CN112935797A - Automatic piston assembling robot and assembling method - Google Patents
Automatic piston assembling robot and assembling method Download PDFInfo
- Publication number
- CN112935797A CN112935797A CN202110176258.7A CN202110176258A CN112935797A CN 112935797 A CN112935797 A CN 112935797A CN 202110176258 A CN202110176258 A CN 202110176258A CN 112935797 A CN112935797 A CN 112935797A
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- piston
- cylinder
- connecting hole
- hole
- rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
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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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- 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
- B23P19/006—Holding or positioning the article in front of the applying tool
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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
- B23P19/027—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 using hydraulic or pneumatic means
Abstract
The invention provides an automatic piston assembling robot, wherein a piston comprises a piston head, a piston rod and a piston pin, a first connecting hole is formed in the piston head, a second connecting hole is formed in the piston rod, the piston pin is inserted into the first connecting hole and the second connecting hole to realize the hinging of the piston rod and the piston head, and the robot comprises: the support legs support the mounting plate; the piston head feeding mechanism is arranged on the rack and used for feeding the piston head to be assembled to an assembling station; the piston rod feeding mechanism is arranged on the rack and used for feeding a piston rod to be assembled to an assembly station, inserting one end, provided with a second connecting hole, of the piston rod into a piston head at the assembly station and aligning the first connecting hole with the second connecting hole; and the piston pin feeding mechanism is arranged on the machine frame and used for feeding the piston pins to the assembling station and inserting the piston pins into the first connecting hole and the second connecting hole at the assembling station. The robot can realize automatic assembly of the piston.
Description
Technical Field
The invention relates to a piston assembly technology, in particular to an automatic assembly robot for a piston pin and an assembly method.
Background
The piston is the heart of an automobile engine, bears alternating mechanical load and thermal load, is one of the key parts with the worst working conditions in the engine, has the function of bearing gas pressure, is transmitted to a connecting rod through a piston pin to drive a crankshaft to rotate, and is also a component of a combustion chamber at the top of the piston;
the piston includes piston head and piston rod, through piston pin equipment connection between the two, traditional piston mainly relies on manual operation, and the packaging efficiency ratio is low, and at the in-process of equipment, the degree of depth that the piston pin impressed is not good to be controlled, often appears the too deep condition of piston pin installation.
Disclosure of Invention
In order to solve the technical problems, the automatic piston assembling robot and the assembling method are provided, the automatic assembly of the piston can be realized, and the problem of low manual operation efficiency is solved.
In order to achieve the above purposes, the technical scheme adopted by the invention is as follows:
the utility model provides a piston automatic assembly robot, piston include piston head, piston rod and piston pin, are provided with first connecting hole on the piston head, have the second connecting hole on the piston rod, and the piston pin is inserted in first connecting hole and second connecting hole in order to realize the articulated of piston rod and piston head, its characterized in that, the robot includes:
the support legs support the mounting plate;
the piston head feeding mechanism is arranged on the rack and used for feeding the piston head to be assembled to an assembling station;
the piston rod feeding mechanism is arranged on the rack and used for feeding a piston rod to be assembled to an assembly station, inserting one end, provided with a second connecting hole, of the piston rod into a piston head at the assembly station and aligning the first connecting hole with the second connecting hole;
and the piston pin feeding mechanism is arranged on the machine frame and used for feeding the piston pins to the assembling station and inserting the piston pins into the first connecting hole and the second connecting hole at the assembling station.
Preferably, the piston head feeding mechanism comprises:
the bottom frame is arranged on the rack and is positioned below the mounting plate;
the cylinder body of the first air cylinder is arranged at the bottom of the bottom frame, and an air cylinder rod vertically extends upwards and penetrates out of the top of the bottom frame;
the jacking plate is horizontally arranged on the upper end face of the cylinder rod of the first cylinder, the lower surface of the jacking plate is provided with two vertically extending guide rods, and the top of the hollow frame at the bottom is provided with a limiting through hole for each guide rod to pass through;
the shell of the first motor is arranged on the upper surface of the jacking plate, and the output end of the first motor is a disc and is arranged above the shell of the first motor;
the bearing cylinder is arranged on the upper surface of the disc, and the axis of the bearing cylinder is collinear with the rotation axis of the disc;
the placing disc is detachably arranged on the upper end face of the bearing cylinder, and the axis of the placing disc is collinear with the axis of the bearing cylinder;
the first clamping blocks are arranged on the upper surface of the placing disc and are oppositely arranged relative to the axis of the placing disc, and the two first clamping blocks can move towards or away from each other to preliminarily clamp or release the piston head;
and a circular through hole is arranged on the mounting plate at a position corresponding to the bearing cylinder, and the diameter of the circular through hole is larger than that of the bearing cylinder so that the piston head on the placing disc can be exposed out of the mounting plate.
