CN107097054B - Automatic automobile oxygen sensor assembly press-fitting system and operation method thereof - Google Patents
Automatic automobile oxygen sensor assembly press-fitting system and operation method thereof Download PDFInfo
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- CN107097054B CN107097054B CN201710380530.7A CN201710380530A CN107097054B CN 107097054 B CN107097054 B CN 107097054B CN 201710380530 A CN201710380530 A CN 201710380530A CN 107097054 B CN107097054 B CN 107097054B
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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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
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract
The invention relates to a press-fitting system, in particular to an automatic automobile oxygen sensor assembly press-fitting system and an operation method thereof. The automatic feeding and detection device comprises a frame, wherein a feeding work station assembly, a press-fitting work station assembly, a sliding work station assembly, a material moving work station assembly, a detection work station assembly and a discharging work station assembly are arranged on the upper portion of the frame, the feeding work station assembly and the sliding work station assembly are correspondingly distributed, the sliding work station assembly and the press-fitting work station assembly are in sliding type connection, the material moving work station assembly is correspondingly distributed with the sliding work station assembly and the detection work station assembly, and the discharging work station assembly and the detection work station assembly are correspondingly distributed. The automatic automobile oxygen sensor assembly press-fitting system and the operation method thereof are compact in structure, high in automation degree and capable of improving operation precision.
Description
Technical Field
The invention relates to a press-fitting system, in particular to an automatic automobile oxygen sensor assembly press-fitting system and an operation method thereof.
Background
An automotive oxygen sensor is a key sensing component in an electronic fuel injection engine control system. The automobile exhaust emission control valve is a key part for controlling automobile exhaust emission, reducing the environmental pollution of an automobile and improving the fuel combustion quality of an automobile engine.
The oxygen sensor measures the oxygen potential in various heating furnaces or exhaust pipelines by using ceramic sensitive elements, calculates the corresponding oxygen concentration by using a chemical equilibrium principle, and achieves the aim of monitoring and controlling the annual output of automobiles in the furnaces to continuously rise along with the development and growth of the automobile industry. The oxygen sensor is used as a key sensing component in an automobile electronic injection control system, and if the production efficiency and the product quality are not related, the development of the automobile industry is seriously limited. At present, automobile oxygen sensors of domestic enterprises are often assembled manually, the stability of product quality is not ideal, and the production enterprises and users are troubled. The manual production efficiency is low, the wages rise year by year, the terminal price competition is intense, and the enterprise pressure is high. To meet market demand, businesses often recruit many people to produce products. However, the production process is boring, the process consistency is difficult to guarantee, unqualified products are easy to produce, the management cost and the wage cost pressure are high, once the oxygen sensor fails, the computer of the electronic fuel injection system cannot obtain the information of the oxygen concentration in the exhaust pipe, so that the air-fuel ratio cannot be subjected to feedback control, the oil consumption and exhaust pollution of the engine are increased, and the engine has the faults of unstable idling, fire shortage, surge and the like. Therefore, the automatic machine replaces manual operation, the production and quality problems of the automobile oxygen sensor are solved, and the automatic machine is a practical requirement of many enterprises.
The combustion air-fuel ratio, the measurement element for ensuring the product quality and the tail gas emission to reach the standard, and the device is widely applied to the atmosphere control of furnace bodies of various coal combustion, oil combustion, gas combustion and the like. The oxygen sensor is used for a feedback control system of an electronic control fuel injection device, is used for detecting the oxygen concentration in exhaust gas and the rich and lean of an air-fuel ratio, monitors the combustion of a theoretical air-fuel ratio in an engine, and transmits a feedback signal to a computer.
Chinese patent 201610720156.6 discloses an oxygen sensor riveting and assembling device, which comprises a rack and is characterized in that a driving assembly is arranged on the rack, a motor is arranged in a motor chamber at the bottom of the rack and is connected with one end of a driving rod at the top through a gear assembly, the other end of the driving rod is connected with the middle part of a turntable and can push the turntable to rotate for 45 degrees, 4 notches are uniformly distributed on the edge of the turntable, and a fixing frame is arranged on the surface of the turntable and semi-surrounds the notches; the work assembly is located the mounting panel of arbitrary three adjacent mount top, the mounting panel is connected with the frame, sets gradually along the rotation direction of carousel: a. the large-stamping riveting station comprises a large pressing die and a clamping and grabbing mechanism which are arranged on the pushing mechanism, the clamping and grabbing mechanism is a group of grabbing arms with grabbing dies at the bottoms, and a pressing head is arranged between the grabbing arms; b. the small-imprinting riveting station comprises a small pressing die arranged on the pushing mechanism, a clamping and grabbing mechanism and a screw rod arranged on one side of the clamping and grabbing mechanism and connected with a motor, wherein the clamping and grabbing mechanism is a group of grabbing arms with grabbing dies at the bottoms; c. sealing washer suppression station is including setting up the support that is the several font on the mounting panel, is fixed in the cylinder at support top, the sealing washer moulding-die is connected to the cylinder push rod, and when individual cylinder shrink, the sealing washer moulding-die is located the support space. The degree of automation is relatively low, and the requirement cannot be met.
Disclosure of Invention
The invention mainly solves the defects in the prior art and provides an automatic automobile oxygen sensor assembly press-fitting system which is high in structure compactness, improves production efficiency and ensures product quality and an operation method thereof.
The technical problem of the invention is mainly solved by the following technical scheme:
an automatic automobile oxygen sensor assembly press-fitting system comprises a rack, wherein a feeding work station assembly, a press-fitting work station assembly, a sliding work station assembly, a material moving work station assembly, a detection work station assembly and a discharging work station assembly are arranged at the upper part of the rack, the feeding work station assembly and the sliding work station assembly are distributed correspondingly, the sliding work station assembly and the press-fitting work station assembly are matched and connected in a sliding mode, the material moving work station assembly is distributed correspondingly to the sliding work station assembly and the detection work station assembly respectively, and the discharging work station assembly and the detection work station assembly are distributed correspondingly;
the feeding work station assembly comprises a feeding support, a feeding X-axis module is arranged at the upper part of the feeding support, a feeding Y-axis module in sliding connection with the feeding X-axis module is arranged on the feeding X-axis module, a feeding gas claw in sliding connection with the feeding Y-axis module is arranged on the feeding Y-axis module, the feeding gas claw is vertically displaced through a feeding cylinder, and a feeding disc corresponding to the feeding gas claw is arranged at the upper part of the rack;
the press-fitting work station assembly comprises a press-fitting frame, a pressure sensor upper pressure plate and a pressure sensor lower pressure plate, wherein a press-fitting power assembly is arranged at the upper part of the press-fitting frame, the pressure sensor lower pressure plate is arranged below the pressure sensor upper pressure plate, a pressure sensor is arranged between the pressure sensor upper pressure plate and the pressure sensor lower pressure plate, a riveting head is arranged at the bottom of the pressure sensor lower pressure plate, and the press-fitting power assembly drives the riveting head to move downwards;
the sliding work station component comprises a jig slide rail, a sliding jig is arranged on the jig slide rail, the sliding jig is displaced along the jig slide rail through a jig moving cylinder, an oxygen sensor jig is fixed on the sliding jig, and the oxygen sensor jig corresponds to the rivet joint up and down;
the material moving work station assembly comprises a rodless cylinder and a pneumatic sliding table, the rodless cylinder drives the pneumatic sliding table to move, the pneumatic sliding table controls a pneumatic air claw to clamp or release, and the pneumatic air claw corresponds to the oxygen sensor jig in phase displacement; the detection station assembly comprises a detection frame, a pressing cylinder is arranged at the upper part of the detection frame, a detection slide rail is arranged below the pressing cylinder, a detection jig base which is in sliding connection with the detection slide rail is arranged in the detection slide rail, the detection jig base is in phase shift through the detection jig cylinder, a detection jig cylinder is arranged at the upper part of the detection jig base, and the detection jig cylinder and the pressing cylinder are distributed in an up-and-down corresponding manner;
the ejection of compact worker station subassembly include ejection of compact X axle module, ejection of compact X axle module in be equipped with ejection of compact X axle module looks sliding connection's ejection of compact Y axle module, ejection of compact Y axle module on be equipped with ejection of compact Y axle module looks sliding connection's ejection of compact gas claw, ejection of compact gas claw carry out displacement from top to bottom through ejection of compact cylinder, the upper portion of frame be equipped with the corresponding ejection of compact dish of ejection of compact gas claw.
Preferably, a feeding linear slide rail in sliding connection with the feeding Y-axis module is arranged at the outer end of the feeding X-axis module, the feeding gas claw is in sliding connection with the feeding Y-axis module through a feeding link plate, the feeding X-axis module is in sliding connection with the feeding Y-axis module through a feeding linear slide block, the feeding chain plate is in sliding connection with the feeding Y-axis module through a feeding linear slide block, the feeding cylinder is arranged in the feeding link plate, and the feeding gas claw is in sliding connection with the feeding guide shaft arranged in the feeding link plate;
the two discharging X-axis modules are symmetrically distributed at intervals, the two discharging X-axis modules are synchronously driven by a driving shaft, and the discharging X-axis module is in sliding connection with the feeding Y-axis module by a discharging linear sliding block; the discharging disc comprises a qualified discharging disc and an unqualified discharging disc;
the press-fitting power assembly comprises a press-fitting servo motor, the press-fitting servo motor drives a planetary speed reducer to transmit, the planetary speed reducer drives a ball screw to rotate, the ball screw drives a ball screw supporting plate to move downwards, the upper pressure plate of the pressure sensor and the ball screw supporting plate are positioned through a press-fitting linear guide shaft, the upper pressure plate of the pressure sensor and the lower pressure plate of the pressure sensor are positioned through pressure guide shafts, a plurality of photoelectric switches are arranged in the press-fitting frame, and the photoelectric switches are movably adjusted with the press-fitting frame through sensor mounting rails;
a press-fitting jig limiting block which slides and limits with the sliding jig is arranged on the jig sliding rail, and a photoelectric sensor which is connected with the photoelectric switch in an induction way is arranged on the outer side of the sliding jig;
and a pneumatic sliding table mounting plate is arranged between the bottom of the pneumatic sliding table and the rodless cylinder.
