CN113020934A - Automatic intelligent assembling device for vertical hydraulic oil cylinder and working method thereof - Google Patents
Automatic intelligent assembling device for vertical hydraulic oil cylinder and working method thereof Download PDFInfo
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- CN113020934A CN113020934A CN202110239295.8A CN202110239295A CN113020934A CN 113020934 A CN113020934 A CN 113020934A CN 202110239295 A CN202110239295 A CN 202110239295A CN 113020934 A CN113020934 A CN 113020934A
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- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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Abstract
The automatic intelligent assembling device for the vertical hydraulic oil cylinder comprises an operating platform, wherein a supporting unit, a grabbing unit, a pressing-in unit and a clamping unit which are matched with each other are arranged on the operating platform, and a bearing unit is arranged at the bottom of the clamping unit; the supporting unit is used for horizontally placing a hydraulic cylinder body to be assembled, the grabbing unit is used for grabbing the horizontally placed hydraulic cylinder body and converting the horizontally placed hydraulic cylinder body into a vertical direction to be placed in the clamping unit, the pressing-in unit is used for realizing pressing-in and assembling of a piston rod of the hydraulic cylinder, the clamping unit is used for limiting the position of the hydraulic cylinder to ensure that the hydraulic cylinder is in a vertical and shake-free state during assembling, and the bearing unit is used for supporting the hydraulic cylinder during assembling; the operating table is also provided with a control unit, and the control unit is respectively and correspondingly electrically connected with the supporting unit, the grabbing unit, the pressing-in unit, the clamping unit and the bearing unit through leads.
Description
The technical field is as follows:
the invention relates to an automatic intelligent assembling device for a vertical hydraulic oil cylinder and a working method thereof.
Background art:
the hydraulic cylinder is a hydraulic actuating element which converts hydraulic energy into mechanical energy and does linear reciprocating motion, and has simple structure and reliable work; when the reciprocating motion is realized by using the reciprocating motion device, a speed reducing device can be omitted, no transmission gap exists, and the reciprocating motion is stable, so that the reciprocating motion device is widely applied to hydraulic systems of various machines; the output force of the hydraulic cylinder is in direct proportion to the effective area of the piston and the pressure difference between the two sides of the effective area, and the hydraulic cylinder basically comprises a cylinder body, a cylinder cover, a piston rod, a sealing device, a buffer device and an exhaust device; the damping device and the exhaust device are determined according to specific application occasions, and other devices are necessary.
The hydraulic cylinder has various structural forms, and the classification method thereof also has various types: the motion mode can be divided into a linear reciprocating motion type and a rotary swinging type; the hydraulic pressure can be divided into a single-acting type and a double-acting type according to the action condition of the hydraulic pressure; according to the structural form, the device can be divided into a piston type, a plunger type, a multi-stage telescopic sleeve type, a rack and pinion type and the like; the device can be divided into a pull rod, an earring, a bottom foot, a hinge shaft and the like according to the installation form; the pressing force grades can be 16Mpa, 25Mpa, 31.5Mpa, etc.; because hydraulic transmission has the excellent characteristics of stable transmission, large bearing capacity, easy realization of automation and the like, the hydraulic cylinder is widely applied to industries such as machine tools, engineering machinery, agricultural machinery, automobiles and the like.
The pneumatic cylinder need assemble in process of production, at present, domestic pneumatic cylinder assembly operation mainly relies on the manpower to accomplish, although some simple and easy rigging equipment have been used, still need a large amount of artifical auxiliary operation, and to the great or high large-scale pneumatic cylinder of some diameters, still there is the problem that is difficult to the assembly, and simultaneously, can make the assembly body receive the action of gravity during the horizontal assembly pneumatic cylinder, the atress is uneven, the assembly difficulty, thereby it is lower to lead to current pneumatic cylinder rigging equipment degree of automation, assembly efficiency is not high, there is the problem of consuming time and wasting force.
