CN111037267B - Automatic assembling device for automobile parking brake spring - Google Patents
Automatic assembling device for automobile parking brake spring Download PDFInfo
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- CN111037267B CN111037267B CN202010118365.XA CN202010118365A CN111037267B CN 111037267 B CN111037267 B CN 111037267B CN 202010118365 A CN202010118365 A CN 202010118365A CN 111037267 B CN111037267 B CN 111037267B
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- spring
- gripper
- tray
- mechanical arm
- horizontal joint
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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
- B23P19/04—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 assembling or disassembling parts
- B23P19/048—Springs
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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
- B23P19/007—Picking-up and placing mechanisms
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of automobile production line assembly, in particular to an automatic assembly device for an automobile parking brake spring, which comprises: the automatic spring picking and placing device comprises a spring picking and placing mechanism, a working tray, a tray positioning mechanism, a speed doubling chain transmission line and a 4-axis horizontal joint mechanical arm. The spring picking and placing mechanism and the 4-axis horizontal joint mechanical arm are assembled together and move on the working tray to complete spring assembly, the working tray moves to the device along with the speed doubling chain transmission line, and the tray positioning mechanism accurately jacks and positions the working tray. The tray positioning mechanism adopts a one-side two-pin positioning mode to accurately position the working tray. The device can automatically take and assemble the spring by using the mechanical arm. The device can automatically position the assembly position of the spring by utilizing the mechanical arm, and the accuracy and efficiency of spring assembly are ensured.
Description
Technical Field
The invention relates to the technical field of assembly of automobile production lines, in particular to an automatic assembly device for an automobile parking brake spring.
Background
Parking brake is the important component part of car it is used for stabilizing the vehicle after the vehicle is stopped steadily, and the security performance of car is directly influenced to its quality, and the spring is an indispensable part in the parking brake again, and traditional parking brake spring assembly is accomplished by the manual work, wastes time and energy and can not guarantee assembly efficiency. And in which the force required to assemble the spring is very large, it is difficult for a worker to assemble the spring.
In the prior art, the invention patent with the publication number of CN110421339A and the name of "an automatic spring assembling device" discloses a spring assembling device, which comprises a base, a lifting motor and a lifting seat, wherein the base is further provided with a guide rail, the lifting seat can slide up and down along the guide rail under the driving of the lifting motor, and the base is fixed on a bottom plate and can slide left and right under the driving of a translation cylinder. In the assembly line of the automobile parking brake spring, the spring taking and placing mechanism needs to perform horizontal movement in multiple directions, so the device cannot be applied to the assembly spring in the assembly line of the automobile parking brake. The utility model discloses a utility model patent of publication number CN208977229U, the name is "an automatic spring installation device", discloses an automatic spring installation device, and the device improves snatching and assembling of spring, sets up a support frame, has the mounting panel on the support frame and presss from both sides dress mechanism. A spring loading box is arranged below the mounting plate, the clamping mechanism clamps the spring from the spring loading box and moves the spring to the position above the spring mounting position, and the spring is pushed down by using a pushing head. The assembly precision cannot be well guaranteed, and the spring assembly method cannot be used for spring assembly of the automobile parking brake.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides an automatic assembling device for a spring of an automobile parking brake. Its work of realizing snatching automatically and assembling the spring reduces workman's work load, carries out automatic positioning to the spring, improves assembly quality.
In order to achieve the purpose, the invention adopts the following technical scheme that the device comprises a spring taking and placing mechanism, a working tray, a tray positioning mechanism, a double-speed chain transmission line and a 4-axis horizontal joint mechanical arm; the automatic lifting device is characterized in that the spring taking and placing mechanism and the 4-axis horizontal joint mechanical arm are assembled together to move on a working tray, the working tray moves to the automatic lifting device along with a double-speed chain transmission line, the tray positioning mechanism accurately lifts and positions the working tray, and the tray positioning mechanism accurately positions the working tray in a one-side two-pin positioning mode.
Furthermore, the spring taking and placing mechanism comprises two clamping cylinders, a first lifting cylinder, a spring gripper, a gripper stop block and a guide rail, the two clamping cylinders are arranged on the left side and the right side of the spring taking and placing mechanism, the first lifting cylinder is arranged behind the mechanism, the spring gripper is arranged on the guide rail, and a clamping section is arranged in the middle of the gripper.
Further, the work tray includes spring support platform, stopper casing bracing piece, and spring support platform sets up on work tray top right side, and stopper casing bracing piece sets up on two backup pads of work tray.