Preferably, the feeding link plate and the feeding guide shaft, the press-fitting linear guide shaft and the press-fitting frame, and the pressure guide shaft and the pressure sensor upper pressure plate are respectively in sliding connection through linear bearings;
the jig moving air cylinder is fixed with the frame through the jig moving air cylinder mounting plate, the outer end of the pneumatic sliding table and the outer end of the detection slide rail are respectively provided with a buffer, the frame is provided with a limit stop block movably connected with the buffer in the pneumatic sliding table in a blocking mode, and the limit stop block stretches out and draws back up and down through the blocking air cylinder.
Preferably, the number of the detection station assemblies is two, and the two detection station assemblies are distributed continuously.
An operation method of an automatic automobile oxygen sensor assembly press-fitting system comprises the following steps:
(I) design requirements:
firstly, analyzing the functions of the automobile oxygen sensor assembly press-fitting and detecting equipment:
(1) Automatic feeding and receiving;
(2) Transferring products between work stations;
(3) The pressure of the oxygen sensor assembly reaches 3 tons;
(4) Realizing the air tightness detection function; designing a corresponding work station to complete the function of the equipment;
secondly, obtaining the size parameter of the oxygen sensor assembly by looking up data or actual measurement, and designing a proper clamping jaw to finish clamping;
thirdly, determining the overall height and the floor area of the equipment, further refining and modifying the equipment, determining the materials, the quantity and the processes of various workpieces, and listing a standard part list to be purchased;
fourthly, arranging a photoelectric sensor and a magnetic switch, completing the wiring of the PLC, determining the execution sequence of the equipment mechanism, writing a PLC program and debugging the PLC program;
fifthly, the safety measures of the equipment are perfected, and a protective cover and an acrylic plate are added, so that the attractiveness and the safety of the equipment are improved;
(II) attention points required by design
(1) When the equipment runs, all mechanisms ensure no interference, and holes among parts with assembly relation are aligned when the parts are designed;
(2) The position of the industrial control box is reasonably set, the attractiveness of the equipment is considered, and the safety of the equipment is ensured;
(3) The distribution positions of the sensors and the arrangement of the air pipe electric wires are considered, so that the stability of the equipment during operation is ensured;
(4) The method for installing the parts is optimized, the assembly difficulty is simplified, the assembly time is reduced, and the efficiency of workers is improved;
(5) On the premise of ensuring the service life of the equipment, the equipment is optimized, the working efficiency of the equipment is improved, and the press mounting and detection time of the oxygen sensor is shortened;
(III) selecting a station executor:
(1) And a feeding and discharging work station:
when the device works, the feeding station automatically clamps the automobile oxygen sensor assemblies from the sheet metal material tray and places the automobile oxygen sensor assemblies in the press-fitting station, and 100 automobile oxygen sensor assemblies are placed on one sheet metal material tray, so that clamping positions of clamping jaws are various, and an air cylinder can only meet linear movement between two points, so that only an electric actuator can be selected, and a stepping motor control system or a servo control system is selected as a general electric actuator, and the electric actuator is determined to be a stepping motor driving system because the positioning accuracy requirement of a feeding mechanism is not high;
(2) And a press fitting work station:
the press mounting work station needs to provide 3 tons of pressure, so that the purposes of press mounting the automobile oxygen sensor assembly and riveting and sealing the hexagonal seat are achieved; when the pressure is too low (the pressure is less than 3 tons), the riveting sealing of the six-leg seat is poor, the density of powder blocks in the oxygen sensor of the automobile is too low, and the air tightness of the oxygen sensor is poor, so that the overall quality of the oxygen sensor of the automobile is poor; when the pressure is too high (the pressure exceeds 6 tons), an induction sheet core in the oxygen sensor assembly is easily crushed, so that the sensor loses functions, and therefore, the pressure and the speed in the press mounting process are very important, and a servo driving system with more excellent control performance, higher precision and more stable torque is selected as an actuator;
(3) And a material moving work station:
the function is to move the automobile oxygen sensor assembly from the press-fitting work station to the detection work station, belongs to the linear movement between two points, has no special requirement on the moving speed, selects the air cylinder as an actuator, and has the following advantages: 1. the cost is low; 2, the reaction speed is high, and the movement is rapid; 3, the working environment has good adaptability and is easy to maintain and replace;
(4) And a detection station:
the detection function in the detection station is realized by depending on an air tightness detector, an air cylinder is selected as an actuator, when the air tightness is detected, the air cylinder extends to press an automobile oxygen sensor to play a role in fixing and form a sealed cavity, after the air tightness detection is finished, the air cylinder is retracted, and the oxygen sensor is taken away by a discharging mechanism and placed in a sheet metal material tray;
(IV) designing a feeding and discharging work station:
the feeding and discharging work station is actually an XYZ mechanical arm, the stepping motor drives the mechanical arm to transversely move in the X-axis and Y-axis directions to realize the positioning in the X-axis and Y-axis directions, the cylinder controls the lifting of the clamping jaw, and the gas jaw controls the opening and closing of the clamping jaw;
when the feeding and discharging mechanism works, firstly, the two stepping motors can rotate simultaneously to position the clamping jaws on coordinates of a product to be clamped, then the clamping jaws descend to the height of the product, then the gas jaws are closed to clamp the product, the clamping jaws drive the product to ascend to a proper height, then the stepping motors rotate again, the product is clamped to a target position, and the clamping jaws place the product on the jig;
the mechanism action sequence is as follows: positioning → descending of the clamping jaw → closing of the clamping jaw → ascending of the clamping jaw → repositioning → descending of the clamping jaw → opening of the clamping jaw → ascending of the clamping jaw;
in order to prevent the induction sheet core from being damaged during clamping, the clamping position of the clamping jaw is set to be a six-foot seat, the clamping jaw and the six-foot seat are drawn through solidworks, then a 3D (three-dimensional) graph is observed to analyze whether clamping actions of the clamping jaw can be realized, and by observing the 3D graph, the fact that the two clamping jaws are not interfered when the clamping jaw is clamped can be found, and the clamping actions can be realized;
the design principle of the clamping jaw is as follows: a groove with the angle of about 120 degrees is arranged at the clamping part of the clamping jaw, when the clamping jaw is clamped, four surfaces of the clamping jaw are in contact with the oxygen sensor, all the degrees of freedom of the oxygen sensor are limited, the clamping function is realized, and the clamping force of the clamping jaw is provided by the gas claw;
the clamping jaw clamps the automobile oxygen sensor, so that the action of the clamping jaw does not have special requirements, and a linear guide rail translation linear type gas claw standard type (MHZ 2 series gas claws) can be selected; determining the cylinder diameter to be 16mm according to the size of the gas claw, and obtaining the model of the gas claw which is MHZ2-16D-M9B;
100 oxygen sensor assemblies are placed on a sheet metal tray, so that an XYZ manipulator which is accurate in positioning needs to be designed to clamp the oxygen sensor assemblies one by one and place the oxygen sensor assemblies in a press-fitting work station;
because the oxygen sensor components are consistent in horizontal height, the clamping jaw only needs to clamp the components at one height; the Z-axis vertical motion selection cylinder provides power;
the cylinder type selection is divided into 3 steps:
1. determining the cylinder diameter:
before determining the cylinder diameter, firstly determining a load rate, wherein the size of the load rate depends on the motion form of a load and a cylinder; when the cylinder is mainly in a static state (plays a role of a clamp) during working, the load factor is 0-0.5; when the cylinder drives an object to move along the horizontal guide rail (overcoming friction force to do work), the load rate can be below 1; when the cylinder drives the load to move vertically, the load rate is 0-0.5; the Z-axis movement mechanism moves vertically, and the load rate is determined to be 0.5; then determining the use pressure of the cylinder, generally taking 0.2MPa-0.8MPa; selecting the air pressure to be 0.5Mpa; determining the output direction of the cylinder; the cylinder is used for driving the gas claw to rise, so that the pull-in direction of the cylinder is selected as the force output direction; determining a load mass (cylinder output force); when the Z axis moves, the cylinder needs to drive the oxygen sensor, the gas claw, the metal clamping jaw and the gas claw mounting plate; the estimated mass is about 4kg;
in conclusion, determining the load rate to be 0.5, the using pressure of the air cylinder to be 0.5Mpa, the air drawing-in direction to be the output direction, the load mass to be 4kg, and determining the cylinder diameter to be 16mm by looking up a cylinder diameter table;
when the gas claw clamping oxygen sensor vertically moves on the Z axis, the radial force is small, the requirement on the operation speed of no load exists, and the requirement on the operation cost of the cylinder is met; therefore, CJ2 series cylinders which are common and most frequently used are selected;
3. determining the stroke of the cylinder:
the cylinder is vertically installed and is matched with a linear bearing, so that the transverse load of the cylinder is about 0; therefore, the relation between the transverse load and the stroke of the cylinder does not need to be considered, and the size of the oxygen sensor only needs to be considered; when the gas claw drives the oxygen sensor to move upwards, the lowest point of the clamped oxygen sensor needs to be higher than the highest point of the static oxygen sensor; thus, the moving oxygen sensor cannot collide with other products to be damaged; finally, selecting the stroke of the cylinder to be 100mm;