The invention content is as follows:
the embodiment of the invention provides an automatic intelligent assembling device for a vertical hydraulic cylinder and a working method thereof, the structure and the method are reasonable in design, based on the integrated control function of a PLC (programmable logic controller), under the mutual cooperation action of a supporting unit, a grabbing unit, a pressing-in unit, a clamping unit and a bearing unit, the automatic operation of hydraulic cylinder assembly can be realized, the assembly efficiency is improved, the automatic intelligent assembling device can be suitable for large hydraulic cylinders with larger diameters or higher heights, the assembly difficulty is reduced, the influence of the gravity of the hydraulic cylinders in the assembly process is eliminated, and the problems in the prior art are solved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the automatic intelligent assembling device for the vertical hydraulic oil cylinder comprises an operating platform, wherein a supporting unit, a grabbing unit, a pressing-in unit and a clamping unit which are matched with each other are arranged on the operating platform, and a bearing unit is arranged at the bottom of the clamping unit; the supporting unit is used for horizontally placing a hydraulic cylinder body to be assembled, the grabbing unit is used for grabbing the horizontally placed hydraulic cylinder body and converting the horizontally placed hydraulic cylinder body into a vertical direction to be placed in the clamping unit, the pressing-in unit is used for realizing pressing-in and assembling of a piston rod of the hydraulic cylinder, the clamping unit is used for limiting the position of the hydraulic cylinder to ensure that the hydraulic cylinder is in a vertical and shake-free state during assembling, and the bearing unit is used for supporting the hydraulic cylinder during assembling; the operating table is also provided with a control unit, and the control unit is respectively and correspondingly electrically connected with the supporting unit, the grabbing unit, the pressing-in unit, the clamping unit and the bearing unit through leads.
The supporting unit comprises a lifting hydraulic cylinder vertically arranged inside the operating platform, a supporting table is arranged on a piston rod of the lifting hydraulic cylinder, and the supporting table is used for horizontally placing a cylinder body of the hydraulic cylinder.
The grabbing unit comprises a mechanical arm base, a crawler belt is arranged on the mechanical arm base along the length direction of the mechanical arm base, a mechanical arm supporting frame is arranged on the crawler belt in a sliding mode, the mechanical arm supporting frame is movably connected with a mechanical arm through a mechanical arm lead screw, a sliding block and a guide rail, the mechanical arm comprises an extension arm and a rotary arm, and a clamping jaw is arranged on the rotary arm; the crawler belt is used for driving the mechanical arm supporting frame to move along the horizontal direction, the sliding block screw rod and the guide rail are used for driving the mechanical arm to move along the vertical direction, the extension arm is used for adjusting the operation distance of the clamping jaw, and the rotary arm is used for adjusting the operation angle of the clamping jaw.
The unit of impressing includes flexible arm base, has linked firmly flexible arm support frame on flexible arm base, flexible arm support frame has flexible arm through flexible arm lead screw and slider swing joint, and the one end of keeping away from flexible arm support frame on flexible arm is equipped with the mechanism of impressing, the mechanism of impressing is used for realizing impressing and the assembly of pneumatic cylinder piston rod.
The clamping unit comprises an installation frame, clamping and positioning devices are respectively and movably installed on four surfaces of the inner side of the installation frame, and the clamping and positioning devices can slide up and down on the installation frame to realize positioning and placement of hydraulic cylinder bodies with different heights; the clamping and positioning device comprises a sliding block movably arranged on the mounting frame, a V-shaped block mounting base is connected to the sliding block through a telescopic rod, the V-shaped block mounting base is movably connected with two oppositely arranged V-shaped blocks through a bidirectional threaded lead screw and a motor, and the motor and the bidirectional threaded lead screw are used for driving the two oppositely arranged V-shaped blocks to move and adjusting the distance between the two V-shaped blocks; the bearing unit comprises a bearing disc base, and a bearing hydraulic cylinder is arranged below the bearing disc base.
The control unit comprises a PLC controller, a touch screen and a sensor and is used for completing input and output of each switching value, control of system logic functions, detection of system working states, signal acquisition and communication of each switching value and analog quantity parameters.
