CN114918664B - Automatic assembling system and assembling method for hydraulic jack - Google Patents
Automatic assembling system and assembling method for hydraulic jack Download PDFInfo
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- CN114918664B CN114918664B CN202210616472.4A CN202210616472A CN114918664B CN 114918664 B CN114918664 B CN 114918664B CN 202210616472 A CN202210616472 A CN 202210616472A CN 114918664 B CN114918664 B CN 114918664B
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- 238000000034 method Methods 0.000 title claims abstract description 25
- 238000012360 testing method Methods 0.000 claims abstract description 82
- 238000005553 drilling Methods 0.000 claims abstract description 61
- 239000000463 material Substances 0.000 claims abstract description 42
- 238000004140 cleaning Methods 0.000 claims abstract description 30
- 230000000007 visual effect Effects 0.000 claims abstract description 11
- 238000012546 transfer Methods 0.000 claims description 144
- 230000007246 mechanism Effects 0.000 claims description 109
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 24
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- 230000032258 transport Effects 0.000 claims description 18
- 238000002474 experimental method Methods 0.000 claims description 15
- 238000005507 spraying Methods 0.000 claims description 13
- 229910052742 iron Inorganic materials 0.000 claims description 12
- 238000007789 sealing Methods 0.000 claims description 12
- 239000007921 spray Substances 0.000 claims description 11
- 230000008569 process Effects 0.000 claims description 10
- 230000009471 action Effects 0.000 claims description 9
- 238000007664 blowing Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
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- 238000009434 installation Methods 0.000 claims description 4
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- 230000005540 biological transmission Effects 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
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- 230000007547 defect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
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- 241000251468 Actinopterygii Species 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
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- 238000005299 abrasion Methods 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
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Abstract
The invention provides an automatic hydraulic jack assembling system which comprises a cylinder barrel material frame, a piston rod material frame, a 3D visual identification positioning system, a cleaning machine, a guide sleeve assembling device, a piston assembling and screwing device, a drilling and screwing set screw device, a horizontal cylinder assembling machine, a guide sleeve screwing device, a pressure testing device, a transferring device and a control system, wherein the cylinder barrel material frame is arranged on the cylinder barrel material frame; the invention also provides an automatic assembly method by using the automatic hydraulic jack assembly system. The automatic assembly system and the assembly method for the hydraulic jack have the advantages of scientific design, high assembly efficiency, high assembly precision of each step and capability of ensuring the assembly quality.
Description
Technical Field
The invention relates to the field of hydraulic jack assembly, in particular to an automatic hydraulic jack assembly system and an automatic hydraulic jack assembly method.
Background
At present, a hydraulic jack for a coal mine is mainly assembled manually, only mechanical equipment is adopted for assistance in logistics transmission, the labor intensity of workers is high, the assembly efficiency is low, and the problems of liquid leakage and the like are caused by the situations of collision, rough assembly, omission of partial auxiliary processes and the like easily occurring in the assembly process, so that the assembly quality cannot be effectively guaranteed.
Specifically, the assembly process of the hydraulic jack mainly comprises the following steps: the method comprises the following steps of feeding, cleaning, oiling, installing a guide sleeve, installing a piston, drilling a piston fastening screw hole, screwing a fastening screw, assembling, screwing the guide sleeve, testing pressure, blanking and the like. The manual assembly method mainly has the following defects: (1) The conditions of uneven coating and oil leakage are easy to occur in manual oil coating, so that subsequent assembly is not smooth, and sealing is easy to damage; (2) The guide sleeve is assembled manually, so that the centering of the guide sleeve and the piston rod cannot be guaranteed, and the guide sleeve and the piston rod are easy to collide and damage during assembly; (3) The piston is assembled manually, the centering of the piston and a piston rod cannot be guaranteed, thread buckle abrasion is easily caused, meanwhile, the tightening torque cannot be controlled, and the assembling quality cannot be guaranteed; (4) When a piston fastening screw hole is drilled, manual auxiliary drilling equipment is adopted, the drilling depth cannot be guaranteed, the fastening of the fastening screw is manually assisted, two screws are generally needed, and the situation of screw missing is easy to occur; (5) The piston rod assembly and the cylinder body cannot be centered by manual assembly, and sealing is easy to damage and bump during assembly; (6) The guide sleeve is screwed by adopting auxiliary equipment, but the screwing force cannot be controlled, and the thread pre-tightening force of the guide sleeve cannot be ensured; (7) The manual pressure testing, the pressure testing time is longer generally, the pressure testing is omitted and the pressure testing time is insufficient, the quality and quantity can not be guaranteed, all pressure tests can not be completed, and once a quality accident occurs at a user, the pressure testing needs to be repaired.
There are also some prior art automatic devices for hydraulic jack assembly, but these devices have the following drawbacks: (1) Two independent stations are needed for drilling a piston rod to tighten a screw hole and screwing the screw, so that not only is space occupied, but also the situation of position deviation of the screw hole can occur after transfer; when the piston is matched with a drill to tightly fix the screw hole, the screw hole on the piston is not easy to position, the accuracy of the drilling position is not easy to grasp, scrap iron generated by drilling is not easy to clear, and the subsequent screwing of the screw is influenced; (2) When the piston is screwed, the screwing rod and the screwing hole at the rear end of the piston are not easy to be accurately aligned, and the screwing rod and the screwing hole are easy to collide when being butted, so that parts are easy to damage; (3) When the piston or the guide sleeve is screwed down, the moment cannot be monitored, the situation of over-tightening and over-loosening is easy to occur, and once the alignment is inaccurate, threads are easy to be screwed down; (4) Due to the fact that the assembly process is complex, special equipment needs to be arranged in each step, transfer is needed among the steps, the equipment layout is unreasonable in moving line, occupied area is large, and assembly efficiency is low; (5) The transfer times are multiple, and the transfer position is easy to deviate, so that the whole set of equipment is broken down, and the smooth assembly of the jack is influenced; (6) The processes of feeding, pressure testing, blanking and the like still need manual operation, the automation degree is not complete, and 100% of all pressure testing cannot be ensured; (7) When piston rod attaches together with the cylinder, can't guarantee that cylinder hole and piston rod are accurate counterpoint, the easy fish tail is sealed during the assembly, and then leads to the weeping.