Preferably, a first clamping jaw cylinder is arranged in the bearing cylinder, a cylinder body of the first clamping jaw cylinder is arranged on the upper surface of the disc, a clamping jaw of the first clamping jaw cylinder extends upwards, two sliding grooves are formed in the placing disc, extend along the sliding direction of the first clamping block and are symmetrically arranged relative to the axis of the placing disc, and two clamping jaws of the first clamping jaw cylinder penetrate through the corresponding sliding grooves and are connected with the corresponding first clamping blocks respectively.
Preferably, the piston rod feed mechanism includes:
the width direction of the supporting plate extends vertically, the length direction of the supporting plate extends horizontally, and the supporting plate is supported on the rack and is positioned right above the mounting plate;
the two synchronous wheels are respectively arranged at the two ends of the supporting plate along the length direction and are in transmission connection through a synchronous belt;
the two second sliding rails are arranged on the supporting plate and are arranged up and down and extend along the length direction of the supporting plate;
the material moving plate is provided with two second sliding blocks which are respectively in sliding fit with the two second sliding rails and is in transmission connection with the synchronous belt through a fixed clamping plate;
the cylinder body of the fourth cylinder is arranged on the material moving plate, and the cylinder rod of the fourth cylinder extends downwards;
and the cylinder body of the second clamping jaw cylinder is arranged at the lower end of the cylinder rod of the fourth cylinder, and the clamping jaw of the second clamping jaw cylinder is arranged downwards and used for clamping the piston rod.
Preferably, the robot further comprises a positioning mechanism, the positioning mechanism comprising:
the top rectangular frame is embedded on the mounting plate;
the two first sliding rails are arranged in the top rectangular frame and are arranged along the horizontal direction perpendicular to the axis of a second connecting hole of a piston rod clamped on the second clamping jaw cylinder;
the lower surface of the reciprocating flat plate is provided with a plurality of first sliding blocks which are respectively matched with the two first sliding rails in a sliding manner;
the alignment sensor is arranged on the reciprocating flat plate, the detection direction of the detection end of the alignment sensor faces the direction of the circular through hole, and the detection direction is parallel to the axis direction of the second connecting hole of the piston rod clamped on the second clamping jaw cylinder, and the alignment sensor is used for detecting whether the first connecting hole of the piston head located at the assembling station is in place or not and detecting whether the first connecting hole is aligned with the second connecting hole or not.
Preferably, the piston pin feeding mechanism includes:
the feeding seat is arranged on the upper surface of the mounting plate, a through hole and a temporary storage cavity with an upward opening are formed in the feeding seat, the axis of the through hole is collinear with the axes of the first connecting hole and the second connecting hole after the through hole is in place, the diameter of the through hole is equivalent to that of the piston pin, two side surfaces of the temporary storage cavity, which are positioned on two sides of a first vertical plane passing through the axis of the through hole, are inclined surfaces, the two inclined surfaces are gradually close to each other from top to bottom, and the lower end of the temporary storage cavity is communicated with the through hole;
the fifth cylinder is arranged on the frame and is positioned on the side opposite to the circular through hole relative to the feeding seat, the axis of a cylinder rod of the fifth cylinder is collinear with the axis of the through hole, when the cylinder rod extends out, a piston pin in the through hole can be pushed into the first connecting hole and the second connecting hole, when the cylinder rod of the fifth cylinder retracts, the piston pin can smoothly enter the through hole from a temporary storage cavity, and the size of the temporary storage cavity in the axis direction of the through hole is equivalent to the length of the piston pin.
Preferably, the piston pin feeding mechanism further comprises:
a storage case having an inner space for storing a wrist pin to be assembled, the inner space having a size in an axial direction of a through hole equal to or slightly larger than a length of the wrist pin, the wrist pin being placed in the inner space in the axial direction of the through hole, a lower end of the storage case having a lower opening allowing passage of at least one wrist pin at the same time;
the material guide box is of a cylindrical structure with two closed ends, the axis of the material guide box is parallel to the axis of the through hole and is positioned on the first vertical plane, the upper side of the material guide box is communicated with the lower opening of the storage box, and the lower side of the material guide box is communicated with the temporary storage cavity;
the rotary disc is rotatably arranged in the material guide box, the rotary disc is coaxial with the material guide box, the rotation axis of the rotary disc is positioned on the axis of the material guide box, a plurality of material moving grooves are arranged on the circumferential surface of the rotary disc at equal intervals, the cross section of each material moving groove is semicircular, the diameter of each semicircular material moving groove is equal to or slightly larger than the diameter of a piston pin, the axis of each material moving groove is parallel to the axis of the through hole, the diameter of the rotary disc is configured to allow only the piston pin falling into the material moving grooves to rotate in the material guide box along with the rotation of the rotary disc, and when the piston pin moves to the position right below the axis of the rotary disc, the piston pin falls into the temporary storage cavity and only one piston pin falls into the.
