CN110480359B

CN110480359B - Automatic flaring and welding integrated machine for gas spring

Info

Publication number: CN110480359B
Application number: CN201910752743.7A
Authority: CN
Inventors: 王斌; 许强; 王蔚; 高俊勇
Original assignee: Changzhou Sanjiang Intelligent Technology Co ltd
Current assignee: Changzhou Sanjiang Intelligent Technology Co ltd
Priority date: 2019-08-15
Filing date: 2019-08-15
Publication date: 2024-04-26
Anticipated expiration: 2039-08-15
Also published as: CN110480359A

Abstract

The invention relates to the technical field of gas spring processing equipment, in particular to an automatic flaring and welding integrated machine for a gas spring, which is used for carrying out flaring and connector welding procedures on a cylinder barrel of the gas spring, and comprises the following steps: the welding and grabbing manipulator is used for grabbing a cylinder barrel on the assembly manipulator and driving the cylinder barrel to move to the rotary welding mechanism, and the rotary welding mechanism is used for welding the connector pressed on the cylinder barrel.

Description

Automatic flaring and welding integrated machine for gas spring

Technical Field

The invention relates to the technical field of gas spring processing equipment, in particular to an automatic flaring and welding integrated machine for a gas spring.

Background

The gas spring mainly comprises a cylinder barrel, a piston rod and the like, wherein after the cylinder barrel is molded, a connector for plugging the tail end of the cylinder barrel is welded at the opening of the tail end of the cylinder barrel, and flaring treatment is carried out at the head end of the cylinder barrel so as to prevent the head end opening of the cylinder barrel from scratching the assembly surface of the piston assembly and the like when the cylinder barrel is assembled into the piston assembly;

The prior art is widely used for carrying out flaring treatment and connector welding on a cylinder barrel in two procedures, and the flaring treatment and the connector welding are mainly completed by a manually operated flaring tool and a welding tool, so that the whole cylinder barrel is complex in processing flow, time-consuming and labor-consuming, low in production efficiency and incapable of meeting the requirement of batch production.

In view of this, how to design an automatic device integrating the flaring process of the cylinder barrel and the welding of the connector is an urgent problem to be solved by those skilled in the art.

Disclosure of Invention

The invention aims to solve the technical problems that: in order to solve the problem of how to design an automatic device integrating flaring treatment of a cylinder barrel and welding of a connector, an automatic flaring welding integrated machine for a gas spring is provided.

The technical scheme adopted for solving the technical problems is as follows: an automatic flaring welding all-in-one machine of gas spring for carry out flaring and welding connector process to the cylinder of gas spring, this flaring welding all-in-one machine includes:

The movable manipulator mechanism is provided with a feed bin grabbing manipulator, a flaring grabbing manipulator and a welding grabbing manipulator which are arranged on the frame and can reciprocate;

The cylinder barrel feeding mechanism is used for conveying the cylinder barrels in the storage bin to the cylinder barrel discharging area after aligning the cylinder barrels;

the flaring mechanism is used for flaring the cylinder barrel transferred from the cylinder barrel discharging area by the bin grabbing manipulator;

the flaring grabbing manipulator grabs the cylinder barrel in the cylinder barrel discharging area and then drives the cylinder barrel to move and turn over, so that the cylinder barrel is clamped and fixed by the assembling manipulator;

The connector feeding mechanism is used for conveying the connector to the connector discharging area;

the connector carrying manipulator is used for grabbing and transferring the connectors of the connector discharging area and pressing the connectors onto the cylinder barrel clamped by the assembling manipulator from above;

And the welding grabbing manipulator is used for grabbing a cylinder barrel on the assembling manipulator and driving the cylinder barrel to move to the welding mechanism, and the welding mechanism is used for welding a connector pressed on the cylinder barrel.

According to the technical scheme, the cylinder barrel feeding mechanism is utilized to automatically feed the cylinder barrel to the cylinder barrel discharging area, then the cylinder barrel in the cylinder barrel discharging area is grabbed to the flaring mechanism by the bin grabbing manipulator to be flared, then the cylinder barrel with the flaring completed by the flaring grabbing manipulator is moved to the assembling manipulator and clamped and fixed by the assembling manipulator, so that the connector feeding mechanism automatically feeds the connector to the connector discharging area, the connector in the connector discharging area is pressed from the upper part to the cylinder barrel clamped by the assembling manipulator by the connector carrying manipulator, and then the cylinder barrel with the connector arranged on the assembling manipulator is transferred to the rotary welding mechanism by the welding grabbing manipulator to be welded, so that automatic flaring of the cylinder barrel, automatic assembly of the connector and automatic welding between the connector are realized.

Further, the mobile manipulator mechanism comprises a displacement cylinder and a displacement plate which is arranged on the frame in a sliding manner, wherein the cylinder body of the displacement cylinder is fixed on the frame, and the extending end of the displacement cylinder is fixedly connected with the displacement plate;

The feeding mechanism, the flaring mechanism, the assembling manipulator and the rotary welding mechanism are also fixed on the frame at equal intervals in sequence along the telescoping direction of the displacement cylinder, the connector feeding mechanism is positioned at the side of the assembling manipulator, and the connector carrying manipulator is positioned above the assembling manipulator;

The purpose of this design is: the movable manipulator mechanisms can share one displacement cylinder, so that each related manipulator can operate accurately and orderly, thereby effectively reducing the cost, reducing the control difficulty and reducing the failure rate.

Further, a discharging grabbing manipulator is arranged on one side, far away from the bin grabbing manipulator, of the displacement plate, the discharging grabbing manipulator is used for grabbing a cylinder barrel welded on the rotary welding mechanism, the welding grabbing manipulator is located between the discharging grabbing manipulator and the flaring grabbing manipulator, and a blanking plate is arranged on the side of the discharging grabbing manipulator;

the setting of the unloading grabbing mechanical arm can be utilized to move along with the displacement plate, so that the cylinder barrel welded on the rotary welding mechanism is automatically transferred to the blanking plate, and the flaring and the cylinder barrel welded are automatically output.

Further, the bin grabbing manipulator comprises a longitudinal bin cylinder and a bin pneumatic finger with a clamping jaw facing downwards, wherein the cylinder body of the longitudinal bin cylinder is fixed on the displacement plate, and the extending end of the longitudinal bin cylinder is fixedly connected with the bin pneumatic finger;

Therefore, the longitudinal bin cylinder can drive the bin pneumatic finger to move up and down, and the clamping jaw of the bin pneumatic finger clamps the cylinder barrel in the cylinder barrel feeding area;

the flaring grabbing manipulator comprises a transverse flaring cylinder, a longitudinal flaring cylinder, a rotary cylinder and a flaring pneumatic finger with a clamping jaw facing downwards, wherein the cylinder body of the transverse flaring cylinder is fixedly connected with a displacement plate, the cylinder body of the longitudinal flaring cylinder is fixed on the extending end of the transverse flaring cylinder, the extending end of the longitudinal flaring cylinder is fixedly connected with the rotary cylinder, and the output end of the flaring rotary cylinder is fixedly connected with the flaring pneumatic finger;

Therefore, the flaring pneumatic finger can be driven to move in the front-back direction by the transverse flaring cylinder, the longitudinal flaring cylinder drives the flaring pneumatic finger to move in the up-down direction, the cylinder barrel in the horizontal state on the flaring mechanism is grabbed by the flaring pneumatic finger, and then the flaring rotary cylinder drives the flaring pneumatic finger to overturn, so that the cylinder barrel in the horizontal state is changed into the cylinder barrel in the vertical state;

The welding grabbing manipulator comprises a transverse welding cylinder and a welding pneumatic finger with a clamping jaw facing forward, wherein a cylinder body of the transverse welding cylinder is fixed on a displacement plate, and the extending end of the transverse welding cylinder is fixedly connected with the welding pneumatic finger;

therefore, the welding pneumatic fingers can be driven to move along the front-back direction through the transverse welding cylinder, and the cylinder barrel on the assembly manipulator is grabbed by the welding pneumatic fingers.

Further, cylinder feed mechanism includes feeding cylinder, jacking plate and regulating plate, the jacking plate slides along vertical direction and sets up the left side in the feed bin, and its upper surface is the domatic of controlling lowly right, minimum interval between the right flank of left side board on the feed bin and the domatic of jacking plate < the external diameter of cylinder, the bottom surface in the feed bin is from left to right slope gradually, feeding cylinder's cylinder body is fixed on the feed bin, feeding cylinder's extension end and jacking plate fixed connection, the regulating plate slides along fore-and-aft direction and sets up in the feed bin, it is provided with accommodate the lead screw to rotate on the feed bin, accommodate the lead screw axial is fixed on the feed bin, and with regulating plate screw drive connection.