In order to solve the above problems, people always seek an ideal technical solution.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the automatic hydraulic jack assembling system and the automatic hydraulic jack assembling method which are scientific in design, high in assembling efficiency, high in assembling precision of each step and capable of ensuring assembling quality.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
an automatic hydraulic jack assembly system comprising:
the top of the cylinder barrel material frame is used for transversely placing the cylinder barrel;
the top of the piston rod material frame is used for transversely placing a piston rod;
the 3D visual identification positioning system is used for acquiring a cylinder barrel image placed on the cylinder barrel material frame and a piston rod image placed on the piston rod material frame, identifying the placement direction, the outline and the coordinate information of the cylinder barrel and the piston rod, and then transmitting the information to the control system;
the cleaning machine is used for cleaning the cylinder barrel and the piston rod and comprises a spray chamber and a transmission belt penetrating through the spray chamber, a plurality of pairs of V-shaped brackets are arranged on the transmission belt, and each pair of V-shaped brackets are used for placing the cylinder barrel and the piston rod in pairs;
the guide sleeve assembling device is used for sleeving the guide sleeve on the piston rod, and a first cylinder barrel caching station is arranged beside the guide sleeve assembling device;
the piston assembling and screwing device is used for screwing a piston on a piston rod sleeved with a guide sleeve, and a second cylinder caching station is arranged beside the piston assembling and screwing device;
the drilling and tightening screw device is used for drilling a tightening screw hole on the piston rod provided with the guide sleeve and the piston, and connecting the tightening screw hole of the piston rod with the tightening screw hole of the piston by using a tightening screw to realize the fixation of the piston and the piston rod, and a third cylinder caching station is arranged beside the drilling and tightening screw device;
the horizontal cylinder assembling machine is used for assembling a piston rod for screwing the set screw into the cylinder barrel;
the guide sleeve screwing device is used for screwing the guide sleeve into the cylinder barrel to complete the assembly of the jack;
the pressure testing device is used for carrying out pressure testing experiments on the assembled jack;
the transfer device comprises a first transfer robot, a second transfer robot, a third transfer robot, a fourth transfer robot and a transfer truss extending along a straight line, the guide sleeve assembling device, the piston assembling and screwing device and the drilling and screwing set screw device are sequentially arranged below the transfer truss, and the first transfer robot grabs a cylinder barrel on the cylinder barrel material frame and a piston rod on the piston rod material frame and is placed on a V-shaped bracket on the cleaning machine in pairs; the second transfer robot grabs the cleaned piston rod and places the piston rod on the manual auxiliary station to perform oil spraying, installation and sealing, then grabs the piston rod to the guide sleeve assembling device to install the guide sleeve, grabs the cleaned cylinder barrel, and places the cylinder barrel on the first cylinder barrel caching station after oil spraying; the bottom of the transfer truss is loaded with a guide sleeve and a piston through a manipulator, a piston rod is sequentially transferred on the guide sleeve assembling device, the piston assembling and screwing device and the drilling and screwing set screw device, and a cylinder is sequentially transferred on the first cylinder caching station, the second cylinder caching station and the third cylinder caching station; the third transfer robot grabs the piston rod and the cylinder barrel and places the piston rod and the cylinder barrel on the horizontal cylinder assembling machine for assembling, and then a jack which is well grabbed and assembled is placed on the guide sleeve screwing device; the fourth transfer robot firstly places the assembled jack on the pressure testing device for pressure testing, and then picks the jack subjected to pressure testing and places the jack in the finished product material frame;
control system, control system receives the information that 3D visual identification positioning system gathered to according to the program control who sets for first transfer robot the second transfer robot the third transfer robot the fourth transfer robot with transport the transportation action of truss, and the cleaning machine the uide bushing assembly quality device piston assembly screw up the device set screw device is screwed up in the drilling horizontal dress jar machine with the uide bushing screws up the various flow process operating condition of device.
Based on the above, the device for drilling and tightening set screws comprises a third centering clamping mechanism capable of moving along the direction of a self central shaft, an operation station, a vertical laser displacement sensor, a transverse laser displacement sensor, a drill bit which is arranged under the operation station and can vertically extend and retract, an air blowing mechanism arranged beside the drill bit, a screw tightening head arranged above the operation station, and an automatic screw array disk for conveying screws to the screw tightening head, wherein the third centering clamping mechanism is used for clamping a piston rod and adjusting the central shaft of the piston rod to be coincident with the central shaft of the operation station; after the radial position of the set screw hole is obtained, the piston rod rotating mechanism drives the piston rod to rotate 180 degrees, the drill bit is used for drilling the set screw hole on the piston rod in a matched mode, scrap iron generated by drilling is blown away by the blowing mechanism, the piston rod rotating mechanism drives the piston rod to rotate 180 degrees again, the screw is screwed into the set screw hole through the screw tightening head, and the piston rod are fixed.
Based on the above, piston assembly screws up device and includes the piston feed bin, can follow the piston chuck, the drive of self center pin direction motion the first motor of screwing up of piston chuck pivoted, second centering clamping mechanism and pole head bolt stall mechanism, the piston feed bin is used for the storage to treat the piston of material loading, the second centering clamping mechanism be used for centre gripping piston rod and adjustment piston rod center pin with the coincidence of piston chuck center pin, pole head bolt stall mechanism is used for inserting the round pin axle hole of piston rod pole head, realizes the stall of piston rod, the hole of screwing up that corresponds the piston rear end on the piston chuck is provided with the elasticity inserted bar, when the piston chuck moves along the axis, by first motor drive of screwing up rotates, with the tail end of piston screw in piston rod.
Based on the above, the pressure testing device includes a plurality of vertical pressure testing frames and pressure testing experiment control cabinet, vertical pressure testing frame is used for placing the jack that has assembled immediately, connects after the pressure testing rubber tube, and the manual work passes through pressure testing experiment control cabinet carries out the pressure testing experiment to the jack.
Based on the above, the guide sleeve assembling device comprises a guide sleeve bin, a guide sleeve chuck capable of moving along the direction of the central axis of the guide sleeve, a first centering clamping mechanism and a first jacking mechanism, wherein the guide sleeve bin is used for storing a guide sleeve to be loaded, the guide sleeve chuck is used for clamping the guide sleeve, the first centering clamping mechanism is used for clamping a piston rod and adjusting the central axis of the piston rod to coincide with the central axis of the guide sleeve chuck, the first jacking mechanism is used for jacking the rod end of the piston rod, and the guide sleeve chuck is located at the tail end of the piston rod;
the horizontal cylinder assembling machine comprises a fourth centering clamping mechanism with a fixed axial position and a fifth centering clamping mechanism capable of moving along the direction of a self central shaft, wherein the fourth centering clamping mechanism is used for clamping the cylinder barrel, the fifth centering clamping mechanism is used for clamping the piston rod, the central axes of the cylinder barrel and the piston rod are overlapped through the up-down, left-right adjustment of the fourth centering clamping mechanism and the fifth centering clamping mechanism, and the piston rod is pushed into the cylinder barrel through the axial movement of the fifth centering clamping mechanism;
the guide sleeve screwing device comprises a sixth centering clamping mechanism, a cylinder barrel rotation stopping mechanism, a guide sleeve outer edge clamping head capable of moving along the direction of a center shaft of the guide sleeve, and a second screwing motor for driving the guide sleeve outer edge clamping head to rotate, wherein the sixth centering clamping mechanism is used for clamping the cylinder barrel and adjusting the center shaft of the cylinder barrel to be superposed with the center shaft of the guide sleeve outer edge clamping head, the guide sleeve outer edge clamping head is used for clamping the notch of the guide sleeve outer edge, and the guide sleeve outer edge clamping head is driven by the second screwing motor to rotate while moving along the axis to screw the guide sleeve in the cylinder barrel.