Preferably, a sixth cylinder is arranged on the reciprocating flat plate, a cylinder body of the sixth cylinder is fixed on the reciprocating flat plate, an axis of a cylinder rod extends along a horizontal direction perpendicular to the first slide rail and faces the circular through hole, the reciprocating flat plate is driven by a second cylinder, a cylinder body of the second cylinder is fixed on the lower surface of the mounting plate, the cylinder rod of the second cylinder extends along the moving direction of the reciprocating flat plate, the free end of the cylinder rod of the second cylinder is connected with the reciprocating flat plate, and when the cylinder rod of the second cylinder extends and retracts, the alignment sensor and the cylinder rod of the sixth cylinder are alternately aligned with the first connecting hole of the piston head in the assembling station and in place.
Preferably, the robot further comprises a piston head clamping mechanism, the piston head clamping mechanism comprises two second clamping blocks arranged on the upper surface of the mounting plate, the second clamping blocks are symmetrically arranged relative to the first vertical plane and can be close to or far away from each other, and the end face of one end, close to each other, of the two second clamping blocks is an arc face matched with the surface of the piston head.
The invention also provides an automatic piston assembling method, which adopts the robot and specifically comprises the following steps:
the method comprises the following steps: moving the piston head to be assembled onto the placing disc;
step two: the first clamping block clamps the piston head on the placing disc;
step three: the cylinder rod of the first cylinder extends upwards, and the piston head moves to an assembling station;
step four: the alignment sensor moves to a specified position to detect a first connecting hole on the piston head at the assembling station;
step five: if the first connecting hole on the piston head is not detected to be in place, the first motor starts to rotate until the first connecting hole is in place;
step six: after the first connecting hole is in place, the piston rod feeding mechanism feeds the piston rod, and detects whether the first connecting hole is aligned with the second connecting hole in the piston rod through the alignment sensor, if not, the piston rod feeding mechanism adjusts the position of the piston rod until the first connecting hole is aligned with the second connecting hole;
step seven: moving a sixth cylinder to the specified position and extending a cylinder rod of the sixth cylinder;
step eight: the turntable rotates for a set angle to enable a piston pin to fall into the through hole;
step nine: a cylinder rod of the fifth cylinder extends out, and a piston pin in the through hole is pushed into the first connecting hole and the second connecting hole;
step ten: the piston rod material moving mechanism moves out the assembled piston at the assembling station.
Compared with the prior art, the invention has the following beneficial effects:
the robot can realize automatic assembly of the piston.
Drawings
FIGS. 1-3 are general block diagrams of the present invention;
FIG. 4 is an enlarged view taken at A in FIG. 1;
FIG. 5 is an enlarged view of FIG. 3 at B;
FIG. 6 is a partial perspective view of the present invention;
FIG. 7 is a schematic view of a partial perspective structure of a piston head loading mechanism of the present invention;
FIG. 8 is a partially exploded view of the piston head feed mechanism of the present invention;
FIG. 9 is a partial exploded view of the piston pin loading mechanism of the present invention;
fig. 10 is a partial perspective view of the piston rod feed mechanism of the present invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art.
Referring to fig. 1 to 10, an automatic piston assembling robot, in which a piston includes a piston head 101, a piston rod 102, and a piston pin 103, the piston head 101 is provided with a first connecting hole, the piston rod has a second connecting hole, and the piston pin is inserted into the first connecting hole and the second connecting hole to hinge the piston rod 102 to the piston head 101, includes: a frame 1 including a mounting plate 49 and a plurality of support legs 50 provided on a lower surface of the mounting plate 49, the support legs 50 supporting the mounting plate 49; the piston head feeding mechanism 2 is arranged on the rack 1 and used for feeding the piston head 101 to be assembled to an assembling station; the piston head clamping mechanism 3 is arranged on the frame 1 and is used for clamping the piston head which is thick at an assembly station; the piston rod feeding mechanism 4 is arranged on the machine frame 1 and used for feeding the piston rod 102 to be assembled to the assembling station, inserting one end to be assembled of the piston rod 102 into the piston head 101 and aligning the first connecting hole with the second connecting hole; and a piston pin loading mechanism 5, which is arranged on the frame 1, and is used for loading the piston pin 103 to the assembling station and inserting the piston pin 103 into the first connecting hole and the second connecting hole.