Further, tray positioning mechanism includes a second lift cylinder, two fixed plates, movable rod, assembly jig, and second lift cylinder sets up under mechanism below fixed plate, uses the pole to connect between two fixed plates.
Further, 3-axis horizontal joints in the 4-axis horizontal joint mechanical arm drive the spring picking and placing mechanism to move horizontally, and the 4 th axis drives the spring picking and placing mechanism to move up and down.
Further, the working tray is transmitted to the working position of the device along with the speed doubling chain transmission line, the second lifting cylinder is opened, the second movable rod jacks up the assembly fixture to accurately position and clamp the working tray, and the 4-axis horizontal joint mechanical arm is started and adjusted to drive the spring taking and placing mechanism to reach the position of the spring supporting table.
The first lifting cylinder is opened, a gripper stop block moves upwards to release a spring gripper, the spring gripper moves along a guide rail to reach the length of a spring, a 4-axis horizontal joint mechanical arm drives a spring taking and placing mechanism to move downwards to move a clamping section in the middle of the spring gripper to grip the spring, fingers at two ends of the gripper abut against two ends of the spring and apply pressure to press the spring to an assembly applicable length, the first lifting cylinder is closed, the gripper stop block is reset downwards to fix the spring gripper, a clamping cylinder is opened simultaneously, a telescopic shaft moves inwards to clamp the spring gripper, the 4-axis horizontal joint mechanical arm is automatically positioned to a spring assembly position in a parking brake shell according to set coordinates, the spring taking and placing mechanism moves leftwards to reach the upper part of the assembly position along with the 4-axis horizontal joint mechanical arm, the 4-axis horizontal joint mechanical arm is lowered to place the spring into a circular arc-shaped groove in the parking brake shell, the clamping cylinder is closed, and the telescopic shaft moves outwards, and when the two ends of the spring gripper move to the two sides of the parking brake shell, the 4-axis horizontal joint mechanical arm moves upwards to bring the spring taking and placing mechanism away from the position above the spring support platform, each cylinder resets, and the next assembly is continued.
Compared with the prior art, the invention has the beneficial effects.
The invention can automatically grab and assemble spring with 500N spring force, which solves the problem that the spring is difficult to assemble manually.
The invention adopts automatic positioning, ensures the accuracy of the assembly process and improves the reliability of the device.
The invention is provided with a protective cover outside to achieve the protection in the whole process.
Compared with manual operation, the spring taking and assembling time is greatly shortened, the beat is 20S, and 180 springs are installed in each hour.
Drawings
The invention is further described with reference to the following figures and detailed description. The scope of the invention is not limited to the following expressions.
FIG. 1 is an isometric view of a pick and place spring mechanism of the present invention.
FIG. 2 is a rear view of the spring picking and placing mechanism of the present invention.
Fig. 3 is an isometric view of the inventive work pallet.
FIG. 4 is a structural view of a tray positioning mechanism of the present invention.
Fig. 5 is a structural view of the gripper block of the present invention.
Fig. 6 is a view showing the structure of the guide rail of the present invention.
Fig. 7 is a view showing an assembled state of the spring according to the present invention.
Fig. 8 is a schematic view of the overall structure of the present invention.
In the figure, a clamping cylinder 1, a telescopic shaft 2, a spring gripper 3, a lifting cylinder 4, a spring 5, a spring support table 6, a brake shell support rod 7, a parking brake shell 8, an assembly fixture 9, a movable rod 10, a lifting cylinder 11, a gripper stop 12, a guide rail 13, a 144-shaft horizontal joint mechanical arm, a spring taking and placing mechanism 15, a working tray 16, a 17-time speed chain transmission line and a tray positioning mechanism 18 are adopted.
Detailed Description
As shown in fig. 1-8, the present invention comprises a spring picking and placing mechanism 15, a work tray 16, a tray positioning mechanism 18, a double speed chain transmission line 17, and a 4-axis horizontal joint mechanical arm 14; the automatic lifting device is characterized in that the spring taking and placing mechanism 15 and the 4-axis horizontal joint mechanical arm 14 are assembled together to move on a working tray 16, the working tray 16 moves to the automatic lifting device along with a double-speed chain transmission line 17, the tray positioning mechanism 18 accurately lifts and positions the working tray 16, and the tray positioning mechanism 18 accurately positions the working tray 16 in a one-surface two-pin positioning mode.
Further, the spring taking and placing mechanism comprises two clamping cylinders 1, a lifting cylinder 4, a spring gripper 3, a gripper stop block 12 and a guide rail 13, the two clamping cylinders 1 are arranged on the left side and the right side of the mechanism, the lifting cylinder 4 is arranged behind the mechanism, the spring gripper 3 is arranged on the guide rail 13, and a clamping section is arranged in the middle of the gripper 3.