Based on the above, the bottom of the transfer truss is provided with a first truss manipulator, a second truss manipulator, a third truss manipulator and a fourth truss manipulator; the second transfer robot places the piston rod which is sprayed with oil and sealed well on the first centering clamping mechanism, and the second transfer robot places the cylinder barrel after oil spraying on the first cylinder barrel caching station; the first truss manipulator grabs the guide sleeve from the guide sleeve bin and transfers the guide sleeve to the guide sleeve chuck; the second truss manipulator transports a piston rod from the first centering clamping mechanism to the second centering clamping mechanism, and transports a cylinder barrel from the first cylinder barrel caching station to the second cylinder barrel caching station; the third truss manipulator grabs a piston from the piston bin and transfers the piston to the piston chuck; the fourth truss manipulator transfers the piston rod from the second centering clamping mechanism to the third centering clamping mechanism, and transfers the cylinder barrel from the second cylinder barrel caching station to the third cylinder barrel caching station; the third transfer robot grabs a piston rod with a set screw screwed and places the piston rod on the fifth centering clamping mechanism, the third transfer robot grabs a cylinder barrel placed on the third cylinder barrel caching station and places the cylinder barrel on the fourth centering clamping mechanism, and the third transfer robot grabs an assembled jack from the horizontal cylinder assembling machine and places the jack on the sixth centering clamping mechanism; the fourth transfer robot follows snatch the jack of twisting the uide bushing on the uide bushing tightening device and place immediately in the vertical pressure testing frame, the fourth transfer robot follows snatch the jack that the pressure testing was accomplished in the vertical pressure testing frame and place on the finished product material frame.
The invention also provides an automatic hydraulic jack assembling method, which adopts the automatic hydraulic jack assembling system for assembling and comprises the following steps:
(1) Part identification and positioning: transversely placing a piston rod on the top of the piston rod material frame, transversely placing a cylinder barrel on the top of the cylinder barrel material frame, identifying the placing direction, the outer contour and the coordinate information of the cylinder barrel and the piston rod by using the 3D visual identification and positioning system, and transmitting the information to a control system to serve as a transfer foundation;
(2) Part feeding: grabbing a piston rod and a cylinder barrel to the V-shaped bracket in pairs by using the first transfer robot;
(3) Cleaning: cleaning the inner wall and the outer wall of the cylinder barrel and the outer circle of the piston rod by using the cleaning machine;
(4) Installing a guide sleeve: grabbing a piston rod from the cleaning machine by using the second transfer robot to spray oil, manually assembling and sealing the piston rod after oil spraying, then placing the piston rod on the guide sleeve assembling device to be sleeved with a guide sleeve, grabbing a cylinder barrel from the cleaning machine by using the second transfer robot to spray oil, and then placing the cylinder barrel on the first cylinder barrel caching station;
(5) Piston installation: transferring the piston rod sleeved with the guide sleeve to the piston assembling and screwing device by using the transfer truss, screwing the piston on the piston rod, and simultaneously transferring the cylinder barrel from the first cylinder barrel cache station to the second cylinder barrel cache station by using the transfer truss;
(6) Drilling and screwing a set screw: transferring the piston rod with the guide sleeve and the piston to the drilling and screwing set screw device by using the transfer truss, matching drilling and screwing screw holes on the piston rod, screwing the set screws on the screwing screw holes to fix the piston and the piston rod, and transferring the cylinder barrel from the second cylinder barrel cache station to the third cylinder barrel cache station by using the transfer truss;
(7) Assembling: transferring the piston rod with the screwed set screw and the cylinder barrel placed on the third cylinder barrel caching station to the horizontal cylinder assembling machine by using the third transfer robot for assembling;
(8) Screwing a guide sleeve: transferring the assembled jack to the guide sleeve screwing device by using the third transfer robot, screwing the guide sleeve and completing assembly;
(9) And (3) pressure testing: the fourth transfer robot is utilized to place the assembled jack on the pressure testing device, the pressure testing is manually operated, and after the pressure testing is completed, the jack is placed on a finished product material frame by the fourth transfer robot.
Based on the above, in the step of identifying and positioning the parts, the 3D vision identification positioning system identifies the flat part at the bottom end of the cylinder barrel to obtain the placing direction of the cylinder barrel, and the 3D vision identification positioning system identifies the pin shaft hole part of the rod head of the piston rod to obtain the placing direction of the piston rod; in the pressure testing step, the jack is vertically placed in the vertical pressure testing frame for pressure testing.
Based on the above, in the step of installing the piston and the step of screwing the guide sleeve, whether the screwing is in place or not is judged through torque detection and rotation circle number detection of the first screwing motor and the second screwing motor respectively; and when the torque reaches a preset value, judging whether the number of rotation turns is correct, if the number of turns is incorrect, judging that the unqualified product is not assembled in place, transferring the unqualified product to an unqualified product station, and if the number of turns is correct, increasing the torque to 3 times of the set value, pre-tightening the threads, and ensuring that all parts are assembled in place.
Based on the above, in the step of drilling and screwing up the set screw, utilize horizontal laser displacement sensor detects the preceding terminal surface of piston to confirm the axial position of piston rod, make the piston be located in the operation station, utilize vertical laser displacement sensor to detect the radial position of screw hole on the piston, will the piston rod rotates 180, from the top down the drilling and screwing up the screw hole, blows away the iron fillings that produce with high-pressure gas simultaneously, will again the piston rod rotates 180, screws up the screw in the set screw hole of piston and piston rod.
Compared with the prior art, the invention has prominent substantive features and remarkable progress, and particularly has the following advantages:
(1) Before feeding, the 3D visual identification positioning system is utilized to identify the placement direction, the outer contour and the coordinate information of the cylinder barrel and the piston rod, the placement direction, the outer contour and the coordinate information serve as a transfer basis, particularly the transfer action of the first transfer robot can be determined, the piston rod and the cylinder barrel are accurately placed on the V-shaped bracket, the transfer actions of the second transfer robot, the third transfer robot and the fourth transfer robot are point-to-point transfer, and the transfer precision can be ensured as long as the coordinates of all point positions are set; the uide bushing assembly device the piston assembly screw up the device with set screw device is screwed up in drilling arranges according to the order transport the truss below, transport the truss and extend along the straight line for all carry out on a straight line to the various operations of piston rod, like this transport the truss and be the straight line when transporting the piston rod and advance, the difficult emergence skew in position of piston rod, thereby reduce the probability that equipment broke down, and effectively guarantee the assembly precision of piston rod.
(2) Every transfer robot can both realize shifting the action many times, during the overall arrangement, can arrange each part around transferring the robot, it arranges in proper order to transfer the truss below the uide bushing assembly device the piston assembly screw up the device with set screw device is screwed up in the drilling, and cylinder and piston rod are from one end to the other end synchronous transfer, and not only area is little, moves line reasonable moreover, the flow is compact, reduces station latency, and assembly efficiency is higher.
(3) Utilize the set screw device is screwed up in drilling will drill and screw up integrated for a station, not only practices thrift the space, when drilling moreover, screwing up the screw, need not to transfer the piston rod to avoid the condition of screw hole offset, utilize vertical laser displacement sensor with horizontal laser displacement sensor realizes the accurate positioning to set screw hole on the piston, and rotatory 180 is followed up drilling down, and highly-compressed air can conveniently blow away the iron fillings that drilling produced simultaneously, avoids iron fillings to obstruct the condition that the screw was screwed up, and the screwing up of set screw is accomplished to 180 rotatory again.
(4) The elastic inserting rod on the piston chuck in the piston assembling and tightening device can reduce the requirement on the accuracy of the tightening hole at the rear end of the piston in alignment, and can be conveniently inserted into the tightening hole by utilizing the elasticity of the elastic inserting rod as long as the elastic inserting rod is approximately aligned with the tightening hole, so that the damage of parts caused by rigid collision is avoided.
(5) The parts are centered and clamped through the special assembling machines, the assembling posture of the parts in the assembling process is guaranteed, collision and sealing damage are avoided, and assembling quality is effectively guaranteed.