The automatic intelligent assembling working method of the vertical hydraulic oil cylinder comprises the following steps:
s1, the control unit transmits control instructions to the supporting unit and the grabbing unit respectively, and the supporting unit is matched with the grabbing unit to complete the taking and placing of the cylinder body of the hydraulic cylinder;
s2, the control unit transmits a control instruction to the clamping unit to complete the positioning and clamping of the cylinder body of the hydraulic cylinder;
and S3, the control unit transmits control instructions to the grabbing unit and the press-in unit respectively, and the grabbing unit is matched with the press-in unit to complete the assembly of the cylinder body and the piston rod of the hydraulic cylinder and the integral taking-out of the hydraulic cylinder.
The supporting unit is matched with the grabbing unit, and the taking and placing of the hydraulic cylinder body and the piston rod are completed by the following steps:
s1.1, horizontally moving a mechanical arm support frame on a track to a position where a hydraulic cylinder body is located, lifting a support table under the action of a lifting hydraulic cylinder, and quickly aligning and grabbing the hydraulic cylinder body by a clamping jaw;
s1.2, driving a support table to descend by a lifting hydraulic cylinder, driving a hydraulic cylinder body to lift by a clamping jaw, and rotating a rotary arm after lifting to a certain height to enable the hydraulic cylinder body to be perpendicular to the ground;
s1.3, horizontally moving the hydraulic cylinder body along with the mechanical arm support frame to a clamping unit, extending the arm to adjust the distance, positioning and aligning the hydraulic cylinder body and the center of the bearing disc base, and placing the hydraulic cylinder body on the bearing disc base to finish picking and placing of the hydraulic cylinder body.
The positioning and clamping of the hydraulic cylinder body comprises the following steps:
s2.1, according to the height of a cylinder body of the hydraulic cylinder, four clamping and positioning devices of the clamping unit move to different heights along the mounting frame through the sliding blocks;
s2.2, the motor starts to enter a working state to drive the bidirectional threaded screw rod to rotate, so that the two V-shaped blocks on the bidirectional threaded screw rod move and are opened for a certain angle;
s2.3, the V-shaped block mounting base moves towards the direction of the hydraulic cylinder body under the action of the telescopic rod, and the hydraulic cylinder body is clamped under the action of the V-shaped block.
The assembly of the hydraulic cylinder body and the piston rod and the integral taking-out of the hydraulic cylinder comprise the following steps:
s3.1, grabbing a piston rod of the hydraulic cylinder by the clamping jaw, and positioning and aligning a central shaft of the piston rod and a central shaft of a cylinder body of the hydraulic cylinder;
s3.2, under the action of the sliding block and the telescopic arm lead screw, adjusting the height of the telescopic arm, so that a central shaft of a press-in mechanism on the telescopic arm is aligned with a central shaft of the piston rod;
s3.3, after alignment, under the synergistic effect of the sliding block, the telescopic arm lead screw and the telescopic arm, the pressing-in mechanism applies pressure downwards, and meanwhile the sliding block and the mechanical arm lead screw in the grabbing unit drive the mechanical arm to descend, so that a piston rod of the hydraulic cylinder is pressed into a cylinder body of the hydraulic cylinder, and assembly is completed;
s3.4, the V-shaped block is opened, and the V-shaped block mounting base moves backwards under the action of the telescopic rod and returns to the initial position;
s3.5, the bearing disc base rises under the action of the bearing hydraulic cylinder to drive the assembled body to reach the limit position, and the mechanical arm drives the clamping jaw to clamp the assembled body;
and S3.6, after clamping, lifting the mechanical arm to a certain height, and driving the mechanical arm support frame to horizontally move under the action of the crawler belt to complete the integral taking-out of the hydraulic cylinder.