Further, work tray 16 includes spring support platform 6, stopper casing bracing piece 7, and spring support platform 6 sets up on work tray 16 top right side, and stopper casing bracing piece 7 sets up on two backup pads of work tray 16.
Further, the tray positioning mechanism 18 comprises a second lifting cylinder 11, two fixing plates, a movable rod 10 and an assembly fixture 9, wherein the second lifting cylinder 11 is arranged below the fixing plates below the mechanism, and the two fixing plates are connected through a rod.
Further, 3-axis horizontal joints in the 4-axis horizontal joint mechanical arm 14 drive the spring picking and placing mechanism 15 to move horizontally, and the 4 th axis drives the spring picking and placing mechanism 15 to move up and down.
Further, the working tray 16 is transmitted to the working position of the device along with the double-speed chain transmission line 17, the second lifting cylinder 11 is started, the movable rod 10 jacks up the assembly fixture 9 to accurately position and clamp the working tray 16, and the 4-axis horizontal joint mechanical arm 14 is started and adjusted to drive the spring taking and placing mechanism 15 to reach the position of the spring supporting table 6.
The lifting cylinder I4 is opened, the gripper stop block 12 moves upwards to release the spring gripper 3, the spring gripper 3 moves along the guide rail 13 to reach the length of the spring 5, the 4-axis horizontal joint mechanical arm 14 drives the spring picking and placing mechanism 15 to move downwards to the middle clamping section of the spring gripper 3 to grab the spring 5, fingers at two ends of the spring gripper 3 are clamped against two ends of the spring 5 and exert pressure to press the spring 5 to the assembly applicable length, the lifting cylinder I4 is closed, the gripper stop block 12 resets downwards to fix the spring gripper 3, meanwhile, the clamping cylinder 1 is opened, the telescopic shaft 2 moves inwards to clamp the spring gripper 3, the 4-axis horizontal joint mechanical arm 14 is automatically positioned to the assembly position of the spring 5 in the parking brake shell 8 according to set coordinates, the spring picking and placing mechanism 15 moves leftwards to the assembly position along with the 4-axis horizontal joint mechanical arm 14, the 4-axis horizontal joint mechanical arm 14 is lowered to place the spring 5 in an arc-shaped groove in the parking brake shell 8, the clamping cylinder 1 is closed, the telescopic shaft 2 moves outwards, the lifting cylinder I4 is also opened, the gripper stop block 12 moves upwards to release the spring gripper 3, the gripping fingers at the two ends of the spring gripper 3 move along the guide rail 13 to start releasing the spring 5, when the two ends of the spring gripper 3 move to the two sides to the parking brake shell 8, the 4-shaft horizontal joint mechanical arm 14 moves upwards to take and place the spring mechanism 15 away from the position above the spring support table 6, and each cylinder resets to continue the next assembly.
It should be understood that the detailed description of the present invention is only for illustrating the present invention and is not limited by the technical solutions described in the embodiments of the present invention, and those skilled in the art should understand that the present invention can be modified or substituted equally to achieve the same technical effects; as long as the use requirements are met, the method is within the protection scope of the invention.