(6) Through right the moment monitoring and the rotatory number of turns monitoring of screwing up the motor can judge whether counterpoint is accurate with piston rod, uide bushing and cylinder, and the screw thread is hindered to avoiding twisting with piston or uide bushing tightening of moment of adding after the counterpoint is accurate, and the moment is measurable controllable moreover, and the condition of too tight too pine can not appear, guarantees assembly quality.
(7) Each assembly flow all realizes the automation, only puts a small number of steps such as cylinder and piston rod, dress sealing, pressure testing and need artifical supplementary, can adopt servo motor to combine program automatic adjustment each part position, realizes fast trading the product, reduces and trades the product time, and degree of automation obtains further improvement.
(8) Vertical pressure testing is adopted, and the phenomenon that sealing is eccentric due to gravity when the pressure testing is horizontally placed is avoided, so that the pressure testing quality is ensured.
Drawings
Fig. 1 is a schematic structural view of an automatic hydraulic jack assembling system according to the present invention.
Fig. 2 is a schematic structural view of the hydraulic jack of the present invention.
Fig. 3 is an axial sectional view of the piston of the present invention.
Fig. 4 is a rear view of the piston of the present invention.
Fig. 5 is a schematic structural view of the guide bush fitting apparatus of the present invention.
Fig. 6 is a schematic view showing the construction of the piston assembling and tightening apparatus according to the present invention.
Fig. 7 is a schematic view of the construction of the drill set screw assembly of the present invention.
FIG. 8 is a schematic structural diagram of the horizontal cylinder loader of the present invention.
Fig. 9 is a schematic structural view of the guide bush tightening apparatus of the present invention.
Fig. 10 is a schematic view of the piston chuck according to the present invention.
In the figure: 1. a cylinder barrel material frame; 2. a piston rod material frame; 3. a cleaning machine; 4. a guide sleeve assembling device; 5. the piston is assembled with a tightening device; 6. drilling and screwing a set screw device; 7. a horizontal cylinder loading machine; 8. the guide sleeve screwing device; 9. a vertical pressure test frame; 10. a pressure test experiment console; 11. a finished product material frame; 12. a first transfer robot; 13. a second transfer robot; 14. a third transfer robot; 15. a fourth transfer robot; a transfer truss; 17. a first cylinder barrel caching station; 18. a second cylinder buffer station; 19. a third cylinder buffer station; 20. a first truss manipulator; 21. a second truss manipulator; 22. a third truss manipulator; 23. a fourth truss manipulator; 24. a cylinder barrel; 25. a piston rod; 26. a manual auxiliary station; 27. a guide sleeve; 28. a piston; 29. a set screw hole on the piston; 30. screwing the hole tightly; 31. a V-shaped bracket; 32. a conveyor belt; 33. a spray washing chamber; 41. a guide sleeve bin; 42. a guide sleeve chuck; 43. a first centering clamping mechanism; 44. a first tightening mechanism; 51. a piston storage bin; 52. a first tightening motor; 53. a second centering clamping mechanism; 54. a rod head bolt rotation stopping mechanism; 55. a piston chuck; 56. an elastic insertion rod; 61. a third centering clamping mechanism; 62. operating stations; 63. a vertical laser displacement sensor; 64. a transverse laser displacement sensor; 65. a drill bit; 66. screwing the screw; 67. automatic screw array disc; 71. a fourth centering clamping mechanism; 72. a fifth centering clamping mechanism; 81. a sixth centering clamping mechanism; 82. a cylinder barrel rotation stopping mechanism; 83. the outer edge of the guide sleeve is provided with a clamping head.
Detailed Description
The technical solution of the present invention is further described in detail by the following embodiments.
Example 1
As shown in fig. 1 to 10, an automatic hydraulic jack assembling system includes:
the top of the cylinder barrel material frame 1 is used for transversely placing a cylinder barrel 24;
the top of the piston rod material frame 2 is used for transversely placing a piston rod 25;
the 3D visual identification positioning system is used for acquiring images of a cylinder barrel 24 placed on the cylinder barrel material frame 1 and images of a piston rod 25 placed on the piston rod material frame 2, identifying the placement direction, the outer contour and the coordinate information of the cylinder barrel 24 and the piston rod 25, and transmitting the information to the control system;
the cleaning machine 3 is used for cleaning the cylinder 24 and the piston rod 25, and specifically comprises a spray chamber 33 and a conveying belt 32 penetrating through the spray chamber 33, wherein a plurality of pairs of V-shaped brackets 31 are arranged on the conveying belt 32, and each pair of V-shaped brackets 31 are used for placing the cylinder 24 and the piston rod 25 in pairs for conveying and spraying in pairs;
the guide sleeve assembling device 4 is used for sleeving the guide sleeve 27 on the piston rod 25, and a first cylinder barrel caching station 17 is arranged beside the guide sleeve assembling device 4; the guide sleeve assembling device 4 specifically comprises a guide sleeve bin 41, a guide sleeve chuck 42 capable of moving along the direction of the central axis of the guide sleeve, a first centering clamping mechanism 43 and a first jacking mechanism 44, wherein the guide sleeve bin 41 is used for storing a guide sleeve 27 to be loaded, the guide sleeve chuck 42 is used for clamping the guide sleeve 27, the first centering clamping mechanism 43 is used for clamping the piston rod 25 and adjusting the central axis of the piston rod 25 to be coincident with the central axis of the guide sleeve chuck 42, the first jacking mechanism 44 is used for jacking the rod end of the piston rod 25, and the guide sleeve chuck 42 is located at the tail end of the piston rod 25;
the piston assembling and screwing device 5 is used for screwing a piston 28 on the piston rod 25 sleeved with the guide sleeve 27, and a second cylinder caching station 18 is arranged beside the piston assembling and screwing device 5; piston assembly screws up device 5 and specifically includes piston feed bin 51, can follow the piston chuck 55, the drive of self center pin direction motion piston chuck 55 pivoted first screw up motor 52, second centering clamping mechanism 53 and pole head bolt rotation stopping mechanism 54, piston feed bin 51 is used for the storage to treat the piston 28 of material loading, second centering clamping mechanism 53 is used for centre gripping piston rod 25 and adjusts piston rod 25 center pin with the coincidence of piston chuck 55 center pin, pole head bolt rotation stopping mechanism 54 is used for inserting the round pin shaft hole of piston rod 25 pole head, realizes the rotation stopping of piston rod 25, the hole 30 of screwing up that corresponds piston 28 rear end on the piston chuck 55 is provided with elasticity inserted bar 56, when piston chuck 55 moves along the axis, by first screw up motor 52 drive rotation, with the tail end of piston 28 screw in piston rod 25.
The elastic insert rod 56 on the piston chuck 55 of the piston assembling and tightening device 5 can reduce the requirement for the alignment accuracy with the rear end tightening hole 30 of the piston 28, and as long as the elastic insert rod 56 is approximately aligned with the tightening hole 30, the elastic insert rod 30 can be conveniently inserted into the tightening hole 30 by using the elasticity of the elastic insert rod 30, thereby avoiding the damage of parts caused by rigid collision.