the final model of the cylinder is CDJ2B-16-100-M9B;
in order to prevent the cylinder from being damaged due to collision in the debugging process of the cylinder; therefore, the air cylinder needs to be matched with a guide shaft of the linear bearing for use; the benefits of this are: 1, protecting the cylinder when the Z axis collides; 2, the transverse load is avoided when the cylinder works, and the use times of the cylinder can be increased (5000-8000 ten thousand times can be used without the transverse load when the cylinder works); meanwhile, the cylinder stroke is adjusted by using a MISUMI fixed ring; a Z-axis motion mechanism is drawn using SOLIDWORKS;
at least eleven positioning positions in the X-axis direction and the Y-axis direction are needed, and a stepping motor is used for driving, so that the purpose of accurate positioning is achieved; there are two general types of stepping motor motion mechanisms: (1) The stepping motor is matched with a single-shaft robot (KK module) for use, so that accurate positioning is realized; (2) the stepping motor is matched with the synchronous belt linear module for use; the precision of the former is higher, the former is suitable for heavy-load precision instruments, and the latter has good acceleration performance and is suitable for repeated start-stop; in the feeding and discharging mechanism, the used mechanism is a stepping motor and a synchronous belt linear module;
after the model of the stepping motor is determined, selecting a module with a corresponding size according to the size of the stepping motor; the two stepping motors and the two modules respectively form a movement mechanism of an X axis and a Y axis; completing the design of the related connecting pieces, namely completing the XYZ manipulator;
(V) designing a press-fitting work station:
the press mounting work station takes a servo motor as power, the servo motor outputs torque outwards, and the torque is amplified through a speed reducer; the speed reducer drives the ball screw to rotate; the screw nut and the nut seat can only do linear motion along the axial direction of the screw because the screw nut and the nut seat are limited by the two guide shafts to rotate; therefore, the riveting sealing head can be controlled to move up and down by controlling the servo motor to rotate forwards and backwards; when the product is in place, the servo motor rotates to drive the riveting sealing head to descend so as to complete press mounting and riveting; after the riveting and sealing are finished, the riveting and sealing head is lifted to a proper position by the servo motor;
the mechanism action sequence: motor forward rotation → rivet head descending → press fitting and rivet sealing → motor reverse rotation → rivet head ascending → motor stop
In the design of the press-fitting work station, a servo motor and ball screw mechanism is selected to provide downward pressure; sequentially selecting the type of the ball screw;
and (3) a type selection step:
(1) Setting the use parameters:
the weight m of the moving object is 10kg to 15kg, the lead is 10mm, and the maximum rotating speed of the screw shaft is 2000min -1 Stroke is 300mmj, and mounting direction is as follows: the vertical positioning device is vertical, the service life is 10000 hours, and the positioning precision is 7-grade precision;
(2) Preselection ball screw type:
turning over 'misumi factory automation parts', and preliminarily determining the model number to be BSSR3210-300 according to the basic dynamic rated load and the basic static rated load;
(3) Allowable axial load check:
ball screw formula coefficient look-up table
| Supporting method | n | m |
| Hinge support-hinge support | 1 | 5 |
| Fixed-hinged |
2 | 10 |
| Fixing-fixing | 4 | 19.9 |
| Fixed-free | 0.25 | 1.2 |
Substituting the data yields:
The screw rod of the equipment at least needs to bear 3T pressure, namely 30000N, (the pressure range is set to be 30000N-60000N), so that the axial load is safe;
(4) And checking the service life:
determining the model of the ball screw to be BSSR3210-300;
the combination of the servo motor and the speed reducer is used as follows:
(1) Obtaining a load torque of the ball screw (screw shaft maximum load torque):
(2) Simple and easy type selection of servo motor:
in order to reduce torque and rotational inertia, an alpha-specific planetary gear motor is selected, and the speed reduction ratio is 1:20, so obtaining the torque T1=1.75n × m required by the servo motor;
when the oxygen sensor is pressed and mounted in a pressing and mounting work station, firstly, the pressing and mounting rivet seal head does not touch the oxygen sensor, the load driven by the screw rod only presses the mass of the parts, and the screw rod reaches the set rotating speed in the process; then the riveting end socket touches an automobile oxygen sensor assembly, the rotating speed is reduced to 0, the pressure is increased from 0 to over 30000N, and the press mounting function is completed; it is clear that the torque required for acceleration and deceleration is much less than 1.75n m. Therefore, acceleration and deceleration torque does not need to be considered; only the maximum torque required by the load needs to be considered, 1.75n × m; in addition, the press fitting time is not required, so that the inertia is not considered for the moment;
look up the servo motor model number table under loose, select big inertia servo motor: MHMD082G1VA (750W)
The rated torque of the servo motor of the type is 2.4NxM, and the maximum torque can reach 7.1NxM;
(3) Determining the model of the speed reducer:
the types of the selected servo motors are as follows: MHMD-750W; (ii) a Looking up a loose servo motor size table to obtain the size of the servo motor; (ii) a LL =164mm, lr =35, s =19, la =90 ± 0,2, lb =70, lc =80, le =3, lf =8, lh =53;
according to the size of the servo motor, selecting a speed reducing motor with proper size, wherein the speed reducing ratio is 1:20, determining the type of the planetary reducer as follows: alpha Tet ATF80S-20;
press mounting work station design attention:
(1) During the design process, the ball screw is planned to be vertically installed, and the radial load of the ball screw is considered to be basically 0, so that a linear bearing and a guide shaft are required to be arranged for the ball screw; the linear guide shaft is used for bearing radial load for the ball screw;
(2) The pressure to the oxygen sensor assembly is at least 30000N during press mounting, and in order to ensure the press mounting pressure, a pressure sensor is used, so that the mounting position of the pressure sensor needs to be considered; the pressure sensor must accurately detect that the axial pressure of the ball screw reaches 3 tons; the detected pressure may not be the resultant of the axial and radial forces;
(3) When the pressure sensor is not pressed, the pressure sensor cannot bear force, so that the measured data of the pressure sensor is prevented from being larger;
(4) Whether the supporting mode of the press mounting station is reliable or not; in the press mounting process, the pressure of over 3 tons can be generated, and the normal completion of the press mounting action needs to be ensured;
the design process of the press mounting work station comprises the following steps:
according to requirements, firstly, a linear bearing and a guide shaft are arranged for a ball screw; the outer diameter of the screw thread of the ball screw is 32mm, so that the diameter of the guide shaft is matched with 32 mm; selecting two misumi linear guide shafts and linear bearings with the diameter of 25 mm; drawing a mounting plate according to the size of the linear bearing; the upper mounting plate and the lower mounting plate of the ball screw need to be provided with positioning pins, so that the mounting holes of the upper mounting plate and the lower mounting plate are ensured to have higher concentricity;
after the installation parts of the ball screw are drawn, connecting the speed reducer with the servo motor and the ball screw, designing a speed reducer installation plate according to the sizes of the speed reducer and the servo motor, and directly fixing the servo motor on the planetary speed reducer; the output shaft of the speed reducer is connected with the ball screw shaft by a cross-shaped star coupler; the reason for choosing such a coupling is: the speed reducer is connected and fixed with the mounting plate only by four inner hexagon screws; therefore, the axis of the output shaft of the speed reducer and the axis of the rotating shaft of the ball screw have certain eccentricity, and the cross-shaped coupling can allow larger radial and angular deviation;
then, determining the installation mode of the pressure sensor; when the riveting sealing head touches the oxygen sensor, impact is suddenly generated, so that the pressure sensor needs to be tightly attached to the upper pressure plate; an elastic mechanism is arranged, when the riveting sealing head does not touch the sensor in the pressing-down process, the elastic mechanism is in a compressed state, the elastic mechanism provides supporting force for the pressure sensor, and the pressure sensor is always kept in contact with the upper pressing plate; therefore, when the riveting end socket touches the oxygen sensor, no impact load is generated between the pressure sensor and the upper pressure plate; the servo motor continues to rotate, the upper pressure plate of the pressure sensor continues to press downwards, and the pressure is gradually increased;
and (3) riveting and sealing head design:
the main purpose of the press mounting action is to rivet and seal a six-pin base, wherein the six-pin base is wrapped by an induction sheet core, two ceramic bases, a powder block and a gasket; when the six-pin base is not riveted, all the components are placed in the six-pin base, then the six-pin base is riveted, the round edge of the six-pin base is bent by a riveting head with more than 3 tons of force and is attached to the oxygen sensor component in the six-pin base until the round edge presses all the components in the six-pin base, the gap between the components is filled with the powder block, and the press-fitting function is realized;
when the riveting seal head is designed, firstly measuring the angle of the conical surface of the six-pin base of the oxygen sensor; dividing the six-pin base into two parts through solidworks, and measuring the angle to be about 12 degrees; designing the maximum angle between conical surfaces of the riveting seal heads to be 60 degrees; in addition, a circular hole needs to be arranged in the center of the riveting end socket, so that a ceramic seat in the oxygen sensor assembly is avoided in the press-fitting process; the riveting seal head is arranged on the lower mounting plate of the pressure sensor; the length of the riveting end socket is set according to the oxygen sensor, and the set length is required to ensure that the ceramic seat does not touch the lower mounting plate of the pressure sensor when in press mounting;