Piston head feed mechanism 2 includes: a bottom frame 7 disposed on the frame 1 and below the mounting plate 49; the cylinder body of the first air cylinder 8 is arranged at the bottom of the bottom frame 7, and an air cylinder rod vertically extends upwards and penetrates out of the top of the bottom frame 7; the jacking plate 9 is horizontally arranged on the upper end face of a cylinder rod of the first cylinder 8, two guide rods 10 which vertically extend are arranged on the lower surface of the jacking plate, a limiting through hole for each guide rod 10 to penetrate is formed in the top of the bottom hollow frame 7, and the stability of the jacking plate 9 during up-and-down movement can be improved through the guide rods 10; a first motor 11, the shell of which is arranged on the upper surface of the jacking plate 9, and the output end of which is a disc arranged above the shell; a carrier 12 disposed on the upper surface of the carrier 12 and having an axis collinear with the axis of rotation of the disc; a placing disc 15 which is detachably arranged on the upper end surface of the bearing cylinder 12, and the axis of the placing disc 15 is collinear with the axis of the bearing cylinder 12; the first clamping blocks 13 are provided with two first clamping blocks which are arranged on the upper surface of the placing disc 15 and are oppositely arranged relative to the axis of the placing disc 15, and the two first clamping blocks 13 can move towards or away from each other to preliminarily clamp or release the piston head 101. When the assembling device is used, the piston head 101 to be assembled is placed in the middle position of the upper surface of the placing disc 15, the two first clamping blocks 13 move towards each other to clamp the piston head 101, the cylinder rod of the first air cylinder 8 extends out to move the piston head 101 upwards to a position higher than the upper surface of the mounting plate 49, and then the first motor 11 rotates to adjust the orientation of the first connecting hole in the piston head 101. A circular through hole 51 is provided on the mounting plate 49 at a position corresponding to the carrier cylinder 12, and the diameter of the circular through hole 51 is larger than the diameters of the carrier cylinder 12 and the placing disc 15, so that the carrier cylinder 12 and the placing disc 15 can pass through the circular through hole 51, and the piston head 101 is exposed from the upper surface of the mounting plate 49.
Further, a first clamping jaw air cylinder 14 is arranged in the bearing cylinder 12, a cylinder body of the first clamping jaw air cylinder is arranged on the upper surface of the disc, and clamping jaws of the first clamping jaw air cylinder extend upwards. Placing the dish 15 and being provided with two spouts 151, two spouts 151 extend along the slip direction of first clamp splice 13 and for place the axis symmetry setting of dish 15, two clamping jaws of first clamping jaw cylinder 14 pass corresponding spout 151 respectively and are connected with corresponding first clamp splice 13, can drive two first clamp splice 13 round trip movement through first clamping jaw cylinder 14.
Further, the piston feeding mechanism 2 further comprises a piston head conveying table 16 supported on the frame 1, and the piston head conveying table 16 is used for conveying the piston head 101 to the placing disc 15. The piston head transfer table 16 may be belt-based or otherwise as known in the art.
The piston rod feed mechanism 4 includes: a support plate 26, which extends vertically in the width direction and horizontally in the length direction, is supported on the frame 1 and is positioned right above the mounting plate 49; two synchronizing wheels 27 respectively arranged at two ends of the supporting plate 26 along the length direction, wherein the two synchronizing wheels 27 are in transmission connection by adopting a synchronous belt 48; two second slide rails 28, which are arranged on the support plate 26, wherein the two second slide rails 28 are arranged up and down and extend along the length direction of the support plate 26; the material moving plate 29 is provided with two second sliding blocks 31, the two second sliding blocks 31 are respectively in sliding fit with the two second sliding rails 28, the material moving plate 29 is in transmission connection with the synchronous belt 48 through the fixed clamping plate 30, and when the synchronous belt 48 rotates under the driving of the synchronous wheel 27, the material moving plate 29 can be driven to reciprocate; a fourth cylinder 31 having a cylinder body provided on the material transfer plate 29 and a cylinder rod extending downward; and a second clamping jaw air cylinder 33, the cylinder body of which is arranged at the lower end of the air cylinder rod of the fourth air cylinder 31, and the clamping jaw of which is arranged downwards, and is used for clamping the piston rod 102. The piston rod feeding mechanism 4 can drive the piston rod 102 to move to the position right above the placing disc 15, and move the end to be assembled of the piston rod 102 to the position where the piston head 101 on the placing disc 15 is assembled. The synchronizing wheel 27 is driven by a second motor 36.