According to the scheme, the adjusting plate is made to be close to the front side plate of the storage bin by means of the rotating adjusting screw, the cylinders which are parallel to each other in the storage bin are driven to be close to the front side plate of the storage bin, one end face of each cylinder is made to be in contact with the front side plate of the storage bin, the other end face of each cylinder is made to be in contact with the adjusting plate, the cylinders in the storage bin are automatically pushed to be uniform, accordingly, the cylinders obtained when the jacking plate ascends each time are all located at the same position of a slope, accurate feeding is achieved, and the storage bin grabbing manipulator is made to move to a preset fixed position to grab one cylinder.

Further, a first notch is formed downwards at the front end position of the upper surface of the jacking plate, and a second notch corresponding to the first notch is formed downwards at the top of the left side plate on the storage bin; when the jacking plate is lifted to the position where the first notch is opposite to the second notch, the position where the first notch is located is a cylinder barrel discharging area; a proximity switch is arranged on the left side plate of the storage bin at a position near the second notch;

when the cylinder barrel at the cylinder barrel discharging area is ready, the cylinder barrel can be sensed by the proximity switch, and an electrical instruction is rapidly sent to the controller by the proximity switch, so that the controller can timely control the material grabbing mechanical arm of the storage bin to grab and transfer the cylinder barrel at the cylinder barrel discharging area; wherein, the setting of first breach and second breach can be convenient for the feed bin grab the material manipulator and snatch the cylinder from the cylinder ejection of compact district, avoids the feed bin to grab the material manipulator and snatch the cylinder with the left side board of jacking plate and feed bin and produce the interference in the cylinder ejection of compact district.

Because the left bottom and the right side of the storage bin are high, the cylinder barrels are easily stacked on the left side of the storage bin under the action of gravity, so that the condition that the jacking plate jacks up a plurality of cylinder barrels at one time is easy to occur, when the jacking plate jacks up a plurality of cylinder barrels at one time, the slope on the jacking plate only limits one cylinder barrel, other cylinder barrels can fall into the storage bin again along with the rising of the jacking plate, and the cylinder barrels are easy to collide with the cylinder barrels in the storage bin when falling from the jacking plate; in view of this, in order to reduce the occurrence of the situation that the jacking plate jacks up a plurality of cylinders at a time, the following scheme is adopted:

A baffle plate is fixed on one side of the adjusting plate, which is close to the upper front side plate of the storage bin, and the inner side surface of the inner front side plate of the storage bin, the baffle plate is inclined downwards from right to left, and the interval between the lower surface of the baffle plate and the bottom surface of the storage bin is gradually reduced from right to left;

The interval between the lower surface of the baffle plate and the bottom surface of the storage bin is gradually reduced from right to left, so that the cylinder barrel can be changed into the right side of the baffle plate, ordered feeding of the cylinder barrel is realized, the situation that the jacking plate jacks up a plurality of cylinder barrels once is reduced, and collision deformation caused by the cylinder barrel can be reduced.

Further, a lower limit part extends from the left end of the striker plate, the minimum distance between the left side surface of the lower limit part and the right side surface of the jacking plate is smaller than the outer diameter of the cylinder barrel, the minimum distance between the lower surface of the lower limit part and the bottom surface of the storage bin is larger than or equal to the outer diameter of a single cylinder barrel, and the minimum distance between the lower surface of the lower limit part and the bottom surface of the storage bin is smaller than the sum of the outer diameters of the two cylinder barrels; thereby ensuring that the jacking plate can jack up only one cylinder barrel at a time;

An upper limit part is tilted upwards at the right end of the baffle plate; by means of the arrangement of the upper limiting part, the cylinder barrel piled on the right side of the striker plate can be limited, and the cylinder barrel is prevented from rolling to the upper side of the striker plate.

Further, the flaring mechanism comprises a flaring seat, a supporting plate and a booster cylinder with an extending end facing the flaring seat, the extending end of the booster cylinder is fixedly provided with a flaring head, and the supporting plate is positioned between the flaring seat and the booster cylinder and provided with a positioning groove for positioning the cylinder barrel;

the booster cylinder drives the flaring head to move forwards, so that the end part of the cylinder barrel can be flared, and the booster cylinder can stably and reliably provide advancing power for the flaring head due to the fact that the booster cylinder has the advantage of large output compared with a common cylinder.

Further, a supporting shaft is arranged below the assembly manipulator, a height adjusting cylinder is relatively fixed on the rack, and the output end of the height adjusting cylinder is fixedly connected with the supporting shaft;

The cylinder barrel can be supported through the arrangement of the supporting shaft, the cylinder barrel is prevented from falling off from the assembling manipulator, the positioning precision of the cylinder barrel on the assembling manipulator is improved, and the cylinder barrel is prevented from downward displacement when the connector carrying manipulator presses the connector onto the cylinder barrel.

Further, the connector feeding mechanism comprises a pushing assembly and a vibrating disc, the pushing assembly comprises a pushing cylinder, a pushing rod and a discharging bottom plate, the discharging bottom plate is fixed on the frame, a guide groove is formed in the discharging bottom plate, the pushing cylinder is fixed on the discharging bottom plate, the pushing rod is arranged in the guide groove in a sliding mode, the extending end of the pushing cylinder is fixedly connected with the pushing rod, the output end of a discharging track on the vibrating disc is communicated with the guide groove, the extending direction of the discharging track of the vibrating disc is crossed with the extending direction of the guide groove, and the position, away from the end part of one end of the pushing cylinder, of the guide groove is a connector discharging area;

Further, connector transport manipulator includes vertical transport cylinder, horizontal transport cylinder and carries pneumatic finger, in the cylinder body fixed frame of vertical transport cylinder, the extension end and the cylinder body fixed connection of horizontal transport cylinder of vertical transport cylinder, the extension end and the pneumatic finger fixed connection of transport of horizontal transport cylinder, the clamping jaw of the pneumatic finger of transport is down, the removal orbit of the pneumatic finger of horizontal transport cylinder drive transport is located connector discharging area and equipment manipulator directly over.

Further, the rotary welding mechanism comprises a fixed seat fixed on the frame, a driving roller rotatably arranged on the fixed seat, a movable seat opposite to the fixed seat and a pressing wheel rotatably arranged on the movable seat; the rack is provided with a rotary power device for driving the driving roller to rotate and a lateral compression power device for driving the movable seat to be close to or far away from the fixed seat;

The driving rollers and the pressing wheels are arranged in parallel, the sum of the numbers of the driving rollers and the pressing wheels is more than or equal to three, a clamping area for clamping the cylinder barrel is formed by surrounding all the driving rollers and the pressing wheels, and a welding gun aligned to the clamping area is arranged on the frame;

The top of holding district is provided with the top compression axle, be provided with the first power device that is used for driving the top compression axle to rise or descend in the frame, the top compression axle rotates and installs on first power device.

Because the top compression shaft compresses tightly the connector on the cylinder, if the clamping force of drive roll and pinch roller to the cylinder is small, can take place the condition that the cylinder moved down easily, then also will cause the position of waiting to weld between cylinder and the connector to move down relative welder to lead to the problem that the welding position deviates, although can be through increasing the clamping force of drive roll and pinch roller to the cylinder in order to solve this problem, if the clamping force is too big, but still have and lead to the deformation of cylinder easily, in view of this, specific solution is as follows:

further, a bottom compression shaft is arranged below the clamping area, a second power device for driving the bottom compression shaft to ascend or descend is arranged on the rack, and the bottom compression shaft is rotatably arranged on the second power device;

the bottom compression shaft is adopted to support the cylinder barrel in the clamping area, so that the problem that the cylinder barrel moves downwards when being compressed by the top compression shaft can be effectively solved.

Further, a welding gun installation assembly is arranged on the frame and comprises a welding gun moving cylinder, an installation seat and a clamping block, wherein the welding gun moving cylinder is fixed on the frame, the installation seat is arranged on the frame in a sliding manner along the extending direction of the welding gun moving cylinder, the extending end of the welding gun moving cylinder is fixedly connected with the installation seat, the clamping block is fixed on the installation seat, and the welding gun is clamped between the installation seat and the clamping block; thereby being convenient for the adjustment of the position and the angle of the welding gun.

Further, the rotary power device comprises a motor, a driving wheel and a driven wheel, wherein the motor is fixed on the frame, the driving wheel is fixedly connected with a main shaft of the motor, a transmission shaft is rotationally connected to the fixing seat, the driven wheel is fixedly connected with the transmission shaft, the driving wheel is in transmission connection with the driven wheel through a belt, and the transmission shaft is in transmission connection with the driving roller; the lateral compression power device comprises a lateral compression cylinder, a cylinder body of the lateral compression cylinder is fixed on the frame, and the movable seat is fixed on the extending end of the lateral compression cylinder.