By adopting the structure, the lifting hydraulic cylinder body of the supporting unit is horizontally placed through the mutual matching action of the lifting hydraulic cylinder and the supporting table; a hydraulic cylinder body horizontally placed is grabbed by a mechanical arm and a clamping jaw in the grabbing unit and is placed in the clamping unit in a vertical direction; the accurate pressing and assembling of the cylinder body and the piston rod of the hydraulic cylinder are realized through the telescopic arm and the pressing mechanism of the pressing unit; the position of the hydraulic cylinder is limited by the V-shaped block and the bidirectional threaded lead screw of the clamping unit, so that the hydraulic cylinder is in a vertical and shake-free state during assembly; the hydraulic cylinder during assembly is supported by the weighing unit; the control unit is connected with the computer, and the control unit is used as an upper computer to perform a management function by utilizing the advantages of high operation speed, convenient information processing and high display performance of the computer and form a hierarchical control system with complementary advantages with the PLC; therefore, the PLC can execute complex control functions, so that the automatic assembling device of the vertical hydraulic cylinder can be optimally and comprehensively controlled, the systematization and automation of the assembling are realized, and the reliability and stability of the assembling are improved.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is an assembly schematic of the present invention.
Fig. 3 is a schematic structural diagram of the supporting unit of the present invention.
Fig. 4 is a schematic structural diagram of the grasping unit of the present invention.
Fig. 5 is a schematic structural view of a press-in unit of the present invention.
Fig. 6 is a schematic view of the structure of the clamping unit and the weighing unit of the present invention.
Fig. 7 is a schematic structural diagram of the clamping and positioning device of the present invention.
Fig. 8 is a control system diagram of the present invention.
In the figure, 1, an operation table, 2, a lifting hydraulic cylinder, 3, a support table, 4, a mechanical arm base, 5, a crawler belt, 6, a mechanical arm support frame, 7, a guide rail, 8, an extension arm, 9, a rotary arm, 10, a clamping jaw, 11, a telescopic arm base, 12, a telescopic arm support frame, 13, a telescopic arm, 14, a pressing mechanism, 15, a mounting frame, 16, a V-shaped block mounting base, 17, a bidirectional threaded screw rod, 18, a V-shaped block, 19, a motor, 20, a bearing disc base, 21 and a bearing hydraulic cylinder.
The specific implementation mode is as follows:
in order to clearly explain the technical features of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings.
As shown in fig. 1-8, the automatic intelligent assembling device for the vertical hydraulic oil cylinder comprises an operating platform 1, wherein a supporting unit, a grabbing unit, a pressing-in unit and a clamping unit which are matched with each other are arranged on the operating platform 1, and a bearing unit is arranged at the bottom of the clamping unit; the supporting unit is used for horizontally placing a hydraulic cylinder body to be assembled, the grabbing unit is used for grabbing the horizontally placed hydraulic cylinder body and converting the horizontally placed hydraulic cylinder body into a vertical direction to be placed in the clamping unit, the pressing-in unit is used for realizing pressing-in and assembling of a piston rod of the hydraulic cylinder, the clamping unit is used for limiting the position of the hydraulic cylinder to ensure that the hydraulic cylinder is in a vertical and shake-free state during assembling, and the bearing unit is used for supporting the hydraulic cylinder during assembling; the operating table is also provided with a control unit, and the control unit is respectively and correspondingly electrically connected with the supporting unit, the grabbing unit, the pressing-in unit, the clamping unit and the bearing unit through leads.
The supporting unit comprises a lifting hydraulic cylinder 2 vertically arranged inside the operating platform 1, a supporting table 3 is arranged on a piston rod of the lifting hydraulic cylinder 2, and the supporting table 3 is used for horizontally placing a cylinder body of the hydraulic cylinder.
The grabbing unit comprises a mechanical arm base 4, a crawler belt 5 is installed on the mechanical arm base 4 along the length direction of the mechanical arm base 4, a mechanical arm supporting frame 6 is installed on the crawler belt 5 in a sliding mode, the mechanical arm supporting frame 6 is movably connected with a mechanical arm through a mechanical arm lead screw, a sliding block and a guide rail 7, the mechanical arm comprises an extension arm 8 and a rotary arm 9, and a clamping jaw 10 is arranged on the rotary arm 9; the crawler 5 is used for driving the mechanical arm supporting frame 6 to move along the horizontal direction, the sliding block lead screw and the guide rail 7 are used for driving the mechanical arm to move along the vertical direction, the extension arm 8 is used for adjusting the operation distance of the clamping jaw 10, and the rotary arm 9 is used for adjusting the operation angle of the clamping jaw 10.