The piston rod feed mechanism 4 further comprises a piston rod transfer table 35 supported on the frame 1 for transferring the piston rod 102 to a position where the second gripper cylinder 33 can grip. The piston rod transfer station 35 may be of the prior art.
The robot further comprises a positioning mechanism 6, the positioning mechanism 6 comprising: a top rectangular frame 17 embedded on the mounting plate 49; two first slide rails 18, which are arranged in the top rectangular frame 17, wherein the two first slide rails 18 are arranged along a horizontal direction perpendicular to the axis of the second connecting hole of the piston rod 102 clamped on the second clamping jaw air cylinder 33; a reciprocating flat plate 19, provided with a plurality of first sliders 20 on a lower surface thereof, the plurality of first sliders 20 being respectively slidably engaged with the two first slide rails 18, so that the reciprocating flat plate 19 can reciprocate along the arrangement direction of the first slide rails 18; and the alignment sensor 22 is arranged on the reciprocating flat plate 19, the detection direction of the detection end of the alignment sensor faces the direction of the circular through hole, the detection direction is parallel to the axial direction of the second connection hole of the piston rod 102 clamped on the second clamping jaw cylinder 33, the alignment sensor is used for detecting whether the first connection hole of the piston head 101 located at the assembly station is in place or not, when the first connection hole is detected to be in place, the piston rod feeding mechanism 4 drives one piston rod 102 to move to the assembly station, the alignment sensor 22 detects again to judge whether the first connection hole and the second connection hole are aligned or not, and the alignment sensor is adjusted when the first connection hole and the second connection hole are not aligned.
The piston pin feeding mechanism 5 includes: a feeding seat 37, which is arranged on the upper surface of the mounting plate 49, and is formed with a through hole and a temporary storage cavity 39 with an upward opening, wherein the axis of the through hole is collinear with the axis of the first connecting hole and the second connecting hole after the through hole is in place, the diameter of the through hole is equivalent to the diameter of the piston pin so as to ensure that the piston pin can smoothly pass through the through hole and enter the first connecting hole and the second connecting hole, two side surfaces of the temporary storage cavity 39, which are positioned on a first vertical plane passing through the axis of the through hole, are inclined surfaces, the two inclined surfaces gradually approach from top to bottom, the temporary storage cavity 39 is connected with the through hole at the lower end, and when the piston pin 103 is placed into the temporary storage cavity 39 along the axis direction of the through hole, the piston pin rolls downwards along the two inclined; and a fifth cylinder 40, which is arranged on the frame 1 and is located on the opposite side of the circular through hole relative to the feeding seat 37, and the axis of the cylinder rod of the fifth cylinder is collinear with the axis of the through hole, when the cylinder rod extends, the piston pin 103 in the through hole can be pushed into the first connecting hole and the second connecting hole to realize the connection of the piston head 101 and the piston rod 102, so that the assembly is completed. When the cylinder rod of the fifth cylinder 40 is retracted, the piston pin 103 can be smoothly inserted into the through hole from the intermediate storage chamber 39. The dimension of the intermediate chamber 39 in the axial direction of the through-hole corresponds to the length of the piston pin 103. Further, a feeding pipe 38 is arranged on one side of the feeding seat 37 close to the circular through hole, the axis of the feeding pipe 38 is collinear with the axis of the through hole, the inner diameter of the feeding pipe 38 is the same as the diameter of the through hole, and the length of the feeding pipe 38 is configured to enable one end of the feeding pipe 38 far away from the feeding seat 37 to be as close as possible to the piston head 101 located at the assembling station and in place.
The piston pin feeding mechanism 5 further comprises: a case 41 having an inner space for storing the wrist pin 103 to be assembled, the inner space having a size in the axial direction of the through hole equal to or slightly larger than the length of the wrist pin 103, the wrist pin 103 being placed in the inner space in the axial direction of the through hole, a lower end of the case 41 having a lower opening allowing passage of at least one wrist pin at the same time; the material guide box 42 is of a cylindrical structure with two closed ends, the axis of the material guide box 42 is parallel to the axis of the through hole and is positioned on the first vertical plane, the upper side of the material guide box 42 is connected with the lower opening of the material storage box 41 so that the material storage box 41 is communicated with the material guide box 42, a piston pin can enter the material guide box 42 from the material storage box 41 under the action of self gravity, and the lower side of the material guide box 42 is communicated with the temporary storage cavity 39; a rotating disk 45 rotatably disposed in the guide box 42, the rotating disk 45 is coaxial with the guide box 42, the rotating axis of the rotating disk 45 is located on the axis of the guide box 42, a plurality of material transferring grooves 46 are equidistantly disposed on the circumferential surface of the rotating disk 45, the cross section of each material transferring groove 46 is semicircular, the diameter of each semicircular material transferring groove is equal to or slightly larger than the diameter of each piston pin 103, the axis of each material transferring groove 46 is parallel to the axis of each through hole, the diameter of the rotating disk 45 is configured to only allow the piston pins 103 falling into the material transferring grooves 46 to rotate in the guide box 42 along with the rotation of the rotating disk 45, and when the piston pins 103 move to be right below the axis of the rotating disk 45, the piston pins 103 fall into the temporary storage cavities 39 and only one piston pin 103 falls into the temporary storage cavities 39 at the same time. The turntable 45 is driven by a third motor 47.