The beneficial effects of the invention are as follows: the automatic flaring and welding integrated machine for the gas spring utilizes the movable manipulator mechanism to operate the cylinder barrel, so that the cylinder barrel sequentially passes through the flaring mechanism, the assembling manipulator and the rotary welding mechanism, automatic flaring of the cylinder barrel, automatic assembling with the connector and automatic welding between the connector are realized, manual participation is not needed in the whole process, the automation degree is high, the production efficiency can be greatly improved, and the welding quality is high.

Drawings

The invention will be further described with reference to the drawings and examples.

FIG. 1 is a schematic top view of an automatic flaring and welding all-in-one machine for gas springs of the present invention;

FIG. 2 is a schematic three-dimensional view of one side of the automatic flaring and welding integrated machine for gas springs of the present invention;

FIG. 3 is an enlarged partial schematic view of C in FIG. 2;

FIG. 4 is another three-dimensional schematic view of an automatic flaring and welding integrated machine for gas springs according to the present invention;

FIG. 5 is an enlarged partial schematic view of D in FIG. 4;

FIG. 6 is a three-dimensional schematic of a mobile manipulator mechanism of the present invention;

FIG. 7 is a three-dimensional schematic view of a cylinder barrel feeding mechanism in the present invention;

FIG. 8 is a schematic top view of the cylinder loading mechanism of the present invention;

FIG. 9 is a schematic cross-sectional view of a cylinder charging mechanism of the present invention;

FIG. 10 is a three-dimensional schematic of a flaring mechanism of the present invention;

FIG. 11 is a schematic top view of the flaring mechanism of the present invention;

FIG. 12 is a schematic representation of a three-dimensional cross-section of the present invention at an assembly robot;

FIG. 13 is an enlarged partial schematic view of E in FIG. 12;

FIG. 14 is a schematic front view of an automatic flaring and welding integrated machine for gas springs of the present invention;

FIG. 15 is a schematic cross-sectional view of A-A of FIG. 14;

FIG. 16 is an enlarged partial schematic view of B in FIG. 15;

FIG. 17 is a schematic representation of the present invention in three-dimensional cross-section at a spin welding mechanism;

FIG. 18 is an enlarged partial schematic view of F in FIG. 17;

Fig. 19 is a schematic view of the cooperation of the drive roller and the pinch roller of the present invention.

In the figure: 1. the device comprises a mobile manipulator mechanism 11, a stock bin grabbing manipulator, a longitudinal stock bin cylinder 11-2, a stock bin pneumatic finger, a 12, a flaring grabbing manipulator, a 12-1, a longitudinal flaring cylinder 12-2, a revolving cylinder 12-3, a flaring pneumatic finger, a 12-4, a transverse flaring cylinder 13, a welding grabbing manipulator 13-1, a transverse welding cylinder 13-2, a welding pneumatic finger, a 14, a unloading grabbing manipulator, a 14-1, a transverse unloading cylinder 14-2, an unloading pneumatic finger, a 15, a displacement cylinder 16 and a displacement plate;

2. the cylinder barrel feeding mechanism comprises a cylinder barrel feeding mechanism 21, a storage bin 21-1, a left side plate, a 21-11, a second notch, a 21-2, a front side plate, a 22, a feeding cylinder, a 23, a jacking plate, a 23-1, a first notch, a 23-2, a slope, a 24, an adjusting plate, a 25, an adjusting screw rod, a 26, a proximity switch, a 27, a baffle plate, a 27-1, a lower limit part, a 27-2, an upper limit part, a 28 and a guide rod;

3. The flaring mechanism 31, the flaring seat 32, the supporting plate 32-1, the positioning groove 33, the pressurizing cylinder 34, the movable plate 35, the flaring screw rod 36 and the flaring head;

4. The assembly manipulator, 41, a support shaft, 42, a height adjusting cylinder, 43 and a first electric push rod;

5. the device comprises a connector feeding mechanism 51, a vibrating disc 51-1, a discharging track 52, a pushing cylinder 53, a pushing rod 54, a discharging bottom plate 54-1 and a guide chute;

6. A connector conveying manipulator 61, a longitudinal conveying cylinder 62, a transverse conveying cylinder 63 and a conveying pneumatic finger;

7. The welding machine comprises a rotary welding mechanism 71, a fixed seat 72, a driving roller 73, a movable seat 74, a pressing wheel 75, a clamping area 76, a welding gun 77, a top pressing shaft 78, a bottom pressing shaft 79, a top pressing cylinder 711, a top connecting sleeve 712, a bottom pressing cylinder 713, a bottom connecting sleeve 714, a second electric push rod 715, a welding gun moving cylinder 716, a mounting seat 717, a clamping block 718, a motor 719, a driving wheel 720, a driven wheel 721, a belt 722, a side pressing cylinder 723 and a transmission shaft;

8. A frame, 8-1, a blanking plate;

9. Cylinder barrel 9-1, connector.

Detailed Description

The invention will now be described in further detail with reference to the accompanying drawings. The drawings are simplified schematic representations which merely illustrate the basic structure of the invention and therefore show only those features which are relevant to the invention, and orientation and reference (e.g., up, down, left, right, etc.) may be used solely to aid in the description of the features in the drawings. The following detailed description is, therefore, not to be taken in a limiting sense, and the scope of the claimed subject matter is defined only by the appended claims and equivalents thereof.

Example 1

As shown in fig. 1-5, an automatic flaring and welding integrated machine for a gas spring is used for flaring a cylinder 9 of the gas spring and welding a connector 9-1, and is characterized in that: this flaring welding all-in-one includes:

The movable manipulator mechanism 1 is provided with a feed bin grabbing manipulator 11, a flaring grabbing manipulator 12 and a welding grabbing manipulator 13 which are arranged on the frame 8 and can reciprocate;

The cylinder barrel feeding mechanism 2 is used for aligning the cylinder barrel 9 in the storage bin 21 and then conveying the aligned cylinder barrel 9 to a cylinder barrel discharging area;

the flaring mechanism 3 is used for flaring the cylinder 9 transferred from the cylinder discharging area by the bin grabbing manipulator 11;

The assembling manipulator 4, the flaring grabbing manipulator 12 grabs the cylinder barrel 9 in the cylinder barrel discharging area and then drives the cylinder barrel 9 to move and turn over, so that the cylinder barrel 9 is clamped and fixed by the assembling manipulator 4;

The connector feeding mechanism 5 is used for conveying the connector 9-1 to a connector discharging area;

The connector carrying manipulator 6 is used for grabbing and transferring the connector 9-1 of the connector discharging area and pressing the connector 9-1 onto the cylinder 9 clamped by the assembling manipulator 4 from above;

And the rotary welding mechanism 7 is used for grabbing the cylinder barrel 9 on the assembly manipulator 4 by the welding grabbing manipulator 13 and driving the cylinder barrel 9 to move to the rotary welding mechanism 7, and the rotary welding mechanism 7 is used for welding the connector 9-1 pressed on the cylinder barrel 9.

The specific structure of the automatic flaring and welding integrated machine for the gas spring in the embodiment is described as follows:

The mobile manipulator mechanism 1 has the following structure:

As shown in fig. 6, in this embodiment, the mobile manipulator mechanism 1 includes a displacement cylinder 15 and a displacement plate 16 slidably disposed on the frame 8, a cylinder body of the displacement cylinder 15 is fixed on the frame 8, and an extension end of the displacement cylinder 15 is fixedly connected with the displacement plate 16;

The material grabbing mechanical arm 11, the flaring grabbing mechanical arm 12 and the welding grabbing mechanical arm 13 are sequentially fixed on the displacement plate 16 at equal intervals along the expansion and contraction direction of the displacement cylinder 15, the cylinder barrel feeding mechanism 2, the flaring mechanism 3, the assembling mechanical arm 4 and the rotary welding mechanism 7 are also sequentially fixed on the frame 8 at equal intervals along the expansion and contraction direction of the displacement cylinder 15, the connector feeding mechanism 5 is positioned at the side of the assembling mechanical arm 4, and the connector carrying mechanical arm 6 is positioned above the assembling mechanical arm 4;

That is to say: when the displacement cylinder 15 drives the displacement plate 16 to advance to the position where the material grabbing manipulator 11 of the storage bin reaches the cylinder barrel discharging area, and the cylinder barrel 9 in the cylinder barrel discharging area is ready to be grabbed: the flaring grabbing mechanical arm 12 on the displacement plate 16 just reaches the flaring mechanism 3 and is ready to grab the cylinder 9 with the flaring completed on the flaring mechanism 3; the welding grabbing manipulator 13 on the displacement plate 16 just reaches the assembling manipulator 4 and is ready to grab the cylinder 9 of the connector 9-1 which is pressed on the assembling manipulator 4;

When the displacement cylinder 15 drives the displacement plate 16 to return to the bin grabbing manipulator 11 to reach the flaring mechanism 3, the cylinder barrel 9 grabbed by the bin grabbing manipulator is ready to be placed on the flaring mechanism 3: the flaring grabbing manipulator 12 on the displacement plate 16 just reaches the assembling manipulator 4 and is ready to place the cylinder barrel 9 grabbed by the flaring grabbing manipulator on the assembling manipulator 4; the welding grabbing manipulator 13 on the displacement plate 16 just reaches the position of the rotary welding mechanism 7, and the cylinder barrel 9 grabbed by the welding grabbing manipulator is prepared to be placed on the rotary welding mechanism 7;

Obviously, the mobile manipulator mechanism 1 can realize accurate and orderly operation of each related manipulator by sharing one displacement cylinder 15, thereby effectively reducing cost, reducing control difficulty and reducing failure rate.