And the drilling and screwing set screw device 6 is used for drilling a set screw hole on the piston rod 25 provided with the guide sleeve 27 and the piston 28, connecting the set screw hole of the piston rod 25 with the set screw hole 29 of the piston 28 by using the set screw to realize the fixation of the piston 28 and the piston rod 25, and a third cylinder caching station 19 is arranged beside the drilling and screwing set screw device. The drilling and tightening set screw device 6 specifically comprises a third centering and clamping mechanism 61 capable of moving along the direction of a central shaft of the device, an operation station 62, a vertical laser displacement sensor 63, a transverse laser displacement sensor 64, a drill bit 65 which is arranged right below the operation station 62 and capable of vertically extending and contracting, an air blowing mechanism arranged beside the drill bit 64, a screw tightening head 66 arranged right above the operation station 62 and a screw automatic array disc 67 for conveying screws to the screw tightening head 66; the third centering clamping mechanism 61 is used for clamping the piston rod 25 and adjusting the central axis of the piston rod 25 to coincide with the central axis of the operation station 62, a piston rod rotating mechanism is further arranged on the third centering clamping mechanism 61, the operation station 62 is fixedly arranged at the tail end of the piston rod 25, the vertical laser displacement sensor 63 is used for detecting the position of the front end face of the piston 28 so as to determine the axial coordinate of the piston rod 25, the transverse laser displacement sensor 64 is arranged above the operation station 62, and the transverse laser displacement sensor 64 detects the position tangential to the set screw hole 29 on the piston 28 in the rotation process of the piston rod 25 so as to determine the radial position of the set screw hole 29; after the radial position of the set screw hole 29 is obtained, the piston rod rotating mechanism drives the piston rod 25 to rotate 180 degrees, the drill 65 is used for drilling the set screw hole at the tail end of the piston rod 25, the blowing mechanism blows away scrap iron generated by drilling, the piston rod rotating mechanism drives the piston rod 25 to rotate 180 degrees, the screw tightening head 66 is used for screwing the screw into the set screw hole, and the piston 28 and the piston rod 25 are fixed.
Utilize drilling is screwed up and is decided screw device 6 and put and be drilling and screw integration as a station, not only practices thrift the space, in addition drilling, when screwing the screw, need not to shift piston rod 25 to avoid the condition of screw hole offset, utilize vertical laser displacement sensor 63 with horizontal laser displacement sensor 64 realizes the accurate positioning of fixing screw hole 29 on piston 25, and rotatory 180 is followed up drilling down, and high-pressure air can conveniently blow away the iron fillings that drilling produced simultaneously, avoids iron fillings to obstruct the condition that the screw was screwed up, guarantees that whole spare part is clean, avoids iron fillings to get into finished product seal chamber, and the screwing up of screw is accomplished to rotatory 180 again.
The horizontal cylinder assembling machine 7 is used for assembling a piston rod 25 for screwing a set screw into the cylinder barrel 24; the horizontal cylinder assembling machine 7 specifically comprises a fourth centering clamping mechanism 71 and a fifth centering clamping mechanism 72, the axial position of the fourth centering clamping mechanism 71 is fixed, the fifth centering clamping mechanism 72 can move along the direction of a central axis of the horizontal cylinder assembling machine, the fourth centering clamping mechanism 71 is used for clamping the cylinder barrel 24, the fifth centering clamping mechanism 72 is used for clamping the piston rod 25, the central axes of the cylinder barrel 24 and the piston rod 25 are overlapped through the up-down, left-right and right adjustment of the fourth centering clamping mechanism 71 and the fifth centering clamping mechanism 72, and the piston rod 25 is pushed into the cylinder barrel 24 through the axial movement of the fifth centering clamping mechanism 72.
The guide sleeve screwing device 8 is used for screwing the guide sleeve 27 in the cylinder barrel 24 to complete the assembly of the jack; the guide sleeve screwing device 8 specifically comprises a sixth centering clamping mechanism 81, a cylinder barrel rotation stopping mechanism 82, a guide sleeve outer edge clamping head 83 capable of moving along the direction of a self central shaft, and a second screwing motor for driving the guide sleeve outer edge clamping head 83 to rotate, wherein the sixth centering clamping mechanism 81 is used for clamping the cylinder barrel 24 and adjusting the central shaft of the cylinder barrel 24 to be superposed with the central shaft of the guide sleeve outer edge clamping head 83, the guide sleeve outer edge clamping head 83 is used for clamping the notch of the guide sleeve 27 outer edge, and the guide sleeve outer edge clamping head 83 moves along the axis and is driven by the second screwing motor to rotate so as to screw the guide sleeve 27 in the cylinder barrel 24.
The pressure testing device is used for performing pressure testing experiments on the assembled jack; the pressure testing device specifically comprises a plurality of vertical pressure testing frames 9 and a pressure testing experiment console 10, wherein the vertical pressure testing frames 9 are used for vertically placing the assembled jack, and after a pressure testing rubber tube is connected, a pressure testing experiment is manually carried out on the jack through the pressure testing experiment console 10; when the pressure test is horizontally placed, the sealing is eccentric due to gravity, and the pressure test quality is ensured.
The transfer device comprises a first transfer robot 12, a second transfer robot 13, a third transfer robot 14, a fourth transfer robot 15 and a transfer truss 16 extending along a straight line, wherein a first truss manipulator 20, a second truss manipulator 21, a third truss manipulator 22 and a fourth truss manipulator 24 are arranged at the bottom of the transfer truss 16, and the guide sleeve assembling device 4, the piston assembling and screwing device 5 and the drilling and screwing device 6 are sequentially arranged below the transfer truss 16; the first transfer robot 12 grabs the cylinder barrel 24 on the cylinder barrel material frame 1 and the piston rod 25 on the piston rod material frame 2 and places the cylinder barrel and the piston rod in pairs on the V-shaped bracket 31 on the cleaning machine 3;
the second transfer robot 13 first picks and cleans a piston rod 24 and places the piston rod 24 on the manual auxiliary station 26 for oil spraying, sealing, then picks and places the piston rod 24 on the first centering clamping mechanism 43, the first truss manipulator 20 picks and places a guide sleeve 27 from the guide sleeve bin and transfers the guide sleeve to the guide sleeve chuck 42, the guide sleeve 27 is installed by using the guide sleeve assembling device 4, the second transfer robot 13 picks and cleans a cylinder barrel 24, and the cylinder barrel is placed on the first cylinder barrel caching station 17 after oil spraying;
the second truss manipulator 21 transfers the piston rod 25 from the first centering and clamping mechanism 43 to the second centering and clamping mechanism 53, the third truss manipulator 22 picks up the piston 28 from the piston bin 51 and transfers the piston onto the piston chuck 55, the piston 28 is screwed on the tail end of the piston rod 25 by using the piston assembling and screwing device 5, and simultaneously, the second truss manipulator 21 transfers the cylinder 24 from the first cylinder buffer station 17 to the second cylinder buffer station 18;
the fourth truss manipulator 23 transports the piston rod 25 from the second centering clamping mechanism 53 to the third centering clamping mechanism 61, a drilling and screwing screw device 6 is used for drilling a set screw hole at the tail end of the piston rod 25 and screwing a set screw in the set screw hole of the piston rod 25 and the set screw hole of the piston rod, so that the piston rod 25 and the piston 28 are fixed, and the fourth truss manipulator 23 transports the cylinder barrel 24 from the second cylinder barrel cache station 18 to the third cylinder barrel cache station 19;
the third transfer robot 14 grabs the piston rod 25 with the set screw screwed and places the piston rod on the fifth centering clamping mechanism 72, the third transfer robot 14 grabs the cylinder 24 placed on the third cylinder caching station 19 and places the cylinder on the fourth centering clamping mechanism 71, the horizontal cylinder assembling machine 7 is used for assembling, after assembling, the third transfer robot 14 grabs the assembled jack and places the jack on the sixth centering clamping mechanism 81, and the guide sleeve screwing device 8 is used for screwing the guide sleeve 27 on the cylinder 24;
Control system, control system receives the information that 3D vision recognition positioning system gathered to according to the program control who sets for first transfer robot 12 the second transfer robot 13 the third transfer robot 14 the fourth transfer robot 15 with transport truss 16's transportation action, and cleaning machine 3 uide bushing assembly device 4 the piston assembly is screwed up device 5 the set screw device 6 is screwed up in the drilling horizontal dress jar machine 7 with the various flow process operating condition of uide bushing tightening device 8.