and (VI) designing a material moving work station:
the feeding XYZ mechanical arm puts the oxygen sensor assembly at a fixed position, and the transfer mechanism sends the assembly to a press-fitting work station; after the photoelectric sensor detects a product, a press-fitting work station carries out press-fitting; after the press mounting is finished, the transfer mechanism sends the oxygen sensor into a detection work station for air tightness detection; after the air tightness detection is finished, the oxygen sensor is conveyed to a fixed position to wait for clamping of an XYZ discharging manipulator; the transfer operation is divided into the following steps: 1 feeding position → press-fitting position, 2 press-fitting position → feeding position, 3 feeding position → discharging position, 4 discharging position → detecting position, 5 detecting position → discharging position; the device comprises a detection device, a control device and a control device, wherein the detection device comprises a detection device, a control device and a control device, wherein (in order to improve detection efficiency, the device is provided with double detection stations, a stop position is added by using a limiting cylinder, and a group of detection stations are additionally arranged); when the action 3 is performed, the clamping jaw clamps the oxygen sensor to move, and when the action 3 is completed, the clamping jaw is loosened, so that the oxygen sensor is not driven any more; the lifting mechanism is arranged for lifting the gas claw, so that the gas claw is prevented from interfering with the placed oxygen sensor when being retracted;
linear movement design:
the linear movement between the two points is realized by using a cylinder with CDM-20-200; the oxygen sensor is arranged on a sliding block base, and the sliding block base is arranged on the two guide rails; the guide rail limits the degree of freedom of the slide block; the sliding block can only move along the axial direction of the piston rod of the cylinder, so that the left and right position precision of the sensor can be ensured, and the cylinder can be prevented from being subjected to radial force; the position accuracy of the sensor climate is ensured by a buffer; the buffer is installed in a threaded mode, and the front and rear positions of the buffer can be adjusted by adjusting the nut on the buffer, so that the purpose of adjusting the front and rear positions of the oxygen sensor is achieved; the accuracy of the stop position of the oxygen sensor can be ensured by debugging equipment;
and (3) transverse moving and lifting design:
the sideslip lifting has three functions: 1, transverse moving function; 2, lifting function; 3, a clamping function; because the transverse moving distance is too long, if a rod cylinder is adopted, a plurality of positions can be occupied, and the transverse moving function is realized by adopting a rodless cylinder; the rodless cylinder has the advantages that: the installation space is saved, the bearing load is high, the weight is light, and the moving and stopping performance is good;
the lifting needs to be translated together with the rodless cylinder, and the lifting installation space cannot be too large; the lifting mechanism cylinder can be subjected to radial load because the pneumatic claw needs to be installed on the lifting mechanism; a common standard cylinder cannot bear radial force, and if a guide shaft and a linear bearing are installed, the installation space is too large; therefore, the lifting mechanism cylinder is determined as a pneumatic sliding table;
firstly, determining the model of a rodless cylinder, and estimating that the distance between a press-fitting work station and a detection work station is approximately 400mm, so that the stroke of the rodless cylinder is selected to be 400mm; the pneumatic sliding table and the pneumatic claw are light in weight, so that the cylinder diameter can be selected to be 15 mm; the obtained rodless cylinder has the following model: CY1S15-400Z;
then determining the type of the pneumatic sliding table; the width of the rodless cylinder slide block is 60mm, so that the width of the pneumatic sliding table is required to be less than 60mm; the height of the oxygen sensor is 53mm, the clamping jaw clamps the middle position of the oxygen sensor, and after the gas claw is loosened, the gas claw needs to be lifted above the oxygen sensor so as to avoid the oxygen sensor; considering the thickness of the clamping jaw, the stroke of the pneumatic sliding table is at least 30mm, and 1.5-2 times of the stroke of the pneumatic sliding table is taken as a safety distance, so that the stroke of the pneumatic sliding table is 50mm; the cylinder diameter is taken to be 12mm, and the obtained pneumatic sliding table type is as follows: MXQ12-50;
the air claw can be selected from the same types as the feeding and discharging mechanism: MHZ2-16D;
and (seventhly), designing an air tightness detection work station:
the air tightness detection station has the main function of testing the air tightness of the pressed oxygen sensor; firstly, pressing down an air cylinder, pressing the air cylinder to an oxygen sensor, pressing the oxygen sensor to a jig, and forming a sealed cavity between the oxygen sensor and the jig; the air source is used for ventilating the inside of the sealing cavity through the air tightness detector, the air pressure in the sealing cavity rises, then the ventilation is stopped, the air pressure change in the sealing cavity is tested after a certain time, the air tightness in the oxygen sensor is obtained, the detection on the air tightness of the oxygen sensor is realized, a sealing ring is used at the contact position of the oxygen sensor and the jig, the contact position is ensured not to generate air leakage, and the air can only leak through the inside of the oxygen sensor;
the function that detects the worker station is for detecting the good oxygen sensor gas tightness of pressure equipment, adopts the gas tightness leak detector of purchasing outward to detect oxygen sensor, and gas tightness detecting instrument model is: shenyang gold air tightness leak detector AL2000 series;
during air tightness detection, firstly, one air cylinder can extend to press the oxygen sensor, so that the oxygen sensor is fixed in the detection process, the accuracy of measured data is improved, and air tightness detection is started after the oxygen sensor is fixed; firstly, blowing gas into the oxygen sensor by a gas source, stopping blowing after blowing for a period of time, recording the gas pressure inside the oxygen sensor by a leak detector, and then waiting for a certain time (about ten seconds), and measuring the gas pressure for the second time by the leak detector; if the oxygen sensor has poor tightness, the air pressure value has a difference value; the gas leakage amount of the oxygen sensor in unit time can be obtained through the difference value and the measurement time difference; comparing the allowable leakage amount values of the qualified products, and judging whether the air tightness of the oxygen sensor is qualified or not; then classifying qualified products and unqualified products of the oxygen sensor through a mechanical arm of the discharging work station;
due to the fact that an air tightness detection instrument is purchased, the work load of designing an air tightness station is small; firstly, designing a lower pressure head, wherein the middle of the lower pressure head is hollow; when the oxygen sensor is pressed down, the ceramic seat part of the oxygen sensor enters the hollow part, and the lower surface of the lower pressing head presses the six-pin seat; fixing the hexagonal base; meanwhile, a sealed cavity is formed between the base and the oxygen sensor due to excessive pressure, the air source only needs to blow air into the sealed cavity, and the air pipe can be directly connected with the oxygen sensor placing base; thus, the installation difficulty of the air pipe is reduced, and the workload of debugging and assembling is reduced; in order to ensure good sealing performance of the sealing cavity, the lower pressure of the lower pressure head needs to be large enough, and therefore the following steps are selected: CDQ2B-50-100DMZ-M9BL; the minimum service pressure of the cylinder is 0.07MPa, and the maximum service pressure of the cylinder is 1.0MPa. Theoretically, about 1900N pressure can be provided;
(eighth), equipment operation:
the XYZ mechanical arm of the feeding station clamps the oxygen sensor, starts to clamp from the first row, and after clamping the first row, the clamping is switched to the second row. Placing the oxygen sensor on the oxygen sensor jig;
after the oxygen sensor is placed correctly, the air cylinder is retracted to pull the oxygen sensor to the press-fitting work station, and after the photoelectric sensor detects the oxygen sensor, the oxygen sensor assembly starts to be pressed and fitted. After the press mounting is finished, pushing the oxygen sensor out by the cylinder;
the transverse moving lifting clamping jaw clamps the oxygen sensor, the oxygen sensor is placed in a jig of a detection station, the air cylinder pulls the oxygen sensor into the detection station, and after the photoelectric sensor detects that the oxygen sensor is in place, the air cylinder of the detection station presses downwards to press the oxygen sensor to form a sealed cavity; blowing air into the oxygen sensor by an air source, stopping the air supply after the air pressure is proper, measuring the air pressure, waiting for a period of time, measuring the secondary air pressure, and judging whether the oxygen sensor is qualified or not by comparing the leakage amount;
if the detection is qualified, the discharging mechanism can place qualified products on a qualified sheet metal tray; if the detection is unqualified, the discharging mechanism can place unqualified products on an unqualified sheet metal tray; and (4) starting to put the metal plate material tray from the first line, changing the next line after the first line is put, and giving an alarm by a buzzer to prompt the metal plate material tray to be emptied after the metal plate material tray is fully put.
The disclosed device is provided with: the overall footprint of the plant cannot exceed 1.5m 3m. When the automobile oxygen sensor assembly is pressed, the required pressure reaches 3 tons. The equipment requires checking the air tightness of the pressed product. The equipment automatically classifies the qualified products and the defective products. The equipment is automatic equipment, and automatic work is realized. And the pressure mounting of the single automobile oxygen sensor assembly is completed to the detection completion for not more than 20s.
Therefore, the automatic automobile oxygen sensor assembly press-fitting system and the operation method thereof have the advantages of compact structure, high automation degree and operation precision improvement.