Claims (1)
1. The automatic spring assembling device for the automobile parking brake comprises a spring taking and placing mechanism, a working tray, a tray positioning mechanism, a speed doubling chain transmission line and a 4-axis horizontal joint mechanical arm; the device is characterized in that the spring taking and placing mechanism and the 4-axis horizontal joint mechanical arm are assembled together to move on a working tray, the working tray moves to the device along with a double-speed chain transmission line, the tray positioning mechanism accurately lifts and positions the working tray, and the tray positioning mechanism accurately positions the working tray in a one-side two-pin positioning mode;
the spring taking and placing mechanism comprises two clamping cylinders, a first lifting cylinder, a spring gripper, a gripper stop block and a guide rail, wherein the two clamping cylinders are arranged on the left side and the right side of the spring taking and placing mechanism;
the working tray comprises a spring support platform and a brake shell support rod, the spring support platform is arranged on the right side above the working tray, and the brake shell support rod is arranged on two support plates of the working tray;
the tray positioning mechanism comprises a second lifting cylinder, two fixed plates, a movable rod and an assembly fixture, wherein the second lifting cylinder is arranged below the fixed plates below the mechanism, and the two fixed plates are connected through the rod;
the 3-axis horizontal joint in the 4-axis horizontal joint mechanical arm drives the spring picking and placing mechanism to move horizontally, and the 4 th axis drives the spring picking and placing mechanism to move up and down;
the working tray is transmitted to the working position of the device along with the speed doubling chain transmission line, the lifting cylinder II is started, the movable rod jacks up the assembly fixture to accurately position and clamp the working tray, and the 4-axis horizontal joint mechanical arm is started and adjusted to drive the spring picking and placing mechanism to reach the position of the spring supporting table;
the first lifting cylinder is opened, the gripper stop block moves upwards to release the spring gripper, the spring gripper moves along the guide rail to reach the length of the spring, the 4-axis horizontal joint mechanical arm drives the spring taking and placing mechanism to move downwards, the spring is gripped at the middle clamping section of the spring gripper, fingers at two ends of the spring gripper abut against two ends of the spring and exert pressure to press the spring to the suitable length for assembly, the first lifting cylinder is closed, the gripper stop block is reset downwards to fix the spring gripper, the clamping cylinder is opened, the telescopic shaft moves inwards to clamp the spring gripper, the 4-axis horizontal joint mechanical arm is automatically positioned to the spring assembly position in the parking brake shell according to set coordinates, the spring taking and placing mechanism moves leftwards along with the 4-axis horizontal joint mechanical arm to reach the position above the assembly position, the 4-axis horizontal joint mechanical arm is lowered to place the spring into the arc-shaped groove in the parking brake shell, and the clamping cylinder is closed, the telescopic shaft moves outwards, the lifting cylinder is opened, the gripper stop block moves upwards to release the spring gripper, the clamping fingers at the two ends of the spring gripper move along the guide rail to start releasing the spring, when the two ends of the spring gripper move towards the two sides to the shell of the parking brake, the 4-axis horizontal joint mechanical arm moves upwards to bring the spring taking and placing mechanism away from the position above the spring support platform, and each cylinder resets to continue the next assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010118365.XA CN111037267B (en) | 2020-02-26 | 2020-02-26 | Automatic assembling device for automobile parking brake spring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010118365.XA CN111037267B (en) | 2020-02-26 | 2020-02-26 | Automatic assembling device for automobile parking brake spring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111037267A CN111037267A (en) | 2020-04-21 |
| CN111037267B true CN111037267B (en) | 2021-07-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010118365.XA Active CN111037267B (en) | 2020-02-26 | 2020-02-26 | Automatic assembling device for automobile parking brake spring |
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| CN (1) | CN111037267B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114434117B (en) * | 2020-11-05 | 2023-04-18 | 中国科学院沈阳自动化研究所 | Motor component assembly equipment of parking executor production line |
| CN113843598A (en) * | 2021-11-03 | 2021-12-28 | 沈阳工业大学 | Automatic installation device for brake cam assembly |
| CN115178991B (en) * | 2022-06-23 | 2023-08-22 | 山东越成制动系统股份有限公司 | Assembling equipment for actively adjusting conical spring and adjusting sleeve of air brake |
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| CN107470890A (en) * | 2017-07-31 | 2017-12-15 | 广东顺德三合工业自动化设备股份有限公司 | A kind of pump housing bent axle spring installs equipment online |
| CN108247322A (en) * | 2018-01-08 | 2018-07-06 | 广东金弘达自动化科技股份有限公司 | Fill glue spike devices |
| CN109483579A (en) * | 2018-12-26 | 2019-03-19 | 中国科学院沈阳计算技术研究所有限公司 | A kind of Intelligent assembly flexible grabbing device |
| CN110091161A (en) * | 2019-06-14 | 2019-08-06 | 威海新光电碳制品有限公司 | A kind of sbw vehicle torsional spring automatic mounting machine |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5895337B2 (en) * | 2010-09-15 | 2016-03-30 | セイコーエプソン株式会社 | robot |
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- 2020-02-26 CN CN202010118365.XA patent/CN111037267B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107470890A (en) * | 2017-07-31 | 2017-12-15 | 广东顺德三合工业自动化设备股份有限公司 | A kind of pump housing bent axle spring installs equipment online |
| CN108247322A (en) * | 2018-01-08 | 2018-07-06 | 广东金弘达自动化科技股份有限公司 | Fill glue spike devices |
| CN109483579A (en) * | 2018-12-26 | 2019-03-19 | 中国科学院沈阳计算技术研究所有限公司 | A kind of Intelligent assembly flexible grabbing device |
| CN110091161A (en) * | 2019-06-14 | 2019-08-06 | 威海新光电碳制品有限公司 | A kind of sbw vehicle torsional spring automatic mounting machine |
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| CN111037267A (en) | 2020-04-21 |
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