The unit of impressing includes flexible arm base 11, has linked firmly flexible arm support frame 12 on flexible arm base 11, flexible arm support frame 12 has flexible arm 13 through flexible arm lead screw and slider swing joint, and the one end of keeping away from flexible arm support frame 12 on flexible arm 13 is equipped with mechanism 14 of impressing, mechanism 14 of impressing is used for realizing impressing and the assembly of pneumatic cylinder piston rod.
The clamping unit comprises a mounting frame 15, clamping and positioning devices are respectively and movably mounted on four sides of the inner side of the mounting frame 15, and the clamping and positioning devices can slide up and down on the mounting frame 15 to realize positioning and placement of hydraulic cylinder bodies with different heights; the clamping and positioning device comprises a sliding block movably arranged on the mounting frame 15, a V-shaped block mounting base 16 is connected to the sliding block through a telescopic rod, the V-shaped block mounting base 16 is movably connected with two V-shaped blocks 18 which are oppositely arranged through a bidirectional threaded lead screw and a motor, and the motor and the bidirectional threaded lead screw are used for driving the two V-shaped blocks 18 which are oppositely arranged to move and adjusting the distance between the two V-shaped blocks 18; the bearing unit comprises a bearing disc base 20, and a bearing hydraulic cylinder 21 is arranged below the bearing disc base 20.
The control unit comprises a PLC controller, a touch screen and a sensor and is used for completing input and output of each switching value, control of system logic functions, detection of system working states, signal acquisition and communication of each switching value and analog quantity parameters.
The automatic intelligent assembling working method of the vertical hydraulic oil cylinder comprises the following steps:
s1, the control unit transmits control instructions to the supporting unit and the grabbing unit respectively, and the supporting unit is matched with the grabbing unit to complete the taking and placing of the cylinder body of the hydraulic cylinder;
s2, the control unit transmits a control instruction to the clamping unit to complete the positioning and clamping of the cylinder body of the hydraulic cylinder;
and S3, the control unit transmits control instructions to the grabbing unit and the press-in unit respectively, and the grabbing unit is matched with the press-in unit to complete the assembly of the cylinder body and the piston rod of the hydraulic cylinder and the integral taking-out of the hydraulic cylinder.
The supporting unit is matched with the grabbing unit, and the taking and placing of the hydraulic cylinder body and the piston rod are completed by the following steps:
s1.1, horizontally moving a mechanical arm support frame 6 on a crawler 5 to the position of a hydraulic cylinder body, lifting a support table 3 under the action of a lifting hydraulic cylinder 2, and quickly aligning and grabbing the hydraulic cylinder body by a clamping jaw 10;
s1.2, the supporting table 3 is driven to descend by the lifting hydraulic cylinder 2, the hydraulic cylinder body is driven to lift by the clamping jaw 10, and after the hydraulic cylinder body is lifted to a certain height, the rotary arm 9 rotates to enable the hydraulic cylinder body to be perpendicular to the ground;
s1.3, horizontally moving the hydraulic cylinder body along with the mechanical arm support frame 6 to a clamping unit, adjusting the distance by the extension arm 8, positioning and aligning the hydraulic cylinder body and the center of the bearing disc base 20, placing the hydraulic cylinder body on the bearing disc base 20, and finishing taking and placing of the hydraulic cylinder body.
The positioning and clamping of the hydraulic cylinder body comprises the following steps:
s2.1, according to the height of a cylinder body of the hydraulic cylinder, four clamping and positioning devices of the clamping unit move to different heights along the mounting frame 15 through sliding blocks;
s2.2, the motor starts to enter a working state to drive the bidirectional threaded screw 17 to rotate, so that the two V-shaped blocks 18 on the bidirectional threaded screw 17 move and are opened for a certain angle;
s2.3, the V-shaped block mounting base 16 moves towards the direction of the hydraulic cylinder body under the action of the telescopic rod and clamps the hydraulic cylinder body under the action of the V-shaped block 18.