Drawings
FIG. 1 is a schematic top view of the present invention;
FIG. 2 is a schematic front view of the present invention;
FIG. 3 is a schematic side view of the present invention;
FIG. 4 is a schematic view of the press station assembly of the present invention;
fig. 5 is a side view schematic of the structure of fig. 4.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Example 1: as shown in fig. 1, 2, 3, 4 and 5, an automatic automobile oxygen sensor assembly press-fitting system comprises a frame 1, wherein a feeding station assembly, a press-fitting station assembly, a sliding station assembly, a material moving station assembly, a detection station assembly and a discharging station assembly are arranged on the upper portion of the frame 1, the feeding station assembly and the sliding station assembly are distributed correspondingly, the sliding station assembly and the press-fitting station assembly are connected in a sliding manner, the material moving station assembly is distributed correspondingly to the sliding station assembly and the detection station assembly respectively, and the discharging station assembly and the detection station assembly are distributed correspondingly;
the feeding station component comprises a feeding support 2, a feeding X-axis module 3 is arranged on the upper portion of the feeding support 2, a feeding Y-axis module 4 in sliding connection with the feeding X-axis module 3 is arranged on the feeding X-axis module 3, a feeding air claw 5 in sliding connection with the feeding Y-axis module 4 is arranged on the feeding Y-axis module 4, the feeding air claw 5 moves up and down through a feeding air cylinder 6, and a feeding disc 7 corresponding to the feeding air claw 5 is arranged on the upper portion of the rack 1;
the press-fitting work station assembly comprises a press-fitting frame 8, a pressure sensor upper press plate 9 and a pressure sensor lower press plate 10, a press-fitting power assembly is arranged at the upper part of the press-fitting frame 8, the pressure sensor lower press plate 10 is arranged below the pressure sensor upper press plate 9, a pressure sensor 11 is arranged between the pressure sensor upper press plate 9 and the pressure sensor lower press plate 10, a rivet joint 12 is arranged at the bottom of the pressure sensor lower press plate 9, and the press-fitting power assembly drives the rivet joint 12 to move downwards;
the sliding work station component comprises a jig slide rail 13, a sliding jig 14 is arranged on the jig slide rail 13, the sliding jig 14 moves along the jig slide rail 13 through a jig moving cylinder 15, an oxygen sensor jig 16 is fixed on the sliding jig 14, and the oxygen sensor jig 16 corresponds to the riveting head 12 up and down;
the material moving work station assembly comprises a rodless cylinder 17 and a pneumatic sliding table 18, the rodless cylinder 17 drives the pneumatic sliding table 18 to move, the pneumatic sliding table 18 controls a pneumatic air claw 19 to clamp or release, and the pneumatic air claw 19 corresponds to the oxygen sensor jig 16 in a phase displacement mode;
the detection station assembly comprises a detection frame 20, a down-pressing cylinder 21 is arranged at the upper part of the detection frame 20, a detection slide rail 22 is arranged below the down-pressing cylinder 21, a detection jig base 23 which is in sliding connection with the detection slide rail 22 is arranged in the detection slide rail 22, the detection jig base 23 is in phase displacement through a detection jig cylinder 24, a detection jig cylinder 25 is arranged at the upper part of the detection jig base 23, and the detection jig cylinder 25 and the down-pressing cylinder 21 are distributed in an up-and-down corresponding manner;
the discharging station component comprises a discharging X-axis module 26, a discharging Y-axis module 27 in sliding connection with the discharging X-axis module 26 is arranged in the discharging X-axis module 26, a discharging air claw 28 in sliding connection with the discharging Y-axis module 27 is arranged on the discharging Y-axis module 27, the discharging air claw 28 moves up and down through a discharging air cylinder 53, and a discharging disc corresponding to the discharging air claw 28 is arranged on the upper portion of the rack 1.
The outer end of the feeding X-axis module 3 is provided with a feeding linear slide rail 29 which is in sliding connection with the feeding Y-axis module 4, the feeding gas claw 5 is in sliding connection with the feeding Y-axis module 4 through a feeding link plate 30, the feeding X-axis module 3 and the feeding Y-axis module 4, and the feeding link plate 30 and the feeding Y-axis module 4 are in sliding connection through a feeding linear slide block 31 respectively, the feeding cylinder 6 is arranged in the feeding link plate 30, and the feeding gas claw 5 is in sliding connection through a feeding guide shaft 32 arranged in the feeding link plate 30;
the number of the discharging X-axis modules 26 is two, the two discharging X-axis modules 26 are symmetrically distributed at intervals, the two discharging X-axis modules 26 are synchronously driven by a transmission shaft 33, and the discharging X-axis modules 26 are slidably connected with the feeding Y-axis module 27 by a discharging linear slide block 34; the discharging trays comprise a qualified discharging tray 35 and an unqualified discharging tray 36;
the press-fitting power assembly comprises a press-fitting servo motor 37, the press-fitting servo motor 37 drives a planetary speed reducer 38 to transmit, the planetary speed reducer 38 drives a ball screw 39 to rotate, the ball screw 39 drives a ball screw supporting plate 40 to move downwards, the upper pressure plate 9 of the pressure sensor and the ball screw supporting plate 40 are positioned through a press-fitting linear guide shaft 41, the upper pressure plate 9 of the pressure sensor and the lower pressure plate 10 of the pressure sensor are positioned through a pressure guide shaft 42, a plurality of photoelectric switches 43 are arranged in the press-fitting frame 8, and the photoelectric switches 43 are movably adjusted with the press-fitting frame 8 through a sensor mounting rail 44;
a press-fitting jig limiting block 45 which is limited by sliding with the sliding jig 14 is arranged on the jig sliding rail 13, and a photoelectric sensor 46 which is connected with the photoelectric switch 43 in an induction manner is arranged on the outer side of the sliding jig 14;
and a pneumatic sliding table mounting plate 47 is arranged between the bottom of the pneumatic sliding table 18 and the rodless cylinder 17.
The feeding link plate 30 and the feeding guide shaft 32, the press-fitting linear guide shaft 41 and the press-fitting frame 8, and the pressure guide shaft 42 and the pressure sensor upper pressure plate 9 are respectively connected in a sliding manner through linear bearings 48;
The number of the detection work station components is two, and the two detection work station components are continuously distributed.
An operation method of an automatic automobile oxygen sensor assembly press-fitting system comprises the following steps:
(I) design requirements:
firstly, analyzing the functions of the automobile oxygen sensor assembly press-fitting and detecting equipment:
(1) Automatic feeding and receiving;
(2) Transferring products between work stations;
(3) The pressure of the oxygen sensor assembly reaches 3 tons;
(4) Realizing the air tightness detection function; designing a corresponding work station to complete the function of the equipment;
secondly, obtaining the size parameter of the oxygen sensor assembly by looking up data or actual measurement, and designing a proper clamping jaw to finish clamping;
thirdly, determining the overall height and the floor area of the equipment, further refining and modifying the equipment, determining the materials, the quantity and the processes of various workpieces, and listing a standard part list to be purchased;
fourthly, arranging a photoelectric sensor and a magnetic switch, completing the wiring of the PLC, determining the execution sequence of the equipment mechanism, writing a PLC program and debugging the PLC program;
fifthly, improving the safety measures of the equipment, and adding a protective cover and an acrylic plate to improve the attractiveness and safety of the equipment;
(II) design attention point
(1) When the equipment runs, all mechanisms ensure no interference, and holes among parts with assembly relation are aligned when the parts are designed;
(2) The position of the industrial control box is reasonably set, the attractiveness of the equipment is considered, and the safety of the equipment is ensured;
(3) The distribution positions of the sensors and the arrangement of the air pipe electric wires are considered, so that the stability of the equipment during operation is ensured;
(4) The method for installing the parts is optimized, the assembly difficulty is simplified, the assembly time is reduced, and the efficiency of workers is improved;
(5) On the premise of ensuring the service life of the equipment, the equipment is optimized, the working efficiency of the equipment is improved, and the press mounting and detection time of the oxygen sensor is shortened;
(III) selecting a work station actuator:
(1) Feeding and discharging work stations:
when the device works, the feeding work station automatically clamps the automobile oxygen sensor assemblies from a sheet metal material tray and places the automobile oxygen sensor assemblies in the press-fitting work station, 100 automobile oxygen sensor assemblies are placed on one sheet metal material tray, so that clamping positions of clamping jaws are various, an air cylinder can only meet linear movement between two points, and only an electric actuator can be selected, a stepping motor control system or a servo control system is selected as a general electric actuator, and the electric actuator is determined to be a stepping motor driving system because the positioning accuracy requirement of a feeding mechanism is not high;
(2) And a press fitting work station:
the press mounting work station needs to provide 3 tons of pressure, so that the purposes of press mounting the automobile oxygen sensor assembly and riveting and sealing the hexagonal seat are achieved; when the pressure is too low (the pressure is less than 3 tons), the riveting sealing performance of the six-leg seat is poor, the density of powder blocks in the oxygen sensor of the automobile is too low, and the air tightness of the oxygen sensor is poor, so that the integral quality of the oxygen sensor of the automobile is poor; when the pressure is too high (the pressure exceeds 6 tons), an induction sheet core in the oxygen sensor assembly is easily crushed, so that the sensor loses functions, and therefore, the pressure and the speed in the press mounting process are very important, and a servo driving system with more excellent control performance, higher precision and more stable torque is selected as an actuator;
(3) And a material moving work station:
the effect is to move car oxygen sensor subassembly from pressure equipment worker station to detecting the worker station, belongs to the linear movement between two points, does not have special requirement to the translation rate moreover, chooses the cylinder as the executor, can have following some: 1. the cost is low; 2, the reaction speed is high, and the movement is rapid; 3, the working environment has good adaptability and is easy to maintain and replace;
(4) And a detection station:
the detection function in the detection station is realized by depending on an air tightness detector, an air cylinder is selected as an actuator, when the air tightness is detected, the air cylinder extends to press an automobile oxygen sensor to play a role in fixing and form a sealed cavity, after the air tightness detection is finished, the air cylinder is retracted, and the oxygen sensor is taken away by a discharging mechanism and is placed in a sheet metal tray;
(IV) designing a material feeding and discharging work station:
the feeding and discharging work station is actually an XYZ mechanical arm, the stepping motor drives the mechanical arm to transversely move in the X-axis and Y-axis directions to realize the positioning in the X-axis and Y-axis directions, the cylinder controls the lifting of the clamping jaw, and the gas jaw controls the opening and closing of the clamping jaw;
when the feeding and discharging mechanism works, firstly, the two stepping motors can rotate simultaneously to position the clamping jaws on coordinates of a product to be clamped, then the clamping jaws descend to the height of the product, then the gas jaws are closed to clamp the product, the clamping jaws drive the product to ascend to a proper height, then the stepping motors rotate again, the product is clamped to a target position, and the clamping jaws place the product on the jig;
the mechanism action sequence is as follows: positioning → lowering of the jaw → closing of the jaw → raising of the jaw → repositioning → lowering of the jaw → opening of the jaw → raising of the jaw;
an induction sheet core is arranged in the oxygen sensor, in order to prevent the induction sheet core from being damaged during clamping, the clamping position of the clamping jaw is set as a six-pin base, the clamping jaw and the six-pin base are drawn through solidworks, then a 3D (three-dimensional) graph is observed to analyze whether the clamping action of the clamping jaw can be realized, and the 3D graph is observed to find that the two clamping jaws have no interference and the clamping action can be realized when the clamping jaw is clamped;
the design principle of the clamping jaw is as follows: a groove of about 120 degrees is arranged at the clamping part of the clamping jaw, when the clamping jaw is clamped, four surfaces of the clamping jaw are in contact with the oxygen sensor, all the degrees of freedom of the oxygen sensor are limited, the clamping function is realized, and the clamping force of the clamping jaw is provided by the gas claw;
the clamping jaw clamps the automobile oxygen sensor, so that the action of the clamping jaw does not have special requirements, and a linear guide rail translation linear type gas claw standard type (MHZ 2 series gas claws) can be selected; determining the cylinder diameter to be 16mm according to the size of the gas claw, and obtaining the model of the gas claw which is MHZ2-16D-M9B;
100 oxygen sensor assemblies are placed on a sheet metal tray, so that an XYZ manipulator which is accurate in positioning needs to be designed to clamp the oxygen sensor assemblies one by one and place the oxygen sensor assemblies in a press-fitting work station;
because the horizontal heights of the oxygen sensor components are consistent, the clamping jaws only need to be clamped to one height; the Z-axis vertical movement selection cylinder provides power;
the cylinder type selection is divided into 3 steps:
1. determining the cylinder diameter:
before determining the cylinder diameter, firstly determining a load rate, wherein the size of the load rate depends on the motion form of a load and a cylinder; when the cylinder is mainly in a static state (plays a role of a clamp) during working, the load factor is 0-0.5; when the cylinder drives an object to move along the horizontal guide rail (overcoming friction force to do work), the load rate can be below 1; when the cylinder drives the load to move vertically, the load rate is 0-0.5; the Z-axis movement mechanism moves vertically, and the load rate is determined to be 0.5; then determining the use pressure of the cylinder, generally taking 0.2MPa-0.8MPa; selecting the air pressure to be 0.5Mpa; determining the output direction of the cylinder; the cylinder is used for driving the gas claw to rise, so that the pull-in direction of the cylinder is selected as the force output direction; determining a load mass (cylinder output force); when the Z axis moves, the air cylinder needs to drive the oxygen sensor, the gas claw, the metal clamping jaw and the gas claw mounting plate; estimated mass to be about 4kg;
in conclusion, determining the load rate to be 0.5, the using pressure of the air cylinder to be 0.5Mpa, the air drawing-in direction to be the output direction, the load mass to be 4kg, and determining the cylinder diameter to be 16mm by looking up a cylinder diameter table;
when the gas claw clamping oxygen sensor vertically moves on the Z axis, the radial force is small, the requirement on the running speed of no load exists, and the requirement on the running cost of the cylinder exists; therefore, the CJ2 series cylinder which is common and most frequently used is selected;
3. determining the stroke of the cylinder:
the air cylinder is vertically arranged and is matched with a linear bearing, so that the transverse load of the air cylinder is about 0; therefore, the relation between the transverse load and the stroke of the cylinder does not need to be considered, and the size of the oxygen sensor only needs to be considered; when the gas claw drives the oxygen sensor to move upwards, the lowest point of the clamped oxygen sensor needs to be higher than the highest point of the static oxygen sensor; thus, the moving oxygen sensor cannot collide with other products to be damaged; finally, selecting the cylinder with the stroke of 100mm;
the final model of the cylinder is CDJ2B-16-100-M9B;
in order to prevent the cylinder from being damaged due to collision in the debugging process of the cylinder; therefore, the air cylinder needs to be matched with a guide shaft of the linear bearing for use; the benefits of this are: 1, when a Z axis is collided, protecting the air cylinder; 2, the transverse load is avoided when the cylinder works, and the use times of the cylinder can be increased (5000-8000 ten thousand times can be used without the transverse load when the cylinder works); meanwhile, the cylinder stroke is adjusted by using a MISUMI fixed ring; a Z-axis motion mechanism is drawn using SOLIDWORKS;
at least eleven positioning positions in the X-axis direction and the Y-axis direction are needed, and the stepping motor is used for driving, so that the purpose of accurate positioning is achieved; there are two general types of stepping motor motion mechanisms: (1) The stepping motor is matched with a single-shaft robot (KK module) for use, so that accurate positioning is realized; (2) the stepping motor is matched with the synchronous belt linear module for use; the precision of the former is higher, the device is suitable for heavy-load precision instruments, and the acceleration performance of the latter is good, so that the device is suitable for repeated starting and stopping; in the feeding and discharging mechanism, the used mechanism is a stepping motor and a synchronous belt linear module;
after the model of the stepping motor is determined, selecting a module with a corresponding size according to the size of the stepping motor; the two stepping motors and the two modules respectively form a movement mechanism of an X axis and a Y axis; completing the design of related connecting pieces, namely completing an XYZ manipulator;
(V) designing a press-fitting work station:
the press mounting work station takes a servo motor as power, the servo motor outputs torque outwards, and the torque is amplified through a speed reducer; the speed reducer drives the ball screw to rotate; the screw nut and the nut seat can only do linear motion along the axial direction of the screw because the screw nut and the nut seat are limited by the two guide shafts to rotate; therefore, the riveting sealing head can be controlled to move up and down by controlling the servo motor to rotate forwards and backwards; when the product is in place, the servo motor rotates to drive the riveting sealing head to descend so as to complete press mounting and riveting; after the riveting and sealing are finished, the riveting and sealing head is lifted to a proper position by the servo motor;
the mechanism action sequence: motor forward rotation → rivet head descending → press fitting and rivet sealing → motor reverse rotation → rivet head ascending → motor stop
In the design of the press-fitting work station, a servo motor and ball screw mechanism is selected to provide downward pressure; sequentially selecting the type of the ball screw;
and (3) a type selection step:
(1) Setting the use parameters:
the weight m of the moving object is 10kg to 15kg, the lead is 10mm, and the maximum rotating speed of the screw shaft is 2000min -1 Stroke 300mmj, mounting direction: the vertical positioning method has the advantages that the service life is 10000 hours, and the positioning precision is 7-level precision;
(2) Preselection ball screw type:
turning over 'misumi factory automation parts', and preliminarily determining the model number to be BSSR3210-300 according to a basic dynamic rated load and a basic static rated load;
(3) Allowable axial load check:
ball screw formula coefficient lookup table
| Supporting method | n | m |
| Hinge support-hinge support | 1 | 5 |
| Fixed-hinged |
2 | 10 |
| Fixing-fixing | 4 | 19.9 |
| Fixed-free | 0.25 | 1.2 |
Substituting the data yields:
The screw rod of the equipment at least needs to bear 3T pressure, namely 30000N, (the pressure range is set to be 30000N-60000N), so that the axial load is safe;
(4) And checking the service life:
determining the model of the ball screw as BSSR3210-300;
the servo motor and the reducer are used in combination:
(1) Obtaining a load torque of the ball screw (a maximum load torque of a screw shaft):
(2) Simple and easy type selection of servo motor:
in order to reduce torque and rotational inertia, an alpha-specific planetary gear motor is selected, and the speed reduction ratio is 1:20, so obtaining the torque T1=1.75n × m required by the servo motor;
when the oxygen sensor is pressed and mounted in a pressing and mounting work station, firstly, the pressing and mounting rivet seal head does not touch the oxygen sensor, the load driven by the screw rod only presses the mass of the parts, and the screw rod reaches the set rotating speed in the process; then the riveting seal head touches an automobile oxygen sensor assembly, the rotating speed is reduced to 0, the pressure is increased from 0 to over 30000N, and the press mounting function is completed; it is clear that the torque required for acceleration and deceleration is much less than 1.75n m. Therefore, acceleration and deceleration torque does not need to be considered; only the maximum torque required by the load of 1.75n × m needs to be considered; in addition, the press fitting time is not required, so that the inertia is not considered for the moment;
look up the servo motor model number table under loose, select big inertia servo motor: MHMD082G1VA (750W)
The rated torque of the servo motor of the type is 2.4NxM, and the maximum torque can reach 7.1NxM;
(3) Determining the model of the speed reducer:
the types of the selected servo motors are as follows: MHMD-750W; (ii) a Looking up a loose servo motor size table to obtain the size of the servo motor; (ii) a LL =164mm, lr =35, s =19, la =90 ± 0,2, lb =70, lc =80, le =3, lf =8, lh =53;