In order to realize automatic output after flaring of the cylinder barrel 9 and welding are completed, the following method is adopted in the embodiment:

A discharging grabbing manipulator 14 is arranged on one side, far away from the bin grabbing manipulator 11, of the displacement plate 16, the discharging grabbing manipulator 14 is used for grabbing a cylinder 9 welded on the rotary welding mechanism 7, the welding grabbing manipulator 13 is positioned between the discharging grabbing manipulator 14 and the flaring grabbing manipulator 12, and a blanking plate 8-1 is arranged on the side of the discharging grabbing manipulator 14;

The setting of the unloading grabbing mechanical arm 14 is utilized, so that the unloading grabbing mechanical arm 14 can move along with the displacement plate 16, and the cylinder barrel 9 welded on the rotary welding mechanism 7 is automatically transferred to the blanking plate 8-1, so that the cylinder barrel 9 after flaring and welding is automatically output, wherein the unloading grabbing mechanical arm 14 in the embodiment can be specifically: the device comprises a transverse discharging cylinder 14-1 and a discharging pneumatic finger 14-2 with a clamping jaw facing forward, wherein a cylinder body of the transverse discharging cylinder 14-1 is fixed on a frame 8, and an extending end of the transverse discharging cylinder 14-1 is fixedly connected with the discharging pneumatic finger 14-2; the transverse discharging cylinder 14-1 can drive the discharging pneumatic finger 14-2 to move along the front-back direction, and the discharging pneumatic finger 14-2 grabs the cylinder 9 on the rotary welding mechanism 7.

The specific structure of the bin grabbing manipulator 11, the flaring grabbing manipulator 12 and the welding grabbing manipulator 13 in this embodiment is as follows:

the bin grabbing manipulator 11 comprises a longitudinal bin cylinder 11-1 and a bin pneumatic finger 11-2 with a downward clamping jaw, wherein a cylinder body of the longitudinal bin cylinder 11-1 is fixed on a displacement plate 16, and an extending end of the longitudinal bin cylinder 11-1 is fixedly connected with the bin pneumatic finger 11-2; the longitudinal bin cylinder 11-1 can drive the bin pneumatic finger 11-2 to move up and down, and the clamping jaw of the bin pneumatic finger 11-2 clamps the cylinder 9 in the feeding area of the cylinder 9; in the concrete implementation, the bin pneumatic finger 11-2 can be arranged above the connector discharging area and the flaring mechanism 3;

The flaring grabbing mechanical arm 12 comprises a transverse flaring cylinder 12-4, a longitudinal flaring cylinder 12-1, a rotary cylinder 12-2 and a flaring pneumatic finger 12-3 with a downward clamping jaw, wherein a cylinder body of the transverse flaring cylinder 12-4 is fixedly connected with a displacement plate 16, a cylinder body of the longitudinal flaring cylinder 12-1 is fixed on an extending end of the transverse flaring cylinder 12-4, an extending end of the longitudinal flaring cylinder 12-1 is fixedly connected with the rotary cylinder 12-2, and an output end of the flaring rotary cylinder 12-2 is fixedly connected with the flaring pneumatic finger 12-3;

The flaring pneumatic finger 12-3 can be driven to move in the front-back direction by the transverse flaring cylinder 12-4, the longitudinal flaring cylinder 12-1 drives the flaring pneumatic finger 12-3 to move in the up-down direction, the flaring pneumatic finger 12-3 grabs the cylinder 9 in the horizontal state on the flaring mechanism 3, and then the flaring rotary cylinder 12-2 drives the flaring pneumatic finger 12-3 to overturn so that the cylinder 9 in the horizontal state is changed into the cylinder 9 in the vertical state; in specific implementation, the flaring pneumatic finger 12-3 can be arranged at the side of the assembling manipulator 4 and above the flaring mechanism 3;

The welding and grabbing mechanical arm 13 comprises a transverse welding cylinder 13-1 and a welding pneumatic finger 13-2 with a clamping jaw facing forward, wherein a cylinder body of the transverse welding cylinder 13-1 is fixed on a displacement plate 16, and an extending end of the transverse welding cylinder 13-1 is fixedly connected with the welding pneumatic finger 13-2, so that the welding pneumatic finger 13-2 can be driven to move along the front and rear direction by the transverse welding cylinder 13-1, and the cylinder barrel 9 on the assembling mechanical arm 4 is grabbed by the welding pneumatic finger 13-2, and when the welding pneumatic finger 13-2 is specifically implemented, the welding pneumatic finger 13-2 can be arranged above the clamping areas 75 of the assembling mechanical arm 4 and the rotary welding mechanism 7.

The cylinder barrel feeding mechanism 2 has the structure that:

As shown in fig. 7-9, in this embodiment, the cylinder barrel feeding mechanism 2 includes a feeding cylinder 22, a lifting plate 23 and an adjusting plate 24, the lifting plate 23 is slidably disposed on the left side in the bin 21 along the vertical direction, and the upper surface of the lifting plate is a slope 23-2 with a low left and a high right, the minimum distance between the right side surface of the left side plate 21-1 on the bin 21 and the slope 23-2 of the lifting plate 23 is smaller than the outer diameter of the cylinder barrel 9, the bottom surface in the bin 21 is gradually inclined upwards from left to right, the cylinder body of the feeding cylinder 22 is fixed on the bin 21, the extending end of the feeding cylinder 22 is fixedly connected with the lifting plate 23, the adjusting plate 24 is slidably disposed in the bin 21 along the front-rear direction, an adjusting screw 25 is rotatably disposed on the bin 21, the adjusting screw 25 is axially fixed on the bin 21, and is in threaded transmission connection with the adjusting plate 24, and it is no matter that: the minimum distance between the right side surface of the left side plate 21-1 on the storage bin 21 and the slope surface 23-2 of the jacking plate 23 is smaller than the outer diameter of the cylinder 9, so that only one cylinder 9 can be limited between the slope surface 23-2 of the jacking plate 23 and the left side plate 21-1 of the storage bin 21, and the cylinder 9 is driven to ascend by the jacking plate 23;

The adjusting plate 24 can be moved back and forth in the bin 21 by rotating the adjusting screw rod 25, so that the adjusting plate 24 can limit the cylinders 9 which are parallel to each other in the bin 21 to be aligned at two ends, and the cylinders 9 in the bin 21 are kept in a posture of being parallel to each other and aligned at two ends, so that the cylinders 9 obtained when the jacking plate 23 ascends each time are all located at the same position of the slope 23-2, and accurate feeding is realized.

The method comprises the following steps: the adjusting plate 24 is closed towards the front side plate 21-2 of the storage bin 21 by rotating the adjusting screw 25, so that the cylinders 9 which are parallel to each other in the storage bin 21 are driven to be closed towards the front side plate 21-2 of the storage bin 21, one end face of each cylinder 9 is contacted with the front side plate 21-2 of the storage bin 21, and the other end face is contacted with the adjusting plate 24, so that the cylinders 9 in the storage bin 21 are automatically pushed up, the cylinders 9 acquired during each lifting of the lifting plate 23 are all located at the same position of the slope 23-2, accurate feeding is realized, and the storage bin grabbing manipulator 11 is moved to a preset fixed position to grab one cylinder 9.

In the embodiment, a first notch 23-1 is formed downward at the front end of the upper surface of the jacking plate 23, and a second notch 21-11 corresponding to the first notch 23-1 is formed downward at the top of the left side plate 21-1 on the storage bin 21; when the jacking plate 23 is lifted to the position where the first notch 23-1 is opposite to the second notch 21-11, the position where the first notch 23-1 is located is a cylinder barrel discharging area; a proximity switch 26 is arranged on the left side plate 21-1 of the storage bin 21 at a position near the second notch 21-11;

When the cylinder 9 at the cylinder discharging area is ready, the cylinder 9 can be sensed by the proximity switch 26, an electrical instruction is rapidly sent to the controller, and then the controller controls the stock bin grabbing manipulator 11 to grab and transfer the cylinder 9 at the cylinder discharging area; the arrangement of the first notch 23-1 and the second notch 21-11 can facilitate the material grabbing manipulator 11 of the storage bin to grab the cylinder 9 from the cylinder discharging area, so that interference between the material grabbing manipulator 11 of the storage bin and the jacking plate 23 and the left side plate 21-1 of the storage bin 21 when grabbing the cylinder 9 in the cylinder discharging area is avoided.