The assembly of the hydraulic cylinder body and the piston rod and the integral taking-out of the hydraulic cylinder comprise the following steps:
s3.1, the clamping jaw 10 grabs a piston rod of the hydraulic cylinder, and a central shaft of the piston rod is aligned with a central shaft of a cylinder body of the hydraulic cylinder in a positioning mode;
s3.2, under the action of the sliding block and the telescopic arm lead screw, adjusting the height of the telescopic arm 13, so that the central shaft of the press-in mechanism 14 on the telescopic arm 13 is aligned with the central shaft of the piston rod;
s3.3, after alignment, under the synergistic action of the sliding block, the telescopic arm lead screw and the telescopic arm, the press-in mechanism 14 applies pressure downwards, and meanwhile the sliding block and the mechanical arm lead screw in the grabbing unit drive the mechanical arm to descend, so that a piston rod of the hydraulic cylinder is pressed into a cylinder body of the hydraulic cylinder, and assembly is completed;
s3.4, the V-shaped block 18 is opened, and the V-shaped block mounting base 16 moves backwards under the action of the telescopic rod and returns to the initial position;
s3.5, the bearing disc base 20 is lifted under the action of the bearing hydraulic cylinder 21 to drive the assembled assembly to reach the limit position, and the mechanical arm drives the clamping jaw 10 to clamp the assembly;
and S3.6, after clamping, lifting the mechanical arm to a certain height, and driving the mechanical arm support frame 6 to horizontally move under the action of the crawler belt 5 to complete the integral taking-out of the hydraulic cylinder.
The automatic intelligent assembling device for the vertical hydraulic oil cylinder and the working method thereof in the embodiment of the invention have the working principle that: based on the integrated control effect of PLC controller, at the support element, pick the unit, the unit of impressing, under the interact of clamping unit and bearing unit, can realize the automation mechanized operation of pneumatic cylinder assembly, the assembly efficiency has been promoted, can be applicable to the great or high large-scale pneumatic cylinder of some diameters, the assembly degree of difficulty has been reduced, the influence of pneumatic cylinder self gravity in the assembly process has been eliminated, compare with current manual assembly mode, the very big actual work load that has reduced the staff, it is safer and more convenient.
In the whole scheme, the hydraulic cylinder pressing device mainly comprises a supporting unit, a grabbing unit, a pressing-in unit, a clamping unit and a weighing unit which are matched with one another, wherein the supporting unit is used for horizontally placing a hydraulic cylinder body to be assembled, the grabbing unit is used for grabbing the horizontally placed hydraulic cylinder body and converting the horizontally placed hydraulic cylinder body into a vertical direction to be placed in the clamping unit, the pressing-in unit is used for realizing pressing-in and assembling of a piston rod of the hydraulic cylinder, the clamping unit is used for limiting the position of the hydraulic cylinder to ensure that the hydraulic cylinder is in a vertical and shake-free state during assembling, and the bearing unit; the functional units are all connected to the control unit in a centralized and electrical mode and are controlled and mobilized by the control unit in a unified mode.
Further, the supporting unit comprises a lifting hydraulic cylinder 2 vertically arranged inside the operating platform 1, a supporting platform 3 is arranged on a piston rod of the lifting hydraulic cylinder 2, a hydraulic cylinder body and a piston rod are placed on the supporting platform 3, and according to the specification size of the device, the lifting hydraulic cylinder 2 adjusts the height of the supporting platform 3 so as to grab the hydraulic cylinder body or the piston rod.
Further, the grabbing unit comprises a mechanical arm base 4, a crawler belt 5 is installed on the mechanical arm base 4 along the length direction of the mechanical arm base 4, a mechanical arm supporting frame 6 is installed on the crawler belt 5 in a sliding mode, the mechanical arm supporting frame 6 is movably connected with a mechanical arm through a mechanical arm lead screw, a sliding block and a guide rail 7, the mechanical arm comprises an extension arm 8 and a rotary arm 9, and a clamping jaw 10 is arranged on the rotary arm 9; the crawler belt 5 is used for driving the mechanical arm supporting frame 6 to move in the horizontal direction, the sliding block lead screw and the guide rail 7 are used for driving the mechanical arm to move in the vertical direction, the extension arm 8 is used for adjusting the working distance of the clamping jaw 10, and the rotary arm 9 is used for adjusting the working angle of the clamping jaw 10, so that the clamping jaw 10 can grab a hydraulic cylinder body and a piston rod which are horizontally placed and vertically place the hydraulic cylinder body and the piston rod at an appointed position.