according to the size of the servo motor, selecting a speed reducing motor with proper size, wherein the speed reducing ratio is 1:20, determining the type of the planetary reducer as follows: alpha Tet ATF80S-20;
press fitting work station design attention items:
(1) During the design process, the ball screw is planned to be vertically installed, and the radial load of the ball screw is considered to be basically 0, so that a linear bearing and a guide shaft are required to be arranged for the ball screw; the linear guide shaft is used for bearing radial load for the ball screw;
(2) The pressure to the oxygen sensor assembly is at least 30000N during press mounting, and in order to ensure the press mounting pressure, a pressure sensor is used, so that the mounting position of the pressure sensor needs to be considered; the pressure sensor must accurately detect that the axial pressure of the ball screw reaches 3 tons; the detected pressure may not be the resultant of the axial and radial forces;
(3) When the pressure sensor is not pressed, the pressure sensor cannot bear force, so that the measured data of the pressure sensor is prevented from being larger;
(4) Whether the supporting mode of the press mounting station is reliable or not; in the press mounting process, the pressure of over 3 tons can be generated, and the normal completion of the press mounting action needs to be ensured;
the design process of the press mounting work station comprises the following steps:
according to requirements, firstly, a linear bearing and a guide shaft are arranged for a ball screw; the outer diameter of the thread of the ball screw is 32mm, so that the diameter of the guide shaft is matched with 32 mm; selecting two misumi linear guide shafts and linear bearings with the diameter of 25 mm; drawing a mounting plate according to the size of the linear bearing; the upper mounting plate and the lower mounting plate of the ball screw need to be provided with positioning pins, so that the mounting holes of the upper mounting plate and the lower mounting plate are ensured to have higher concentricity;
after the installation parts of the ball screw are drawn, connecting the speed reducer with the servo motor and the ball screw, designing a speed reducer installation plate according to the sizes of the speed reducer and the servo motor, and directly fixing the servo motor on the planetary speed reducer; the output shaft of the speed reducer is connected with the ball screw shaft by a cross-shaped star coupler; the reason for choosing such a coupling is: the speed reducer is connected and fixed with the mounting plate only by four inner hexagon screws; therefore, the axis of the output shaft of the speed reducer and the axis of the rotating shaft of the ball screw have certain eccentricity, and the cross-shaped coupling can allow larger radial and angular deviation;
then, determining the installation mode of the pressure sensor; when the riveting end socket touches the oxygen sensor, impact is suddenly generated, so that the pressure sensor needs to be tightly attached to the upper pressure plate; an elastic mechanism is arranged, when the riveting end socket does not touch the sensor in the pressing-down process, the elastic mechanism is in a compressed state, the elastic mechanism provides a supporting force for the pressure sensor, and the pressure sensor is always in contact with the upper pressure plate; therefore, when the riveting end socket touches the oxygen sensor, no impact load is generated between the pressure sensor and the upper pressure plate; the servo motor continues to rotate, the upper pressure plate of the pressure sensor continues to press downwards, and the pressure is gradually increased;
and (3) riveting and sealing head design:
the main purpose of the press mounting action is to rivet and seal a six-pin base, wherein the six-pin base is wrapped by an induction sheet core, two ceramic bases, a powder block and a gasket; when the six-pin base is not riveted, all the components are placed in the six-pin base, then the six-pin base is riveted, the round edge of the six-pin base is bent by a riveting head with more than 3 tons of force and is attached to the oxygen sensor component in the six-pin base until the round edge presses all the components in the six-pin base, the gap between the components is filled with the powder block, and the press-fitting function is realized;
when the riveting seal head is designed, firstly measuring the angle of the conical surface of the six-pin base of the oxygen sensor; dividing the six-pin base into two parts through solidworks, and measuring the angle to be about 12 degrees; designing the maximum angle between conical surfaces of the riveting seal heads to be 60 degrees; in addition, a round hole is required to be arranged in the center of the riveting end socket, so that a ceramic seat in the oxygen sensor assembly is avoided in the press-fitting process; the riveting seal head is arranged on the lower mounting plate of the pressure sensor; the length of the riveting seal head is set according to the oxygen sensor, and the set length needs to ensure that the ceramic seat does not touch the lower mounting plate of the pressure sensor when in press mounting;
and (VI) designing a material moving work station:
the feeding XYZ mechanical arm puts the oxygen sensor assembly at a fixed position, and the transfer mechanism sends the assembly to a press-fitting work station; after the photoelectric sensor detects a product, a press-fitting work station carries out press-fitting; after the press mounting is finished, the transfer mechanism sends the oxygen sensor into a detection work station for air tightness detection; after the air tightness detection is finished, the oxygen sensor is sent to a fixed position to wait for the clamping of the discharging XYZ manipulator; the transfer operation is divided into the following steps: 1 feeding position → press-fitting position, 2 press-fitting position → feeding position, 3 feeding position → discharging position, 4 discharging position → detecting position, 5 detecting position → discharging position; the device comprises a detection device, a control device and a control device, wherein the detection device comprises a detection device, a control device and a control device, wherein (in order to improve detection efficiency, the device is provided with double detection stations, a stop position is added by using a limiting cylinder, and a group of detection stations are additionally arranged); when the action 3 is performed, the clamping jaw clamps the oxygen sensor to move, and when the action 3 is completed, the clamping jaw is loosened, so that the oxygen sensor is not driven any more; the lifting mechanism is arranged for lifting the gas claw, so that the gas claw is prevented from interfering with the placed oxygen sensor when being retracted;
linear movement design:
the linear movement between the two points is realized by using a cylinder with CDM-20-200; the oxygen sensor is arranged on a sliding block base, and the sliding block base is arranged on the two guide rails; the guide rail limits the freedom degree of the slide block; the sliding block can only move along the axial direction of the piston rod of the cylinder, so that the left and right position precision of the sensor can be ensured, and the cylinder can be prevented from being subjected to radial force; the position accuracy of the sensor climate is ensured by a buffer; the buffer is installed in a threaded mode, and the front and rear positions of the buffer can be adjusted by adjusting a nut on the buffer, so that the purpose of adjusting the front and rear positions of the oxygen sensor is achieved; the accuracy of the stop position of the oxygen sensor can be ensured by debugging equipment;
and (3) transverse moving and lifting design:
the sideslip lifting has three functions: 1, transverse moving function; 2, lifting function; 3, a clamping function; because the transverse moving distance is too long, if a rod cylinder is adopted, a plurality of positions can be occupied, and therefore the transverse moving function is realized by adopting a rodless cylinder; the rodless cylinder has the advantages that: the installation space is saved, the bearing load is high, the weight is light, and the moving and stopping performance is good;
lifting needs to be translated together with the rodless cylinder, and the lifting installation space cannot be too large; the lifting mechanism cylinder can be subjected to radial load because the pneumatic claw needs to be installed on the lifting mechanism; a common standard cylinder cannot bear radial force, and if a guide shaft and a linear bearing are installed, the installation space is too large; therefore, the lifting mechanism cylinder is determined as a pneumatic sliding table;
firstly, determining the model of a rodless cylinder, and estimating that the distance between a press-fitting work station and a detection work station is approximately 400mm, so that the stroke of the rodless cylinder is selected to be 400mm; the pneumatic sliding table and the pneumatic claw are light in weight, so that the cylinder diameter can be selected to be 15 mm; the obtained rodless cylinder has the following model: CY1S15-400Z;
then determining the type of the pneumatic sliding table; the width of the rodless cylinder sliding block is 60mm, so that the width of the pneumatic sliding table is required to be less than 60mm; the height of the oxygen sensor is 53mm, the clamping jaw clamps the middle position of the oxygen sensor, and after the gas claw is loosened, the gas claw needs to be lifted above the oxygen sensor so as to avoid the oxygen sensor; considering the thickness of the clamping jaw, the stroke of the pneumatic sliding table is at least 30mm, and 1.5-2 times of the stroke of the pneumatic sliding table is taken as a safety distance to obtain the stroke of the pneumatic sliding table which is 50mm; the cylinder diameter is 12mm, and the obtained pneumatic sliding table type is as follows: MXQ12-50;
the air claw can be selected from the same types as the feeding and discharging mechanism: MHZ2-16D;
and (seventhly), designing an air tightness detection work station:
the air tightness detection station has the main function of testing the air tightness of the oxygen sensor after press mounting; firstly, pressing down an air cylinder, pressing the air cylinder to an oxygen sensor, pressing the oxygen sensor to a jig, and forming a sealed cavity between the oxygen sensor and the jig; the air source is used for ventilating the inside of the sealing cavity through the air tightness detector, the air pressure in the sealing cavity rises, then the ventilation is stopped, the air pressure change in the sealing cavity is tested after a certain time, the air tightness in the oxygen sensor is obtained, the detection on the air tightness of the oxygen sensor is realized, a sealing ring is used at the contact position of the oxygen sensor and the jig, the contact position is ensured not to generate air leakage, and the air can only leak through the inside of the oxygen sensor;
the function that detects the worker station is for detecting the good oxygen sensor gas tightness of pressure equipment, adopts the gas tightness leak detector of purchasing outward to detect oxygen sensor, and gas tightness detecting instrument model is: shenyang gold air tightness leak detector AL2000 series;