In this embodiment, a baffle plate 27 is fixed on one side of the adjusting plate 24 near the front side plate 21-2 on the bin 21 and on the inner side surface of the front side plate 21-2 in the bin 21, the baffle plate 27 is inclined downwards from right to left, and the interval between the lower surface of the baffle plate 27 and the bottom surface of the bin 21 is gradually reduced from right to left;

The interval between the lower surface of the baffle plate 27 and the bottom surface of the bin 21 is gradually reduced from right to left, so that the cylinder 9 can be changed into stacked on the right side of the baffle plate 27, and orderly feeding of the cylinder 9 is realized, so that the situation that the jacking plate 23 jacks up a plurality of cylinders 9 once is reduced, and collision deformation caused by the cylinder 9 can be reduced.

In the embodiment, the left end of the baffle plate 27 extends to form a lower limit part 27-1, the minimum distance between the left side surface of the lower limit part 27-1 and the right side surface of the jacking plate 23 is smaller than the outer diameter of the cylinder 9, the minimum distance between the lower surface of the lower limit part 27-1 and the bottom surface of the storage bin 21 is larger than or equal to the outer diameter of a single cylinder 9, and the minimum distance between the lower surface of the lower limit part 27-1 and the bottom surface of the storage bin 21 is smaller than the sum of the outer diameters of the two cylinders 9; thereby ensuring that the jacking plate 23 can jack up only one cylinder 9 at a time;

The right end of the striker plate 27 is upward warped with an upper limit part 27-2; by the arrangement of the upper limiting part 27-2, the cylinder 9 piled on the right side of the baffle plate 27 can be limited, and can be prevented from rolling above the baffle plate 27.

In this embodiment, a guide rod 28 is fixed between the front side plate 21-2 and the rear side plate of the stock bin 21, the guide rod 28 is slidably connected with the adjusting plate 24, and the axis of the guide rod 28 is parallel to the axis of the adjusting screw 25.

The flaring mechanism 3 has the structure that:

As shown in fig. 10 and 11, the flaring mechanism 3 in this embodiment includes a flaring seat 31, a supporting plate 32 and a pressure cylinder 33 with its extending end facing the flaring seat 31, a flaring head 36 is fixed on the extending end of the pressure cylinder 33, the supporting plate 32 is located between the flaring seat 31 and the pressure cylinder 33, and a positioning slot 32-1 for positioning the cylinder 9 is formed;

The booster cylinder 33 drives the flaring head 36 to move forwards, so that the end of the cylinder barrel 9 can be flared, and the booster cylinder 33 can stably and reliably provide advancing power for the flaring head 36 due to the fact that the booster cylinder 33 has the advantage of large force compared with a common cylinder,

The specific flaring process is as follows: when the bin grabbing mechanical arm 11 transfers the cylinder barrel 9 in the cylinder barrel discharging area onto the positioning groove 32-1 of the supporting plate 32, the tail end opening of the cylinder barrel 9 is opposite to the flaring seat 31, the head end opening of the cylinder barrel 9 is opposite to the flaring head 36, at the moment, the pressurizing cylinder 33 is started, the flaring head 36 gradually approaches the cylinder barrel 9 and contacts with the head end opening of the cylinder barrel 9, the tail end of the cylinder barrel 9 is abutted against the flaring seat 31, and then the flaring head 36 extrudes the head end opening of the cylinder barrel 9 under the driving of the pressurizing cylinder 33, so that the flaring of the head end of the cylinder barrel 9 is completed.

In the embodiment, a movable plate 34 is slidably arranged on a frame 8, a cylinder body of a pressurizing cylinder 33 is fixedly connected with the movable plate 34, a flaring seat 31 is fixed on the frame 8, a flaring screw rod 35 is rotatably connected to the frame 8, and the flaring screw rod 35 is axially fixed on the frame 8 and is in threaded connection with the movable plate 34;

The distance between the pressurizing cylinder 33 and the flaring seat 31 can be changed by rotating the flaring screw rod 35, thereby adapting to the cylinder barrels 9 with different lengths,

In practical implementation, there may be two support plates 32, where one support plate 32 is fixed on the flaring seat 31, and the other support plate 32 is fixed on the movable plate 34, so that the support point of the support plate 32 to the cylinder 9 is automatically adjusted along with the movement of the movable plate 34, so as to stably and reliably support the cylinders 9 with different lengths all the time.

As shown in fig. 12 and 13, a supporting shaft 41 is disposed below the assembly manipulator 4 in the present embodiment, a height adjusting cylinder 42 is relatively fixed on the frame 8, and an output end of the height adjusting cylinder 42 is fixedly connected with the supporting shaft 41;

The supporting shaft 41 can provide support for the cylinder 9, prevent the cylinder 9 from falling off from the assembling manipulator 4, improve the positioning precision of the cylinder 9 on the assembling manipulator 4, and avoid the downward displacement of the cylinder 9 when the connector carrying manipulator 6 presses the connector 9-1 onto the cylinder 9,

In specific implementation, the frame 8 can be fixed with the first electric push rod 43, the output end of the first electric push rod 43 is fixedly connected with the cylinder body of the height adjusting cylinder 42, and the combination of the first electric push rod 43 and the height adjusting cylinder 42 can effectively improve the stroke of the vertical displacement of the bottom compressing cylinder 712, so that the cylinder barrel 9 with different heights can be widely adapted; the assembly robot 4 may be a pneumatic finger.

The structure of the connector feeding mechanism 5 is as follows:

As shown in fig. 3, 5 and 13, in this embodiment, the connector feeding mechanism 5 includes a pushing component and a vibration disc 51, the pushing component includes a pushing cylinder 52, a pushing rod 53 and a discharging bottom plate 54, the discharging bottom plate 54 is fixed on the frame 8, a guide groove 54-1 is formed on the discharging bottom plate 54, the pushing cylinder 52 is fixed on the discharging bottom plate 54, the pushing rod 53 is slidably disposed in the guide groove 54-1, an extending end of the pushing cylinder 52 is fixedly connected with the pushing rod 53, an output end of a discharging track 51-1 on the vibration disc 51 is communicated with the guide groove 54-1, an extending direction of the discharging track 51-1 of the vibration disc 51 is crossed with an extending direction of the guide groove 54-1, and a position where one end of the guide groove 54-1 far from the pushing cylinder 52 is located is a connector discharging area;

The connectors 9-1 in the vibration disc 51 are arranged and conveyed to the discharging track 51-1, when the pushing cylinder 52 is retracted, the connectors 9-1 in the discharging track 51-1 lose the limit of the pushing rod 53, one connector 9-1 closest to the guide groove 54-1 in the output end of the discharging track 51-1 enters the guide groove 54-1, and then the pushing cylinder 52 pushes the pushing rod 53 to push the connectors 9-1 in the guide groove 54-1 to the connector discharging area, so that continuous feeding of the single connectors 9-1 is realized.

As shown in fig. 3, 5 and 13, the joint transfer robot 6 has a structure in which:

in this embodiment, the connector carrying manipulator 6 includes a longitudinal carrying cylinder 61, a transverse carrying cylinder 62 and a carrying pneumatic finger 63, wherein an extending end of the longitudinal carrying cylinder 61 is fixedly connected with a cylinder body of the transverse carrying cylinder 62 on a cylinder body fixing frame 8 of the longitudinal carrying cylinder 61, an extending end of the transverse carrying cylinder 62 is fixedly connected with the carrying pneumatic finger 63, a clamping jaw of the carrying pneumatic finger 63 faces downwards, and a moving track of the carrying pneumatic finger 63 driven by the transverse carrying cylinder 62 is located right above a connector discharging area and the assembling manipulator 4;

The horizontal carrying cylinder 62 can drive the carrying pneumatic finger 63 to move along the front-back direction so as to realize that the carrying pneumatic finger 63 moves back and forth between the connector discharging area and the assembling manipulator 4, and the vertical carrying cylinder 61 can drive the carrying pneumatic finger 63 to move along the up-down direction so as to realize that the carrying pneumatic finger 63 can ascend and descend, thereby facilitating the carrying pneumatic finger 63 to move to the connector discharging area to grab the connector 9-1 and descend to the position of the assembling manipulator 4, and the grabbed connector 9-1 is pressed onto the cylinder 9 clamped by the assembling manipulator 4.