Before feeding, the 3D vision recognition and positioning system is used for recognizing the placing direction, the outer contour and the coordinate information of the cylinder 24 and the piston rod 25, and the placing direction, the outer contour and the coordinate information are used as a transfer basis, particularly, the transfer action of the first transfer robot 12 can be determined, so that the piston rod 25 and the cylinder 24 are accurately placed on the V-shaped bracket 31, the transfer actions of the second transfer robot 13, the third transfer robot 14 and the fourth transfer robot 15 are all point-to-point transfer, and the transfer precision can be ensured as long as the coordinates of each point position are set; the uide bushing assembly device 4 the device 5 is screwed up in the piston assembly with drilling screws 6 arranges according to the order transport truss 16 below, transport truss 16 along the straight line extension for all go on a straight line to piston rod 25's various operations, like this transport truss 16 is the straight line when transporting piston rod 25 and advances, and piston rod 25's position is difficult for taking place the skew, thereby reduces the probability that equipment broke down, and effectively guarantees piston rod 25's assembly precision.
Every transfer robot can both realize the action of shifting many times, during the overall arrangement, can arrange each part around transferring the robot, it arranges in proper order to transfer 16 below truss the uide bushing assembly device 4 the piston assembly is screwed up device 5 with set screw device 6 is screwed up in the drilling, and cylinder 24 and piston rod 25 shift from one end to the other end in step, and not only area is little, moves line reasonable moreover, the flow is compact, and assembly efficiency is higher.
Example 2
A method for assembling a hydraulic jack by using the automatic hydraulic jack assembling system of embodiment 1, comprising the steps of:
(1) Part identification and positioning: transversely placing a piston rod 25 at the top of the piston rod material frame 2, transversely placing a cylinder barrel 24 at the top of the cylinder barrel material frame 1, identifying the placing direction, the outer contour and the coordinate information of the cylinder barrel 24 and the piston rod 25 by using the 3D visual identification and positioning system, transmitting the information to a control system to serve as a transfer basis, wherein the 3D visual identification and positioning system identifies the flat part at the bottom end of the cylinder barrel 24 to obtain the placing direction of the cylinder barrel 24, and the 3D visual identification and positioning system identifies the pin shaft hole part of the rod head of the piston rod 25 to obtain the placing direction of the piston rod 25;
(2) Part feeding: grabbing a piston rod 25 and a cylinder 24 in pairs onto the V-shaped bracket 31 by means of the first transfer robot 12;
(3) Cleaning: cleaning the inner wall and the outer wall of the cylinder barrel 24 and the outer circle of the piston rod 25 by using the cleaning machine 3;
(4) Installing a guide sleeve 27: grabbing the piston rod 25 from the cleaning machine 3 by using the second transfer robot 13 for oil spraying, manually assembling and sealing the oil-sprayed piston rod 25, then placing the piston rod on the guide sleeve assembling device 4 to be sleeved with the guide sleeve 27, grabbing the cylinder 24 from the cleaning machine 3 by using the second transfer robot 13 for oil spraying, and then placing the cylinder on the first cylinder caching station 17;
(5) Installation of the piston 28: transferring the piston rod 25 sleeved with the guide sleeve 27 to the piston assembling and screwing device 5 by using the transfer truss 16, screwing the piston 28 on the piston rod 25, and simultaneously transferring the cylinder 24 from the first cylinder caching station 17 to the second cylinder caching station 18 by using the transfer truss 16;
(6) Drilling and screwing a set screw: transferring the piston rod 25 with the guide sleeve 27 and the piston 28 assembled thereon to the drilling and tightening screw device 6 by using the transfer truss 16, detecting the front end surface of the piston 25 by using the transverse laser displacement sensor 63, thereby determining the axial position of the piston rod 25, so that the piston 25 is positioned in the operation station 62, detecting the radial position of the screw hole 29 on the piston 25 by using the vertical laser displacement sensor 64, rotating the piston rod 25 by 180 degrees, drilling and tightening the screw hole at the tail end of the piston rod 25, blowing away the generated scrap iron by using high-pressure gas, rotating the piston rod 25 by 180 degrees, tightening the tightening screw at the tightening screw hole, thereby fixing the piston 28 and the piston rod 25, and simultaneously transferring the cylinder 24 from the second cylinder caching station 18 to the third cylinder caching station 19 by using the transfer truss 16;
(7) Assembling: transferring the piston rod 25 with the set screw screwed and the cylinder 24 placed on the third cylinder caching station 19 to the horizontal cylinder loading machine 7 by using the third transfer robot 14 for loading;
(8) Screwing the guide sleeve 27: the third transfer robot 14 is used for transferring the assembled jack to the guide sleeve screwing device 8, and the guide sleeve 27 is screwed to complete assembly;
(9) And (3) pressure testing: utilize fourth transport robot 15 places the jack that assembles vertical pressure testing frame 9 is last, connects the rubber tube, and manual operation pressure testing experiment console 10 carries out the pressure testing, and after the pressure testing was accomplished, the reuse fourth transport robot 15 places the jack on finished product material frame 11.
In order to ensure the assembly quality, in the step of installing the piston 28 and the step of screwing the guide sleeve 27, whether the screwing is in place is judged through torque detection and rotation number detection of the first screwing motor 52 and the second screwing motor respectively; specifically, when the torque reaches a preset value, judging whether the number of rotation turns is correct, if the number of turns is incorrect, judging that an unqualified product which is not assembled in place is transferred to an unqualified product station, and if the number of turns is correct, increasing the torque to 3 times of the set value, performing thread pre-tightening to ensure that all parts are assembled in place; whether can judge piston 28 and piston rod 25 like this, uide bushing 27 and cylinder 24 counterpoint accurately, counterpoint accurate back and then add big moment and screw up piston 28 or uide bushing 27, avoid screwing up and hinder the screw thread, can not appear too tight too loose the condition moreover, guarantee assembly quality.