during air tightness detection, firstly, one air cylinder extends to press the oxygen sensor, so that the oxygen sensor is fixed in the detection process, the accuracy of measured data is improved, and air tightness detection is started after the oxygen sensor is fixed; firstly, blowing gas into the oxygen sensor by a gas source, stopping blowing after a period of time, recording the air pressure inside the oxygen sensor by a leak detector, and then waiting for a certain time (about ten seconds), and measuring the air pressure for the second time by the leak detector; if the oxygen sensor has poor tightness, the air pressure value has a difference value; the gas leakage amount of the oxygen sensor in unit time can be obtained through the difference value and the measurement time difference; comparing the allowable leakage amount values of the qualified products, and judging whether the air tightness of the oxygen sensor is qualified or not; then classifying qualified products and unqualified products of the oxygen sensor by a mechanical arm of the discharging work station;
due to the purchase of an air tightness detection instrument, the design workload of the air tightness station is less; firstly, designing a lower pressure head, wherein the middle of the lower pressure head is hollow; when the oxygen sensor is pressed down, the ceramic seat part of the oxygen sensor enters the hollow part, and the lower surface of the lower pressing head presses the six-pin seat; fixing the hexagonal base; meanwhile, a sealed cavity is formed between the base and the oxygen sensor due to excessive pressure, an air source only needs to blow air into the sealed cavity, and an air pipe can be directly connected with the oxygen sensor placing base; thus, the installation difficulty of the air pipe is reduced, and the workload of debugging and assembling is reduced; in order to ensure good sealing performance of the sealing cavity, the downward pressure of the downward pressure head is enough, so that the following steps are selected: CDQ2B-50-100DMZ-M9BL; the minimum service pressure of the cylinder is 0.07MPa, and the maximum service pressure of the cylinder is 1.0MPa. Theoretically, about 1900N pressure can be provided;
(eighth), equipment operation:
the XYZ mechanical arm of the feeding station clamps the oxygen sensor, starts to clamp from the first row, and after clamping the first row, the clamping is switched to the second row. Placing the oxygen sensor on the oxygen sensor jig;
after the oxygen sensor is placed correctly, the air cylinder is retracted to pull the oxygen sensor to the press-fitting work station, and after the photoelectric sensor detects the oxygen sensor, the oxygen sensor assembly starts to be pressed and fitted. After the press mounting is finished, the air cylinder pushes out the oxygen sensor;
the transverse moving lifting clamping jaw clamps the oxygen sensor, the oxygen sensor is placed in a jig of a detection station, the air cylinder pulls the oxygen sensor into the detection station, and after the photoelectric sensor detects that the oxygen sensor is in place, the air cylinder of the detection station presses downwards to press the oxygen sensor to form a sealed cavity; blowing air into the oxygen sensor by an air source, stopping the air supply after the air pressure is proper, measuring the air pressure, waiting for a period of time, measuring the secondary air pressure, and judging whether the oxygen sensor is qualified or not by comparing the leakage amount;
if the detection is qualified, the discharging mechanism can place qualified products on a qualified sheet metal tray; if the detection result is unqualified, placing the unqualified product on an unqualified sheet metal tray by the discharging mechanism; and starting to put from the first line, putting one line and changing the next line, and after the sheet metal tray is full, giving an alarm by a buzzer to prompt the sheet metal tray to be emptied.
Claims (4)
1. The utility model provides an automatic change car oxygen sensor subassembly pressure equipment system which characterized in that: the automatic feeding and discharging device comprises a rack (1), wherein a feeding station assembly, a press-mounting station assembly, a sliding station assembly, a material moving station assembly, a detecting station assembly and a discharging station assembly are arranged on the upper portion of the rack (1), the feeding station assembly and the sliding station assembly are distributed correspondingly, the sliding station assembly and the press-mounting station assembly are connected in a sliding mode, the material moving station assembly and the sliding station assembly and the detecting station assembly are distributed correspondingly, and the discharging station assembly and the detecting station assembly are distributed correspondingly;
the feeding station component comprises a feeding support (2), a feeding X-axis module (3) is arranged on the upper portion of the feeding support (2), a feeding Y-axis module (4) in sliding connection with the feeding X-axis module (3) is arranged on the feeding X-axis module (3), a feeding air claw (5) in sliding connection with the feeding Y-axis module (4) is arranged on the feeding Y-axis module (4), the feeding air claw (5) is vertically displaced through a feeding air cylinder (6), and a feeding disc (7) corresponding to the feeding air claw (5) is arranged on the upper portion of the rack (1);
the press-fitting work station assembly comprises a press-fitting frame (8), a pressure sensor upper pressing plate (9) and a pressure sensor lower pressing plate (10), a press-fitting power assembly is arranged at the upper part of the press-fitting frame (8), the pressure sensor lower pressing plate (10) is arranged below the pressure sensor upper pressing plate (9), a pressure sensor (11) is arranged between the pressure sensor upper pressing plate (9) and the pressure sensor lower pressing plate (10), a riveting head (12) is arranged at the bottom of the pressure sensor lower pressing plate (10), and the press-fitting power assembly drives the riveting head (12) to move downwards;
the sliding work station component comprises a jig sliding rail (13), a sliding jig (14) is arranged on the jig sliding rail (13), the sliding jig (14) moves along the jig sliding rail (13) through a jig moving cylinder (15), an oxygen sensor jig (16) is fixed on the sliding jig (14), and the oxygen sensor jig (16) corresponds to the riveting head (12) up and down;
the material moving work station assembly comprises a rodless cylinder (17) and a pneumatic sliding table (18), the rodless cylinder (17) drives the pneumatic sliding table (18) to move, the pneumatic sliding table (18) controls a pneumatic air claw (19) to clamp or release, and the pneumatic air claw (19) corresponds to an oxygen sensor jig (16) in a phase displacement mode;
the detection station assembly comprises a detection frame (20), a pressing cylinder (21) is arranged at the upper part of the detection frame (20), a detection slide rail (22) is arranged below the pressing cylinder (21), a detection jig base (23) which is in sliding connection with the detection slide rail (22) is arranged in the detection slide rail (22), the detection jig base (23) is in phase displacement through a detection jig cylinder (24), a detection jig cylinder (25) is arranged at the upper part of the detection jig base (23), and the detection jig cylinder (25) and the pressing cylinder (21) are distributed in an up-and-down corresponding manner;
the discharging station component comprises a discharging X-axis module (26), a discharging Y-axis module (27) in sliding connection with the discharging X-axis module (26) is arranged in the discharging X-axis module (26), a discharging air claw (28) in sliding connection with the discharging Y-axis module (27) is arranged on the discharging Y-axis module (27), the discharging air claw (28) is vertically displaced through a discharging air cylinder (53), and a discharging disc corresponding to the discharging air claw (28) is arranged on the upper portion of the rack (1).
2. The automatic automobile oxygen sensor assembly press-fitting system as claimed in claim 1, wherein: the feeding X-axis module (3) is provided with a feeding linear slide rail (29) at the outer end thereof, the feeding air claw (5) is connected with the feeding Y-axis module (4) in a sliding manner through a feeding link plate (30), the feeding X-axis module (3) is connected with the feeding Y-axis module (4) in a sliding manner, the feeding link plate (30) is connected with the feeding Y-axis module (4) in a sliding manner through a feeding linear slide block (31), the feeding air cylinder (6) is arranged in the feeding link plate (30), and the feeding air claw (5) is connected in a sliding manner through a feeding guide shaft (32) arranged in the feeding link plate (30);
the two discharging X-axis modules (26) are symmetrically distributed at intervals, the two discharging X-axis modules (26) are synchronously driven by a transmission shaft (33), and the discharging X-axis modules (26) are connected with the feeding Y-axis module (4) in a sliding manner by a discharging linear sliding block (34); the discharging disc comprises a qualified discharging disc (35) and an unqualified discharging disc (36);
the press-fitting power assembly comprises a press-fitting servo motor (37), the press-fitting servo motor (37) drives a planetary speed reducer (38) to transmit, the planetary speed reducer (38) drives a ball screw (39) to rotate, the ball screw (39) drives a ball screw supporting plate (40) to displace downwards, a pressure sensor upper pressing plate (9) and the ball screw supporting plate (40) are positioned through a press-fitting linear guide shaft (41), the pressure sensor upper pressing plate (9) and a pressure sensor lower pressing plate (10) are positioned through a pressure guide shaft (42), a plurality of photoelectric switches (43) are arranged in the press-fitting frame (8), and the photoelectric switches (43) are movably adjusted with the press-fitting frame (8) through a sensor mounting track (44);
a press-mounting jig limiting block (45) which is limited by sliding with the sliding jig (14) is arranged on the jig sliding rail (13), and a photoelectric sensor (46) which is connected with the photoelectric switch (43) in an induction manner is arranged on the outer side of the sliding jig (14);
and a pneumatic sliding table mounting plate (47) is arranged between the bottom of the pneumatic sliding table (18) and the rodless cylinder (17).
3. The automated automotive oxygen sensor assembly press fitting system of claim 2, wherein: the feeding link plate (30) and the feeding guide shaft (32), the press-fitting linear guide shaft (41) and the press-fitting frame (8), and the pressure guide shaft (42) and the pressure sensor upper pressure plate (9) are respectively in sliding connection through linear bearings (48);
jig moving cylinder (15) fixed with frame (1) through jig moving cylinder mounting panel (49), jig moving cylinder mounting panel (49) in, the outer end of pneumatic slip table (18), be equipped with buffer (50) in the outer end of detecting slide rail (22) respectively, frame (1) on be equipped with buffer (50) in with pneumatic slip table (18) the looks activity keep off limit stop (51) that connect, limit stop (51) stretch out and draw back from top to bottom through blockking cylinder (52).
4. The automated automotive oxygen sensor assembly press fitting system of claim 1, wherein: the number of the detection work station components is two, and the two detection work station components are continuously distributed.
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