (101) to be assembled, the lower valve plate group (102) to be assembled, the bottom valve (103) to be assembled, the upper valve plate group (104) to be assembled, the stop seat to be assembled and the nut (105) to be assembled form a bottom valve assembly.

9. A CDC shock absorber working cylinder assembly machine according to claim 8, characterized in that: The bottom valve feeding mechanism comprises a bottom valve feeding bracket (64), a bottom valve linear module (65), a bottom valve lifting cylinder (66), a bottom valve grabbing connecting plate (67) and a bottom valve clamping claw (68), wherein the bottom valve feeding bracket (64) is mounted on a working cylinder assembly frame (111) and is located on one side of the discharge end of the bottom valve assembly output belt (109), the track of the bottom valve linear module (65) is mounted on the bottom valve feeding bracket (64), the bottom valve lifting cylinder (66) is mounted on a slider of the bottom valve linear module (65), one end of the bottom valve grabbing connecting plate (67) is mounted on the end of the piston rod of the bottom valve lifting cylinder (66), and the bottom valve clamping claw (68) is mounted on the other end of the bottom valve grabbing connecting plate (67); The working cylinder feeding mechanism comprises a material frame assembly (14), a magnetic feeding mechanism (15) and a working cylinder bearing member (16); the material frame assembly (14) is internally mounted with a plurality of working cylinders (110) to be assembled; the magnetic feeding mechanism (15) comprises a linear motion mechanism, a lifting mechanism and an electromagnetic clamp (151); the linear motion mechanism is mounted on a working cylinder assembly frame (111) and is located above the material frame assembly (14); the lifting mechanism is mounted on a slider of the linear motion mechanism; the electromagnetic clamp (151) is mounted on a lifting portion of the lifting mechanism; the electromagnetic clamp (151) absorbs the working cylinders (110) to be assembled and places them on the working cylinder bearing member (16); The working cylinder transfer mechanism comprises a loading linear module (17), a rotating mechanism (18), a loading pneumatic clamp (19), a transfer linear module (24), a transfer bracket (25), a lifting cylinder (26), a transfer crossbeam frame (27), a first transfer pneumatic clamp (28) and a second transfer pneumatic clamp (29), wherein the rail of the loading linear module (17) is mounted on a working cylinder assembly frame (111) and is located on one side of the working cylinder bearing member (16), the rotating mechanism (18) is mounted on a slider of the loading linear module (17), the loading pneumatic clamp (19) is mounted on a rotating part of the rotating mechanism (18), the loading pneumatic clamp (19) grabs the working cylinder (110) to be assembled from the working cylinder bearing member (16), and rotates the working cylinder (110) to be assembled vertically; the transfer linear module (17) comprises a lifting cylinder (26), a transfer crossbeam frame (27), a first transfer pneumatic clamp (28) and a second transfer pneumatic clamp (29), wherein the rail of the loading linear module (17) is mounted on a working cylinder assembly frame (111) and is located on one side of the working cylinder bearing member (16), the rotating mechanism (18) is mounted on a slider of the loading linear module (17), the loading pneumatic clamp (19) is mounted on a rotating part of the rotating mechanism (18), the loading pneumatic clamp (19) grabs the working cylinder (110) to be assembled from the working cylinder bearing member (16), and rotates the working cylinder (110) to be assembled vertically; The track of the linear module (24) is installed on the working cylinder assembly frame (111) and is located on one side of the working cylinder bottom valve pressing mechanism. The bottom of the transfer bracket (25) is installed on the slider of the transfer linear module (24). The lifting cylinder (26) is installed in the middle of the transfer bracket (25). The middle of the transfer crossbeam frame (27) is installed on the piston rod of the lifting cylinder (26). The first transfer pneumatic clamp (28) and the second transfer pneumatic clamp (29) are respectively installed at both ends of the transfer crossbeam frame (27). When the slider of the transfer linear module (24) moves left and right, the first transfer pneumatic clamp (28) is located between the working cylinder feeding mechanism and the working cylinder bottom valve pressing mechanism, and the second transfer pneumatic clamp (29) is located between the working cylinder bottom valve pressing mechanism and the bottom valve working cylinder assembly output mechanism. The working cylinder bottom valve press-fitting mechanism comprises a press-fitting bracket (34), a press-fitting servo electric cylinder (35), a press block (36), a press-fitting positioning mechanism (37) and a press-fitting support member (38); the bottoms of the press-fitting bracket (34) and the press-fitting support member (38) are respectively mounted on the working cylinder assembly frame (111); the press-fitting bracket (34) is located above the press-fitting support member (38); the press-fitting servo electric cylinder (35) is mounted on the press-fitting bracket (34); the press block (36) is mounted on the end of the piston rod of the press-fitting servo electric cylinder (35); the press-fitting positioning mechanism (37) is mounted on the press-fitting bracket (34) via a bracket; when the piston rod of the press-fitting servo electric cylinder (35) is pressed downward, the press-fitting positioning mechanism (37) is clamped on the outer wall of the working cylinder (110) to be assembled; The bottom valve working cylinder assembly output mechanism comprises a clamping and steering mechanism (56) and a bottom valve working cylinder assembly output conveyor (57). The clamping and steering mechanism (56) is mounted on the working cylinder assembly frame (111) and is located on one side of the working cylinder bottom valve pressing mechanism. The clamping and steering mechanism (56) grabs the bottom valve working cylinder assembly clamped by the second transfer pneumatic clamp (29), and after steering, is placed on the feed end of the bottom valve working cylinder assembly output conveyor (57).

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