Further, a sixth air cylinder 23 is arranged on the reciprocating flat plate 19, a cylinder body of the sixth air cylinder 23 is fixed on the reciprocating flat plate 19, and an axis of an air cylinder rod extends along a horizontal direction perpendicular to the first slide rail 18 and faces the circular through hole. The reciprocating flat plate 19 is driven by a second cylinder 21, the cylinder body of the second cylinder 21 is fixed on the lower surface of the mounting plate 49, the cylinder rod of the second cylinder extends along the moving direction of the reciprocating flat plate 19, and the free end of the cylinder rod is connected with the reciprocating flat plate 19. When the cylinder rod of the second cylinder 21 is extended and retracted, the alignment sensor 22 and the cylinder rod of the sixth cylinder 23 are alternately aligned with the first connection hole of the piston head 101 which is in the assembly station and in place. When the cylinder rod of the sixth cylinder 23 is aligned with the first connection hole, the cylinder rod of the sixth cylinder 23 protrudes, and the position of the free end of the cylinder rod is configured to be in place when the cylinder rod of the fifth cylinder 40 pushes the piston pin 103 into the first connection hole and the second connection hole and abuts against the end surface of the cylinder rod protruding from the sixth cylinder 23, that is, the sixth cylinder 23 plays a role in positioning the piston pin 103.
Further, the piston head clamping mechanism 3 includes two second clamping blocks 25 arranged on the upper surface of the mounting plate 49, the second clamping blocks 25 are symmetrically arranged relative to the first vertical plane and can be close to or away from each other, the end surface of one end, close to each other, of the two second clamping blocks 25 is an arc surface matched with the surface of the piston head 101, and when the two second clamping blocks 25 clamp the piston head 101, an escape channel for the piston pin 103 to pass through is formed between the two second clamping blocks 25. When the piston head 101 is clamped by the two first clamping blocks 13, the lower end of the piston head 101 is clamped, and the position of the first connecting hole is uncertain when the piston head 101 is placed on the placing disc 15, so that the two first clamping blocks 13 can only be clamped at the lower end of the piston head 101, the clamping part of the two first clamping blocks is lower than that of the first connecting hole, the first connecting hole is prevented from being blocked by the first clamping blocks 13, after the position of the piston head 101 is adjusted, the piston head 101 is further clamped by the second clamping block 25 to the upper part of the piston head 101, and the stability of the piston head 101 can be guaranteed. The two second clamping blocks 25 are driven by two third cylinders 24, respectively.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides a piston automatic assembly robot, piston include piston head, piston rod and piston pin, are provided with first connecting hole on the piston head, have the second connecting hole on the piston rod, and the piston pin is inserted in first connecting hole and second connecting hole in order to realize the articulated of piston rod and piston head, its characterized in that, the robot includes:
the support legs support the mounting plate;
the piston head feeding mechanism is arranged on the rack and used for feeding the piston head to be assembled to an assembling station;
the piston rod feeding mechanism is arranged on the rack and used for feeding a piston rod to be assembled to an assembly station, inserting one end, provided with a second connecting hole, of the piston rod into a piston head at the assembly station and aligning the first connecting hole with the second connecting hole;
and the piston pin feeding mechanism is arranged on the machine frame and used for feeding the piston pins to the assembling station and inserting the piston pins into the first connecting hole and the second connecting hole at the assembling station.