Finally, it should be noted that the above examples are only used to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications of the embodiments of the invention or equivalent substitutions for parts of the technical features are possible; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (10)
1. An automatic hydraulic jack assembling system, comprising:
the top of the cylinder barrel material frame is used for transversely placing the cylinder barrel;
the top of the piston rod material frame is used for transversely placing a piston rod;
the 3D visual identification positioning system is used for acquiring a cylinder barrel image placed on the cylinder barrel material frame and a piston rod image placed on the piston rod material frame, identifying the placement direction, the outline and the coordinate information of the cylinder barrel and the piston rod, and then transmitting the information to the control system;
the cleaning machine is used for cleaning the cylinder barrel and the piston rod and comprises a spray chamber and a conveying belt penetrating through the spray chamber, a plurality of pairs of V-shaped brackets are arranged on the conveying belt, and each pair of V-shaped brackets is used for placing the cylinder barrel and the piston rod in pairs;
the guide sleeve assembling device is used for sleeving the guide sleeve on the piston rod, and a first cylinder barrel caching station is arranged beside the guide sleeve assembling device;
the piston assembling and screwing device is used for screwing a piston on a piston rod sleeved with the guide sleeve, and a second cylinder caching station is arranged beside the piston assembling and screwing device;
the drilling and screwing set screw device is used for drilling a set screw hole on a piston rod provided with a guide sleeve and a piston in a matching way, and connecting the set screw hole of the piston rod with the set screw hole of the piston by using a set screw to realize the fixation of the piston and the piston rod, and a third cylinder caching station is arranged beside the drilling and screwing set screw device;
the horizontal cylinder assembling machine is used for assembling a piston rod for screwing the set screw into the cylinder barrel;
the guide sleeve screwing device is used for screwing the guide sleeve in the cylinder barrel to complete the assembly of the jack;
the pressure testing device is used for performing pressure testing experiments on the assembled jack;
the transfer device comprises a first transfer robot, a second transfer robot, a third transfer robot, a fourth transfer robot and a transfer truss extending along a straight line, the guide sleeve assembling device, the piston assembling and screwing device and the drilling and screwing set screw device are sequentially arranged below the transfer truss, and the first transfer robot grabs a cylinder barrel on the cylinder barrel material frame and a piston rod on the piston rod material frame and is placed on a V-shaped bracket on the cleaning machine in pairs; the second transfer robot firstly grabs and places the cleaned piston rod on the manual auxiliary station for oil spraying and sealing, then grabs and places the piston rod on the guide sleeve assembling device for installing the guide sleeve, and the second transfer robot grabs and places the cleaned cylinder barrel on the first cylinder barrel caching station after oil spraying; the bottom of the transfer truss is loaded with a guide sleeve and a piston through a manipulator, a piston rod is sequentially transferred on the guide sleeve assembling device, the piston assembling and screwing device and the drilling and screwing set screw device, and a cylinder is sequentially transferred on the first cylinder caching station, the second cylinder caching station and the third cylinder caching station; the third transfer robot grabs the piston rod and the cylinder barrel and places the piston rod and the cylinder barrel on the horizontal cylinder assembling machine for assembling, and then a jack which is grabbed and assembled well is placed on the guide sleeve screwing device; the fourth transfer robot firstly places the assembled jack on the pressure testing device for pressure testing, and then picks the jack subjected to pressure testing and places the jack in the finished product material frame;
control system, control system receives the information that 3D vision identification positioning system gathered to according to the program control who sets for first transfer robot the second transfer robot the third transfer robot the fourth transfer robot with the transportation action of transporting the truss, and the cleaning machine uide bushing assembly device the piston assembly screw up the device set screw device is screwed up in the drilling horizontal dress jar machine with the various flow process operating condition of uide bushing screw up the device.
2. The hydraulic jack automatic assembly system of claim 1, wherein: the drilling and screwing set screw device comprises a third centering clamping mechanism capable of moving along the direction of a self central shaft, an operation station, a vertical laser displacement sensor, a transverse laser displacement sensor, a drill bit which is arranged under the operation station and can vertically stretch out and draw back, an air blowing mechanism arranged beside the drill bit, a screw screwing head arranged above the operation station and an automatic screw array disk for conveying screws to the screw screwing head, wherein the third centering clamping mechanism is used for clamping a piston rod and adjusting the central shaft of the piston rod to coincide with the central shaft of the operation station; after the radial position of the set screw hole is obtained, the piston rod rotating mechanism drives the piston rod to rotate 180 degrees, the drill is used for drilling the set screw hole on the piston rod, scrap iron generated by drilling is blown away by the blowing mechanism, the piston rod rotating mechanism drives the piston rod to rotate 180 degrees again, the screw is screwed into the set screw hole by the screw tightening head, and the piston rod are fixed.
3. The hydraulic jack automatic assembly system of claim 2, wherein: piston assembly screws up device includes the piston feed bin, can follow the piston chuck, the drive of self center pin direction motion the first motor of screwing up of piston chuck pivoted, second centering clamping mechanism and pole head bolt stall mechanism, the piston feed bin is used for the storage to treat the piston of material loading, the second centering clamping mechanism be used for centre gripping piston rod and adjusting piston rod center pin with the coincidence of piston chuck center pin, pole head bolt stall mechanism is used for inserting the round pin downthehole of piston rod pole head, realizes the stall of piston rod, the hole of screwing up that corresponds the piston rear end on the piston chuck is provided with the elasticity inserted bar, when the piston chuck moves along the axis, by first motor drive of screwing up rotates the tail end of piston screw in piston rod.
4. The hydraulic jack automatic assembly system of claim 3, wherein: the pressure testing device comprises a plurality of vertical pressure testing frames and a pressure testing experiment control console, wherein the vertical pressure testing frames are used for vertically placing the assembled jack, and after the pressure testing rubber tube is connected, the pressure testing experiment control console manually passes through the pressure testing experiment control console for carrying out pressure testing experiments on the jack.
5. The hydraulic jack automatic assembly system of claim 4, wherein: the guide sleeve assembling device comprises a guide sleeve bin, a guide sleeve chuck capable of moving along the direction of a central shaft of the guide sleeve bin, a first centering clamping mechanism and a first jacking mechanism, wherein the guide sleeve bin is used for storing a guide sleeve to be loaded, the guide sleeve chuck is used for clamping the guide sleeve, the first centering clamping mechanism is used for clamping a piston rod and adjusting the central shaft of the piston rod to be superposed with the central shaft of the guide sleeve chuck, the first jacking mechanism is used for jacking the head end of the piston rod, and the guide sleeve chuck is positioned at the tail end of the piston rod;
the horizontal cylinder assembling machine comprises a fourth centering clamping mechanism with a fixed axial position and a fifth centering clamping mechanism capable of moving along the direction of a self central shaft, wherein the fourth centering clamping mechanism is used for clamping the cylinder barrel, the fifth centering clamping mechanism is used for clamping the piston rod, the central axes of the cylinder barrel and the piston rod are overlapped through the up-down, left-right adjustment of the fourth centering clamping mechanism and the fifth centering clamping mechanism, and the piston rod is pushed into the cylinder barrel through the axial movement of the fifth centering clamping mechanism;
the guide sleeve screwing device comprises a sixth centering clamping mechanism, a cylinder barrel rotation stopping mechanism, a guide sleeve outer edge clamping head capable of moving along the direction of a self central shaft and a second screwing motor driving the guide sleeve outer edge clamping head to rotate, wherein the sixth centering clamping mechanism is used for clamping the cylinder barrel and adjusting the central shaft of the cylinder barrel to be superposed with the central shaft of the guide sleeve outer edge clamping head, the guide sleeve outer edge clamping head is used for clamping the notch of the guide sleeve outer edge, and the guide sleeve outer edge clamping head is driven to rotate by the second screwing motor while moving along the axis to screw the guide sleeve in the cylinder barrel.