The spin welding mechanism 7 has the structure that:

As shown in fig. 14 to 19, the rotary welding mechanism 7 in this embodiment includes a fixed base 71 fixed to the frame 8, a driving roller 72 rotatably mounted on the fixed base 71, a movable base 73 opposed to the fixed base 71, and a pinch roller 74 rotatably mounted on the movable base 73; the frame 8 is provided with a rotary power device for driving the drive roller 72 to rotate and a lateral compression power device for driving the movable seat 73 to be close to or far away from the fixed seat 71;

the driving rollers 72 and the pressing wheels 74 are arranged in parallel, the sum of the numbers of the driving rollers 72 and the pressing wheels 74 is more than or equal to three, a clamping area 75 for clamping the cylinder barrel 9 is formed by surrounding all the driving rollers 72 and the pressing wheels 74, and a welding gun 76 aligned with the clamping area 75 is arranged on the frame 8;

a top compression shaft 77 is arranged above the clamping area 75, a first power device for driving the top compression shaft 77 to ascend or descend is arranged on the frame 8, and the top compression shaft 77 is rotatably arranged on the first power device.

According to the embodiment, the driving roller 72 and the pressing wheel 74 are designed separately, so that the welding grabbing manipulator 13 places the cylinder barrel 9 with the connector 9-1 pressed on the clamping area 75, then the movable seat 73 is driven by the lateral pressing power device to close to the fixed seat 71, the cylinder barrel 9 of the clamping area 75 is pressed on the driving roller 72 of the fixed seat 71 by the pressing wheel 74 on the movable seat 73, the cylinder barrel 9 and the pressing wheel 74 rotate together along with the driving roller 72 when the driving roller 72 is driven to rotate by the rotating power device, relative rotation can be formed between the cylinder barrel 9 and the welding gun 76, the welding gun 76 welds around the outer peripheral surface of the cylinder barrel 9, a circle of welding seam is formed between the connector 9-1 and the cylinder barrel 9, and after the cylinder barrel 9 is pressed by the pressing wheel 74 and the driving roller 72, the first power device also drives the top pressing shaft 77 to press the connector 9-1 on the cylinder barrel 9, so that the connector 9-1 is attached to the cylinder barrel 9, the situation that assembly is not in place between the connector 9-1 and the cylinder barrel 9 is avoided, accurate automatic welding of the connector 9-1 is realized, welding quality is improved, welding efficiency is improved, and welding cost is greatly improved, and welding efficiency is greatly improved.

A bottom compression shaft 78 is arranged below the clamping area 75 in the embodiment, a second power device for driving the bottom compression shaft 78 to ascend or descend is arranged on the frame 8, and the bottom compression shaft 78 is rotatably arranged on the second power device;

The design that adopts bottom compression axle 78 to support the cylinder 9 that is located clamping area 75 can effectually solve cylinder 9 and compress tightly the problem that can appear moving down when the axle 77 is compressed tightly by the top, specifically: the bottom compression shaft 78 is used for supporting the cylinder 9 positioned in the clamping area 75, so that on one hand, downward displacement of the cylinder 9 when the top compression shaft 77 compresses the connector 9-1 of the clamping area 75 on the cylinder 9 can be avoided, and therefore downward displacement of a position to be welded between the cylinder 9 and the connector 9-1 relative to the welding gun 76 is prevented, and the welding gun 76 can accurately weld the connector 9-1 on the cylinder 9; on the other hand, the positioning function can be achieved, namely, when the cylinder 9 is transferred to the clamping area 75 by the welding material grabbing manipulator 13, the cylinder 9 can fall on the bottom compression shaft 78, and the cylinder 9 is just at the height of the position to be welded;

in addition, the second power device can also be arranged to adjust the height of the bottom compression shaft 78 in real time according to the lengths of different cylinders 9.

Specifically, the first power device comprises a top compression cylinder 79 with a downward extending end and a top connecting sleeve 711, the cylinder body of the top compression cylinder 79 is relatively fixed on the frame 8, the top connecting sleeve 711 is fixed on the extending end of the top compression cylinder 79, and the top compression shaft 77 is rotatably arranged in the top connecting sleeve 711 and axially positioned in the top connecting sleeve 711;

The top compression cylinder 79 is utilized to drive the top compression shaft 77 to descend to the connector 9-1 of the cylinder barrel 9, the connector 9-1 is compressed and fixed on the cylinder barrel 9, the welding quality can be improved, the top compression cylinder 79 is utilized to drive the top compression shaft 77 to ascend after welding is finished, the compression of the connector 9-1 is relieved, and the welded cylinder barrel 9 is convenient to transfer;

In addition, the top compression shaft 77 may be installed in the top connecting sleeve 711 through a bearing, an outer ring of the bearing is in interference fit with an inner wall of the top connecting sleeve 711, and an inner ring of the bearing is in interference fit with the top compression shaft 77.

Specifically, the second power device includes a bottom compression cylinder 712 with an upward extending end and a bottom connecting sleeve 713, the cylinder body of the bottom compression cylinder 712 is relatively fixed on the frame 8, the bottom connecting sleeve 713 is fixed on the extending end of the bottom compression cylinder 712, and the bottom compression shaft 78 is rotatably disposed in the bottom connecting sleeve 713 and axially positioned in the bottom connecting sleeve 713; the bottom compression shaft 78 can also be installed in the bottom connecting sleeve 713 through a bearing, the outer ring of the bearing is in interference fit with the inner wall of the bottom connecting sleeve 713, and the inner ring of the bearing is in interference fit with the bottom compression shaft 78.

Thereby utilizing the expansion and contraction of the bottom compression cylinder 712 to realize the height adjustment of the bottom compression shaft 78;

In addition, a second electric push rod 714 is fixed on the frame 8, the output end of the second electric push rod 714 is fixedly connected with the cylinder body of the bottom compression cylinder 712, and the stroke of the vertical displacement of the bottom compression shaft 78 can be effectively improved by utilizing the combination of the second electric push rod 714 and the bottom compression cylinder 712, so that the cylinder barrel 9 with different heights can be widely adapted.

In the embodiment, a welding gun installation assembly is arranged on a frame 8, the welding gun installation assembly comprises a welding gun moving cylinder 715, an installation seat 716 and a clamping block 717, the welding gun moving cylinder 715 is fixed on the frame 8, the installation seat 716 is arranged on the frame 8 in a sliding manner along the extending direction of the welding gun moving cylinder 715, the extending end of the welding gun moving cylinder 715 is fixedly connected with the installation seat 716, the clamping block 717 is fixed on the installation seat 716, and the welding gun 76 is clamped between the installation seat 716 and the clamping block 717;

the function of the welding gun installation assembly is specifically described as follows: the welding gun moving cylinder 715 can drive the welding gun 76 to move so as to adjust the left and right positions of the welding gun 76 in real time, and interference between the welding grabbing manipulator 13 and the unloading grabbing manipulator 14 and the welding gun 76 when grabbing the cylinder 9 of the clamping area 75 can be avoided, namely, when the welding grabbing manipulator 13 and the unloading grabbing manipulator 14 grab the cylinder 9 of the clamping area 75, the welding gun moving cylinder 715 can be controlled to drive the welding gun 76 to move so that the welding gun 76 is far away from the clamping area 75, and the interference generated by the welding grabbing manipulator 13 and the unloading grabbing manipulator is avoided; the welding gun 76 is clamped and installed between the mounting seat 716 and the clamping block 717, so that the front and back positions and the inclination angles of the welding gun 76 can be adjusted when the clamping block 717 is loosened, and the welding gun 76 can be conveniently adjusted to be aligned with the welding position between the cylinder 9 and the connector 9-1;

in addition, the clamping block 717 is fastened to the mounting base 716 by screws, so that the angle of the welding gun 76 can be adjusted when the screws are loosened.

In this embodiment, the rotary power device includes a motor 718, a driving wheel 719 and a driven wheel 720, the motor 718 is fixed on the frame 8, the driving wheel 719 is fixedly connected with a main shaft of the motor 718, a transmission shaft 723 is rotatably connected on the fixing seat 71, the driven wheel 720 is fixedly connected with the transmission shaft 723, the driving wheel 719 is in transmission connection with the driven wheel 720 through a belt 721, and the transmission shaft 723 is in transmission connection with the driving roller 72; the lateral compression power device comprises a lateral compression cylinder 722, the cylinder body of the lateral compression cylinder 722 is fixed on the frame 8, and the movable seat 73 is fixed on the extending end of the lateral compression cylinder 722; the driving wheel 719 is driven to rotate by the electric drive, the driving wheel 719 drives the driven wheel 720 to rotate together under the transmission of the belt 721, and the driven wheel 720 can transmit the rotation power to the driving roller 72 through the transmission shaft 723;

Wherein, the driving roller 72 and the compression wheel 74 can be both arranged, the outer peripheral surface of the transmission shaft 723 can be meshed with the outer peripheral surfaces of the two driving rollers 72 at the same time, so that the transmission shaft 723 drives the two driving rollers 72 to rotate, when the lateral compression cylinder 722 drives the movable seat 73 to approach the fixed seat 71, the compression wheel 74 on the movable seat 73 can compress the cylinder 9 of the clamping area 75 on the driving roller 72 of the fixed seat 71, and the driving roller 72 simultaneously drives the cylinder 9 and the compression wheel 74 to synchronously rotate; the driving roller 72 and the transmission shaft 723 can be mounted on the fixing seat 71 through bearings to improve the rotation flexibility of the driving roller 72 and the transmission shaft 723, and the pressing wheel 74 can directly use bearings, namely, the bearings are used as the pressing wheel 74, so that the cost can be reduced, and the rotation flexibility of the pressing wheel 74 can be ensured;