2. An automatic piston assembling robot as claimed in claim 1, wherein the piston head feeding mechanism comprises:
the bottom frame is arranged on the rack and is positioned below the mounting plate;
the cylinder body of the first air cylinder is arranged at the bottom of the bottom frame, and an air cylinder rod vertically extends upwards and penetrates out of the top of the bottom frame;
the jacking plate is horizontally arranged on the upper end face of the cylinder rod of the first cylinder, the lower surface of the jacking plate is provided with two vertically extending guide rods, and the top of the hollow frame at the bottom is provided with a limiting through hole for each guide rod to pass through;
the shell of the first motor is arranged on the upper surface of the jacking plate, and the output end of the first motor is a disc and is arranged above the shell of the first motor;
the bearing cylinder is arranged on the upper surface of the disc, and the axis of the bearing cylinder is collinear with the rotation axis of the disc;
the placing disc is detachably arranged on the upper end face of the bearing cylinder, and the axis of the placing disc is collinear with the axis of the bearing cylinder;
the first clamping blocks are arranged on the upper surface of the placing disc and are oppositely arranged relative to the axis of the placing disc, and the two first clamping blocks can move towards or away from each other to preliminarily clamp or release the piston head;
and a circular through hole is arranged on the mounting plate at a position corresponding to the bearing cylinder, and the diameter of the circular through hole is larger than that of the bearing cylinder so that the piston head on the placing disc can be exposed out of the mounting plate.
3. The automatic piston assembling robot as claimed in claim 2, wherein a first clamping jaw cylinder is disposed in the carrying cylinder, a cylinder body of the first clamping jaw cylinder is disposed on an upper surface of the circular disc, clamping jaws of the first clamping jaw cylinder extend upwards, two sliding grooves are disposed on the placing disc, the two sliding grooves extend along a sliding direction of the first clamping block and are symmetrically disposed with respect to an axis of the placing disc, and the two clamping jaws of the first clamping jaw cylinder respectively penetrate through the corresponding sliding grooves to be connected with the corresponding first clamping blocks.
4. The automatic piston assembling robot as claimed in claim 3, wherein said piston rod feed mechanism comprises:
the width direction of the supporting plate extends vertically, the length direction of the supporting plate extends horizontally, and the supporting plate is supported on the rack and is positioned right above the mounting plate;
the two synchronous wheels are respectively arranged at the two ends of the supporting plate along the length direction and are in transmission connection through a synchronous belt;
the two second sliding rails are arranged on the supporting plate and are arranged up and down and extend along the length direction of the supporting plate;
the material moving plate is provided with two second sliding blocks which are respectively in sliding fit with the two second sliding rails and is in transmission connection with the synchronous belt through a fixed clamping plate;
the cylinder body of the fourth cylinder is arranged on the material moving plate, and the cylinder rod of the fourth cylinder extends downwards;
and the cylinder body of the second clamping jaw cylinder is arranged at the lower end of the cylinder rod of the fourth cylinder, and the clamping jaw of the second clamping jaw cylinder is arranged downwards and used for clamping the piston rod.
5. An automatic piston assembling robot as claimed in claim 4, wherein said robot further comprises a positioning mechanism, said positioning mechanism comprising:
the top rectangular frame is embedded on the mounting plate;
the two first sliding rails are arranged in the top rectangular frame and are arranged along the horizontal direction perpendicular to the axis of a second connecting hole of a piston rod clamped on the second clamping jaw cylinder;
the lower surface of the reciprocating flat plate is provided with a plurality of first sliding blocks which are respectively matched with the two first sliding rails in a sliding manner;
the alignment sensor is arranged on the reciprocating flat plate, the detection direction of the detection end of the alignment sensor faces the direction of the circular through hole, and the detection direction is parallel to the axis direction of the second connecting hole of the piston rod clamped on the second clamping jaw cylinder, and the alignment sensor is used for detecting whether the first connecting hole of the piston head located at the assembling station is in place or not and detecting whether the first connecting hole is aligned with the second connecting hole or not.
6. The automatic piston assembling robot as claimed in claim 5, wherein said piston pin feeding mechanism comprises:
the feeding seat is arranged on the upper surface of the mounting plate, a through hole and a temporary storage cavity with an upward opening are formed in the feeding seat, the axis of the through hole is collinear with the axes of the first connecting hole and the second connecting hole after the through hole is in place, the diameter of the through hole is equivalent to that of the piston pin, two side surfaces of the temporary storage cavity, which are positioned on two sides of a first vertical plane passing through the axis of the through hole, are inclined surfaces, the two inclined surfaces are gradually close to each other from top to bottom, and the lower end of the temporary storage cavity is communicated with the through hole;
the fifth cylinder is arranged on the frame and is positioned on the side opposite to the circular through hole relative to the feeding seat, the axis of a cylinder rod of the fifth cylinder is collinear with the axis of the through hole, when the cylinder rod extends out, a piston pin in the through hole can be pushed into the first connecting hole and the second connecting hole, when the cylinder rod of the fifth cylinder retracts, the piston pin can smoothly enter the through hole from a temporary storage cavity, and the size of the temporary storage cavity in the axis direction of the through hole is equivalent to the length of the piston pin.