6. The hydraulic jack automatic assembly system of claim 5, wherein: a first truss manipulator, a second truss manipulator, a third truss manipulator and a fourth truss manipulator are arranged at the bottom of the transfer truss; the second transfer robot places the piston rod which is sprayed with oil and sealed well on the first centering clamping mechanism, and the second transfer robot places the cylinder barrel after oil spraying on the first cylinder barrel caching station; the first truss manipulator grabs the guide sleeve from the guide sleeve bin and transfers the guide sleeve to the guide sleeve chuck; the second truss manipulator transports a piston rod from the first centering clamping mechanism to the second centering clamping mechanism, and transports a cylinder barrel from the first cylinder barrel caching station to the second cylinder barrel caching station; the third truss manipulator grabs the piston from the piston bin and transfers the piston to the piston chuck; the fourth truss manipulator transfers the piston rod from the second centering clamping mechanism to the third centering clamping mechanism, and transfers the cylinder barrel from the second cylinder barrel caching station to the third cylinder barrel caching station; the third transfer robot grabs a piston rod with a set screw screwed and places the piston rod on the fifth centering clamping mechanism, the third transfer robot grabs a cylinder barrel placed on the third cylinder barrel caching station and places the cylinder barrel on the fourth centering clamping mechanism, and the third transfer robot grabs an assembled jack from the horizontal cylinder assembling machine and places the jack on the sixth centering clamping mechanism; the fourth transfer robot follows snatch the jack of twisting the uide bushing on the uide bushing tightening device and place immediately in the vertical pressure testing frame, the fourth transfer robot follows snatch the jack that the pressure testing was accomplished in the vertical pressure testing frame and place on the finished product material frame.
7. An automatic hydraulic jack assembling method, characterized in that the automatic hydraulic jack assembling system according to any one of claims 1-6 is adopted for assembling, and the method comprises the following steps:
(1) Part identification and positioning: transversely placing a piston rod on the top of the piston rod material frame, transversely placing a cylinder barrel on the top of the cylinder barrel material frame, identifying the placing direction, the outer contour and the coordinate information of the cylinder barrel and the piston rod by using the 3D visual identification and positioning system, and transmitting the information to a control system to serve as a transfer foundation;
(2) Part feeding: grabbing a piston rod and a cylinder barrel to the V-shaped bracket in pairs by using the first transfer robot;
(3) Cleaning: cleaning the inner wall and the outer wall of the cylinder barrel and the outer circle of the piston rod by using the cleaning machine;
(4) Installing a guide sleeve: grabbing a piston rod from the cleaning machine by using the second transfer robot to spray oil, manually assembling and sealing the piston rod after oil spraying, then placing the piston rod on the guide sleeve assembling device to be sleeved with a guide sleeve, grabbing a cylinder barrel from the cleaning machine by using the second transfer robot to spray oil, and then placing the cylinder barrel on the first cylinder barrel caching station;
(5) Piston installation: transferring the piston rod sleeved with the guide sleeve to the piston assembling and screwing device by using the transfer truss, screwing the piston on the piston rod, and transferring the cylinder barrel from the first cylinder barrel caching station to the second cylinder barrel caching station by using the transfer truss;
(6) Drilling and screwing a set screw: the piston rod with the guide sleeve and the piston assembled is transferred to the drilling and screwing set screw device through the transfer truss, a drilling and screwing screw hole is matched on the piston rod, the screwing screw hole is screwed with the screwing screw, fixing of the piston and the piston rod is achieved, and meanwhile, the transfer truss is used for transferring the cylinder barrel from the second cylinder barrel caching station to the third cylinder barrel caching station;
(7) Assembling: transferring the piston rod with the screwed set screw and the cylinder barrel placed on the third cylinder barrel caching station to the horizontal cylinder assembling machine by using the third transfer robot for assembling;
(8) Screwing a guide sleeve: transferring the assembled jack to the guide sleeve screwing device by using the third transfer robot, screwing the guide sleeve and completing assembly;
(9) And (3) pressure testing: utilize the fourth transportation robot will be assembled the jack place on the pressure testing device, the manual operation pressure testing, after the pressure testing was accomplished, the reuse the fourth transportation robot places the jack on finished product material frame.
8. The automatic hydraulic jack assembling method according to claim 7, wherein: in the step of identifying and positioning the parts, the 3D vision identification positioning system identifies a flat part at the bottom end of the cylinder barrel to obtain the placing direction of the cylinder barrel, and the 3D vision identification positioning system identifies a rod head pin shaft hole part of the piston rod to obtain the placing direction of the piston rod; in the pressure testing step, the jack is vertically placed in the vertical pressure testing frame for pressure testing.
9. The automatic hydraulic jack assembling method according to claim 8, wherein: in the step of installing the piston, the piston is clamped by a piston chuck capable of moving along the axis and is driven to rotate by a first tightening motor, and the piston is screwed into the tail end of the piston rod; in the step of screwing the guide sleeve, the guide sleeve is clamped by a clamping head at the outer edge of the guide sleeve capable of moving along the axis and is driven to rotate by a second screwing motor, so that the guide sleeve is screwed in the cylinder barrel; in the two steps, whether the first tightening motor and the second tightening motor are tightened in place or not is judged through torque detection and rotation circle number detection of the first tightening motor and the second tightening motor respectively; and when the torque reaches a preset value, judging whether the number of rotation turns is correct, if the number of turns is incorrect, judging that the unqualified product is not assembled in place, transferring the unqualified product to an unqualified product station, and if the number of turns is correct, increasing the torque to 3 times of the set value, pre-tightening the threads, and ensuring that all parts are assembled in place.
10. The automatic assembling method of a hydraulic jack according to any one of claims 7 to 9, wherein: in the step of drilling and screwing the set screw, a transverse laser displacement sensor is used for detecting the front end face of the piston to determine the axial position of the piston rod, so that the piston is positioned in an operation station, a vertical laser displacement sensor is used for detecting the radial position of the screw hole in the piston, the piston rod is rotated by 180 degrees, the piston rod is provided with a drill from bottom to top to screw the screw hole, meanwhile, high-pressure gas is used for blowing away generated scrap iron, and then the piston rod is rotated by 180 degrees to screw the screw in the set screw holes of the piston and the piston rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210616472.4A CN114918664B (en) | 2022-06-01 | 2022-06-01 | Automatic assembling system and assembling method for hydraulic jack |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210616472.4A CN114918664B (en) | 2022-06-01 | 2022-06-01 | Automatic assembling system and assembling method for hydraulic jack |
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| Publication Number | Publication Date |
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| CN114918664A CN114918664A (en) | 2022-08-19 |
| CN114918664B true CN114918664B (en) | 2023-04-14 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201792186U (en) * | 2010-05-14 | 2011-04-13 | 王协岭 | Hydraulic cylinder piston rod assembling equipment |
| DE102013001675B4 (en) * | 2013-01-10 | 2015-02-19 | Martin Trenkle | Device for mounting and dismounting hydraulic cylinders |
| CN104175117A (en) * | 2013-05-21 | 2014-12-03 | 王志峰 | Automated assembly line of horizontal type hydraulic oil cylinder |
| CN103433739B (en) * | 2013-07-19 | 2015-07-22 | 燕山大学 | Method for assembling hydrocylinder by automatic production line |
| CN111168378B (en) * | 2020-01-14 | 2021-10-26 | 阳泉煤业华益机械有限公司 | Eight-station jack assembling machine |
| CN112643334B (en) * | 2020-12-25 | 2022-03-01 | 徐州金鼎恒立液压件有限公司 | Automatic assembling system for hydraulic oil cylinder |
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