The operation of the spin welding mechanism 7 in this embodiment is as follows: when the welding grabbing mechanical arm 13 places the cylinder barrel 9 with the connector 9-1 pressed on the clamping area 75, the cylinder barrel 9 is contacted with the bottom pressing shaft 78, then the movable seat 73 is driven by the lateral pressing cylinder 722 to be close to the fixed seat 71, the pressing wheel 74 on the movable seat 73 presses the cylinder barrel 9 of the clamping area 75 on the driving roller 72 of the fixed seat 71, then the top pressing cylinder 79 is started, the top pressing cylinder 79 drives the top pressing shaft 77 to descend to the connector 9-1 of the cylinder barrel 9, the connector 9-1 is pressed and fixed on the cylinder barrel 9, then the motor 718 is started to drive the driving roller 72 to rotate, the cylinder barrel 9 is driven by the driving roller 72 to rotate, the welding gun 76 is welded around the outer peripheral surface of the cylinder barrel 9, and a circle of welding seam is formed between the connector 9-1 and the cylinder barrel 9.

In the embodiment, the cylinder 9 is in a horizontal state at the cylinder discharging area and the flaring mechanism 3, the front and rear positions of the cylinder 9 at the cylinder discharging area and the flaring mechanism 3 are consistent, the assembling manipulator 4, the spin welding mechanism 7 and the unloading grabbing manipulator 14 are in a vertical state, and the front and rear positions and the upper and lower positions of the cylinder 9 at the assembling manipulator 4, the spin welding mechanism 7 and the unloading grabbing manipulator 14 are consistent; the cylinder barrel 9 is switched from a horizontal state to a vertical state and is completed by a flaring rotary cylinder 12-2 on a flaring grabbing manipulator 12.

The working principle of the automatic flaring and welding integrated machine for the gas spring of the embodiment is as follows:

Firstly, horizontally placing a cylinder 9 in a storage bin 21, then rotating an adjusting screw 25 to enable an adjusting plate 24 to be close to a front side plate 21-2 of the storage bin 21, limiting the cylinder 9 which is parallel to each other in the storage bin 21 to be aligned at two ends by the adjusting plate 24, keeping the cylinder 9 which is parallel to each other and aligned at two ends in the storage bin 21, starting a feeding cylinder 22, driving a lifting plate 23 to reciprocate up and down by using the feeding cylinder 22, and enabling a slope 23-2 of the lifting plate 23 to lift the cylinder 9 in a horizontal state to a cylinder discharging area each time;

Meanwhile, the vibration plate 51 sequentially conveys the connectors 9-1 in the vibration plate to the discharging track 51-1, and the pushing cylinder 52 is started to drive the pushing rods 53 in a reciprocating manner along the direction of the guide chute 54-1, so that the connectors 9-1 in the discharging track 51-1 are pushed to the connector discharging areas one by one;

Then, the displacement cylinder 15 is started to drive the displacement plate 16 to move forwards or backwards, so that the displacement plate moves circularly; when the displacement plate 16 advances to the position that the material grabbing manipulator 11 of the storage bin reaches the cylinder barrel discharging area and the cylinder barrel 9 in the cylinder barrel discharging area is ready to be grabbed, the material grabbing manipulator comprises: the flaring grabbing mechanical arm 12 on the displacement plate 16 just reaches the flaring mechanism 3 and is ready to grab the cylinder 9 with the flaring completed on the flaring mechanism 3; the welding grabbing manipulator 13 on the displacement plate 16 just reaches the assembling manipulator 4 to grab the cylinder 9 of the connector 9-1 pressed on the assembling manipulator 4, the unloading grabbing manipulator 14 on the displacement plate 16 just reaches the spin welding mechanism 7 to grab the cylinder 9 of the connector 9-1 welded on the spin welding mechanism 7;

When the displacement plate 16 returns to the position where the bin grabbing manipulator 11 reaches the flaring mechanism 3, the cylinder barrel 9 grabbed by the displacement plate is placed on the flaring mechanism 3 for flaring treatment: the flaring grabbing manipulator 12 on the displacement plate 16 just reaches the assembling manipulator 4, the cylinder barrel 9 grabbed by the flaring grabbing manipulator is placed on the assembling manipulator 4, and the connector carrying manipulator 6 can timely transfer and press-fit the connector 9-1 in the connector discharging area onto the cylinder barrel 9 clamped by the assembling manipulator 4; the welding grabbing manipulator 13 on the displacement plate 16 just reaches the position of the rotary welding mechanism 7, and the cylinder barrel 9 grabbed by the welding grabbing manipulator is placed on the rotary welding mechanism 7 for welding treatment; the unloading grabbing manipulator 14 on the displacement plate 16 just reaches the blanking plate 8-1, and the cylinder barrel 9 grabbed by the unloading grabbing manipulator after welding is placed on the blanking plate 8-1; along with the cyclic movement of the displacement plate 16, the full-automatic operation of the whole process of flaring and welding of the cylinder tube 9 is realized.

The above-described preferred embodiments according to the present invention are intended to suggest that, from the above description, various changes and modifications can be made by the worker in question without departing from the technical spirit of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.

Claims

1. An automatic flaring and welding integrated machine for a gas spring is used for flaring a cylinder barrel (9) of the gas spring and welding a connector (9-1), and is characterized in that: this flaring welding all-in-one includes:

The movable manipulator mechanism (1) is provided with a bin grabbing manipulator (11), a flaring grabbing manipulator (12) and a welding grabbing manipulator (13) which are arranged on the frame (8) and can reciprocate;

The cylinder barrel feeding mechanism (2) is used for conveying the cylinder barrel (9) in the storage bin (21) to a cylinder barrel discharging area after aligning;

The flaring mechanism (3) is used for flaring the cylinder barrel (9) transferred from the cylinder barrel discharging area by the bin grabbing manipulator (11);

the expanding and grabbing mechanical arm (12) grabs the cylinder barrel (9) in the cylinder barrel discharging area and then drives the cylinder barrel (9) to move and turn over, so that the cylinder barrel is clamped and fixed by the assembling mechanical arm (4);

the connector feeding mechanism (5) is used for conveying the connector (9-1) to the connector discharging area;

the connector carrying manipulator (6) is used for grabbing and transferring the connector (9-1) of the connector discharging area and enabling the connector to be pressed and assembled onto the cylinder barrel (9) clamped by the assembling manipulator (4) from above;

the welding grabbing mechanical arm (13) is used for grabbing a cylinder barrel (9) on the assembling mechanical arm (4) and driving the cylinder barrel (9) to move to the rotary welding mechanism (7), and the rotary welding mechanism (7) is used for welding a connector (9-1) pressed on the cylinder barrel (9);

the mobile manipulator mechanism (1) comprises a displacement cylinder (15) and a displacement plate (16) which is arranged on the frame (8) in a sliding manner, wherein a cylinder body of the displacement cylinder (15) is fixed on the frame (8), and an extending end of the displacement cylinder (15) is fixedly connected with the displacement plate (16);

The feeding mechanism (2), the flaring mechanism (3), the assembling manipulator (4) and the rotary welding mechanism (7) are sequentially fixed on the frame (8) at equal intervals along the expansion and contraction direction of the displacement cylinder (15), the connector feeding mechanism (5) is positioned at the side of the assembling manipulator (4), and the connector carrying manipulator (6) is positioned above the assembling manipulator (4);

The bin grabbing mechanical arm (11) comprises a longitudinal bin cylinder (11-1) and a bin pneumatic finger (11-2) with a downward clamping jaw, wherein the cylinder body of the longitudinal bin cylinder (11-1) is fixed on a displacement plate (16), and the extending end of the longitudinal bin cylinder (11-1) is fixedly connected with the bin pneumatic finger (11-2);

The flaring grabbing mechanical arm (12) comprises a transverse flaring cylinder (12-4), a longitudinal flaring cylinder (12-1), a rotary cylinder (12-2) and a flaring pneumatic finger (12-3) with a clamping jaw facing downwards, wherein a cylinder body of the transverse flaring cylinder (12-4) is fixedly connected with a displacement plate (16), a cylinder body of the longitudinal flaring cylinder (12-1) is fixed on an extending end of the transverse flaring cylinder (12-4), the extending end of the longitudinal flaring cylinder (12-1) is fixedly connected with the rotary cylinder (12-2), and an output end of the rotary cylinder (12-2) is fixedly connected with the flaring pneumatic finger (12-3);

The welding grabbing mechanical arm (13) comprises a transverse welding cylinder (13-1) and a welding pneumatic finger (13-2) with a clamping jaw facing forward, wherein a cylinder body of the transverse welding cylinder (13-1) is fixed on a displacement plate (16), and the extending end of the transverse welding cylinder (13-1) is fixedly connected with the welding pneumatic finger (13-2).