7. The automatic piston assembling robot as claimed in claim 6, wherein said piston pin feeding mechanism further comprises:
a storage case having an inner space for storing a wrist pin to be assembled, the inner space having a size in an axial direction of a through hole equal to or slightly larger than a length of the wrist pin, the wrist pin being placed in the inner space in the axial direction of the through hole, a lower end of the storage case having a lower opening allowing passage of at least one wrist pin at the same time;
the material guide box is of a cylindrical structure with two closed ends, the axis of the material guide box is parallel to the axis of the through hole and is positioned on the first vertical plane, the upper side of the material guide box is communicated with the lower opening of the storage box, and the lower side of the material guide box is communicated with the temporary storage cavity;
the rotary disc is rotatably arranged in the material guide box, the rotary disc is coaxial with the material guide box, the rotation axis of the rotary disc is positioned on the axis of the material guide box, a plurality of material moving grooves are arranged on the circumferential surface of the rotary disc at equal intervals, the cross section of each material moving groove is semicircular, the diameter of each semicircular material moving groove is equal to or slightly larger than the diameter of a piston pin, the axis of each material moving groove is parallel to the axis of the through hole, the diameter of the rotary disc is configured to allow only the piston pin falling into the material moving grooves to rotate in the material guide box along with the rotation of the rotary disc, and when the piston pin moves to the position right below the axis of the rotary disc, the piston pin falls into the temporary storage cavity and only one piston pin falls into the.
8. An automatic piston assembling robot as claimed in claim 7, wherein a sixth cylinder is provided on said reciprocating plate, a cylinder body of said sixth cylinder is fixed on the reciprocating plate, an axis of a cylinder rod extends along a horizontal direction perpendicular to said first slide rail and faces said circular through hole, said reciprocating plate is driven by a second cylinder, a cylinder body of said second cylinder is fixed on a lower surface of a mounting plate, a cylinder rod thereof extends along a moving direction of said reciprocating plate and a free end thereof is connected with said reciprocating plate, and when said cylinder rod of said second cylinder is extended and retracted, said alignment sensor and the cylinder rod of said sixth cylinder are alternately aligned with the first connecting hole of the piston head in the assembling station and in place.
9. The automatic piston assembling robot as claimed in claim 8, further comprising a piston head clamping mechanism, wherein the piston head clamping mechanism comprises two second clamping blocks arranged on the upper surface of the mounting plate, the second clamping blocks are symmetrically arranged relative to the first vertical plane and can be close to or away from each other, and the end surface of one end, close to each other, of the two second clamping blocks is an arc surface matched with the surface of the piston head.
10. An automatic piston assembling method using the automatic piston assembling robot according to claim 9, comprising the steps of:
the method comprises the following steps: moving the piston head to be assembled onto the placing disc;
step two: the first clamping block clamps the piston head on the placing disc;
step three: the cylinder rod of the first cylinder extends upwards, and the piston head moves to an assembling station;
step four: the alignment sensor moves to a specified position to detect a first connecting hole on the piston head at the assembling station;
step five: if the first connecting hole on the piston head is not detected to be in place, the first motor starts to rotate until the first connecting hole is in place;
step six: after the first connecting hole is in place, the piston rod feeding mechanism feeds the piston rod, and detects whether the first connecting hole is aligned with the second connecting hole in the piston rod through the alignment sensor, if not, the piston rod feeding mechanism adjusts the position of the piston rod until the first connecting hole is aligned with the second connecting hole;
step seven: moving a sixth cylinder to the specified position and extending a cylinder rod of the sixth cylinder;
step eight: the turntable rotates for a set angle to enable a piston pin to fall into the through hole;
step nine: a cylinder rod of the fifth cylinder extends out, and a piston pin in the through hole is pushed into the first connecting hole and the second connecting hole;
step ten: the piston rod material moving mechanism moves out the assembled piston at the assembling station.
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| CN113714776A (en) * | 2021-09-27 | 2021-11-30 | 临澧金华天机械制造有限公司 | Standard festival bolt automatic assembly mechanism |
| CN113732672A (en) * | 2021-09-03 | 2021-12-03 | 浙江兄弟之星汽配有限公司 | Automatic filter assembling equipment convenient for product switching |
| CN115026529A (en) * | 2022-06-10 | 2022-09-09 | 昆山楷徽自动化科技有限公司 | Full-automatic intelligent assembly equipment |
| CN116398518A (en) * | 2023-04-20 | 2023-07-07 | 威海高技术产业开发区万力实业有限公司 | Automatic feeding and discharging device for producing piston rods |
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