2. The automatic flaring and welding integrated machine for gas springs according to claim 1, wherein: one side of the displacement plate (16) far away from the bin grabbing manipulator (11) is provided with a unloading grabbing manipulator (14), the unloading grabbing manipulator (14) is used for grabbing a cylinder barrel (9) welded on the rotary welding mechanism (7), the welding grabbing manipulator (13) is located between the unloading grabbing manipulator (14) and the flaring grabbing manipulator (12), and a blanking plate (8-1) is arranged on the side of the unloading grabbing manipulator (14).

3. The automatic flaring and welding integrated machine for gas springs according to claim 1, wherein: the cylinder barrel feeding mechanism (2) comprises a feeding cylinder (22), a jacking plate (23) and an adjusting plate (24), wherein the jacking plate (23) is arranged on the left side in a bin (21) in a sliding mode along the vertical direction, the upper surface of the jacking plate is a slope (23-2) with the left low right high, the minimum distance between the right side surface of the left side plate (21-1) on the bin (21) and the slope (23-2) of the jacking plate (23) is smaller than the outer diameter of the cylinder barrel (9), the bottom surface in the bin (21) is gradually inclined upwards from left to right, a cylinder body of the feeding cylinder (22) is fixed on the bin (21), the extending end of the feeding cylinder (22) is fixedly connected with the jacking plate (23), the adjusting plate (24) is arranged in the bin (21) in a sliding mode along the front-rear direction, an adjusting screw (25) is rotatably arranged on the bin (21), and the adjusting screw (25) is axially fixed on the bin (21) and in threaded transmission connection with the adjusting plate (24).

4. The automatic flaring and welding integrated machine for gas springs of claim 3, further comprising: the front end position of the upper surface of the jacking plate (23) is provided with a first notch (23-1) downwards, the top of the left side plate (21-1) on the storage bin (21) is provided with a second notch (21-11) which is used for corresponding to the first notch (23-1) downwards, and when the jacking plate (23) ascends to the position where the first notch (23-1) is opposite to the second notch (21-11), the position where the first notch (23-1) is located is a cylinder barrel discharging area.

5. The automatic flaring and welding integrated machine for gas springs of claim 3, further comprising: one side of the adjusting plate (24) close to the front side plate (21-2) on the storage bin (21) and the inner side surface of the front side plate (21-2) in the storage bin (21) are both fixedly provided with a baffle plate (27), the baffle plate (27) is inclined downwards from right to left, and the interval between the lower surface of the baffle plate (27) and the bottom surface of the storage bin (21) is gradually reduced from right to left.

6. The automatic flaring and welding integrated machine for gas springs according to claim 5, wherein: the left end of the material baffle (27) is extended with a lower limit part (27-1), the minimum distance between the left side surface of the lower limit part (27-1) and the right side surface of the jacking plate (23) is smaller than the outer diameter of the cylinder barrel (9), the minimum distance between the lower surface of the lower limit part (27-1) and the bottom surface of the storage bin (21) is larger than or equal to the outer diameter of a single cylinder barrel (9), and the minimum distance between the lower surface of the lower limit part (27-1) and the bottom surface of the storage bin (21) is smaller than the sum of the outer diameters of the two cylinder barrels (9); the right end of the striker plate (27) is upwarped with an upper limit part (27-2).

7. The automatic flaring and welding integrated machine for gas springs according to claim 1, wherein: the flaring mechanism (3) comprises a flaring seat (31), a supporting plate (32) and a pressurizing cylinder (33) with an extending end facing the flaring seat (31), a flaring head (36) is fixed on the extending end of the pressurizing cylinder (33), the supporting plate (32) is positioned between the flaring seat (31) and the pressurizing cylinder (33), and a positioning groove (32-1) for positioning the cylinder barrel (9) is formed.

8. The automatic flaring and welding integrated machine for gas springs according to claim 1, wherein: the lower part of the assembly manipulator (4) is provided with a supporting shaft (41), a height adjusting cylinder (42) is relatively fixed on the frame (8), and the output end of the height adjusting cylinder (42) is fixedly connected with the supporting shaft (41).

9. The automatic flaring and welding integrated machine for gas springs according to claim 1, wherein: the connector feeding mechanism (5) comprises a pushing assembly and a vibrating disc (51), the pushing assembly comprises a pushing cylinder (52), a pushing rod (53) and a discharging bottom plate (54), the discharging bottom plate (54) is fixed on the frame (8), a guide groove (54-1) is formed in the discharging bottom plate (54), the pushing cylinder (52) is fixed on the discharging bottom plate (54), the pushing rod (53) is slidably arranged in the guide groove (54-1), the extending end of the pushing cylinder (52) is fixedly connected with the pushing rod (53), the output end of a discharging track (51-1) on the vibrating disc (51) is communicated with the guide groove (54-1), the extending direction of the discharging track (51-1) of the vibrating disc (51) is crossed with the extending direction of the guide groove (54-1), and the position of one end part of the guide groove (54-1) far away from the pushing cylinder (52) is a connector discharging area.

10. The automatic flaring and welding integrated machine for gas springs according to claim 1 or 9, characterized in that: connector transport manipulator (6) are including vertical transport cylinder (61), horizontal transport cylinder (62) and transport pneumatic finger (63), on the cylinder body fixed bolster (8) of vertical transport cylinder (61), the extension end of vertical transport cylinder (61) and the cylinder body fixed connection of horizontal transport cylinder (62), the extension end and the transport pneumatic finger (63) fixed connection of horizontal transport cylinder (62), the clamping jaw of transport pneumatic finger (63) is down, the removal orbit of horizontal transport cylinder (62) drive transport pneumatic finger (63) is located directly over connector discharging area and the equipment manipulator (4).

11. The automatic flaring and welding integrated machine for gas springs according to claim 1, wherein: the rotary welding mechanism (7) comprises a fixed seat (71) fixed on the frame (8), a driving roller (72) rotatably mounted on the fixed seat (71), a movable seat (73) opposite to the fixed seat (71) and a pressing wheel (74) rotatably mounted on the movable seat (73); the frame (8) is provided with a rotary power device for driving the driving roller (72) to rotate and a lateral compression power device for driving the movable seat (73) to be close to or far away from the fixed seat (71);

The driving rollers (72) and the pressing wheels (74) are arranged in parallel, the sum of the numbers of the driving rollers (72) and the pressing wheels (74) is more than or equal to three, a clamping area (75) for clamping the cylinder barrel (9) is formed by surrounding all the driving rollers (72) and the pressing wheels (74), and a welding gun (76) aligned with the clamping area (75) is arranged on the frame (8);

The clamping area (75) is provided with a top compression shaft (77) above, the frame (8) is provided with a first power device for driving the top compression shaft (77) to ascend or descend, and the top compression shaft (77) is rotatably installed on the first power device.

12. The automatic flaring and welding integrated machine of claim 11, wherein said automatic flaring and welding integrated machine is characterized by: the bottom compression shaft (78) is arranged below the clamping area (75), the second power device for driving the bottom compression shaft (78) to ascend or descend is arranged on the frame (8), and the bottom compression shaft (78) is rotatably arranged on the second power device.

13. The automatic flaring and welding integrated machine of claim 11, wherein said automatic flaring and welding integrated machine is characterized by: be provided with welder installation component on frame (8), welder installation component includes welder moving cylinder (715), mount pad (716) and clamp splice (717), welder moving cylinder (715) are fixed on frame (8), mount pad (716) are along the flexible direction slip setting of welder moving cylinder (715) on frame (8), the extension end and mount pad (716) fixed connection of welder moving cylinder (715), be fixed with clamp splice (717) on mount pad (716), welder (76) centre gripping is between mount pad (716) and clamp splice (717).

14. The automatic flaring and welding integrated machine of claim 11, wherein said automatic flaring and welding integrated machine is characterized by: the rotary power device comprises a motor (718), a driving wheel (719) and a driven wheel (720), wherein the motor (718) is fixed on a frame (8), the driving wheel (719) is fixedly connected with a main shaft of the motor (718), a transmission shaft (723) is rotationally connected to the fixed seat (71), the driven wheel (720) is fixedly connected with the transmission shaft (723), the driving wheel (719) is in transmission connection with the driven wheel (720) through a belt (721), and the transmission shaft (723) is in transmission connection with a driving roller (72); the lateral compression power device comprises a lateral compression cylinder (722), a cylinder body of the lateral compression cylinder (722) is fixed on the frame (8), and the movable seat (73) is fixed on the extending end of the lateral compression cylinder (722).