Further, the unit of impressing includes flexible arm base 11, has linked firmly flexible arm support frame 12 on flexible arm base 11, and flexible arm support frame 12 has flexible arm 13 through flexible arm lead screw and slider swing joint, and the one end of keeping away from flexible arm support frame 12 on flexible arm 13 is equipped with mechanism 14 of impressing, and mechanism 14 of impressing exerts pressure downwards for the pneumatic cylinder piston rod is impressed in the pneumatic cylinder body, accomplishes the assembly.
Furthermore, the clamping unit comprises a mounting frame 15, clamping and positioning devices are respectively and movably mounted on four sides of the inner side of the mounting frame 15, and the clamping and positioning devices can slide up and down on the mounting frame 15 to realize positioning and placement of the hydraulic cylinder bodies with different heights; the clamping and positioning device comprises a sliding block movably arranged on the mounting frame 15, a V-shaped block mounting base 16 is connected to the sliding block through a telescopic rod, the V-shaped block mounting base 16 is movably connected with two V-shaped blocks 18 oppositely arranged through a bidirectional threaded lead screw 17 and a motor 19, the motor 19 and the bidirectional threaded lead screw 17 are used for driving the two V-shaped blocks 18 oppositely arranged to move, the distance between the two V-shaped blocks 18 is adjusted, and hydraulic cylinder bodies of different diameters are clamped and fixed.
Further, the bearing unit comprises a bearing disc base 20, a bearing hydraulic cylinder 21 is arranged below the bearing disc base 20, and under the action of the bearing hydraulic cylinder 21, the bearing disc base 20 can lift a hydraulic cylinder body placed on the bearing disc base so as to assemble hydraulic cylinders with different heights.
During the pneumatic cylinder assembly, the pneumatic cylinder most is located inside operation panel 1, and clamping unit and bearing unit all place in operation panel 1, the working space of the pneumatic cylinder assembly that has significantly reduced to the volume of other equipment has been reduced, the security of working process has been guaranteed.
Preferably, the supporting table 3 for storing the hydraulic cylinder body and the piston rod can be lifted or lowered by the lifting hydraulic cylinder 2 in the operating table 1, so that the placement height of the hydraulic cylinder body or the piston rod is changed, the structure of the mechanical arm is simplified, the supporting table is matched with the mechanical arm, the hydraulic cylinder body and the piston rod which are horizontally placed can be efficiently and quickly conveyed to the position above the clamping unit from the ground, the position change of the hydraulic cylinder body or the piston rod from the horizontal direction to the vertical direction can be quickly completed, and the labor intensity of workers is greatly reduced.
Preferably, the clamping and positioning device is simple and compact in structure, the distance between the V-shaped blocks 18 which are responsible for positioning and clamping is adjustable, the clamping and positioning device can adapt to positioning and clamping of hydraulic cylinder bodies with different cylinder diameters, the hydraulic cylinder bodies are positioned on different heights by means of the two pairs of V-shaped blocks 18, high positioning accuracy and positioning stability can be guaranteed, the clamping and positioning device is matched with the bearing unit at the bottom, the bottom of the cylinder body can be guaranteed to be in stable contact with the supporting disc base 20, and safety in the working process is improved.
Preferably, the whole control system adopts a hierarchical control system combining a computer and a PLC, the PLC has the characteristics of high reliability, easiness in control, simplicity in programming and use, high cost performance, strong environmental adaptability and the like, and the hierarchical control system with complementary advantages is formed by connecting the PLC with the computer, using the advantages of high operation speed, convenience in information processing and high display performance of the computer as an upper computer to perform a management function and using the hierarchical control system with the PLC. Therefore, the PLC can execute complex control functions, so that the automatic assembling device of the vertical hydraulic cylinder can be optimally and comprehensively controlled, the systematization and automation of the assembling are realized, and the reliability and stability of the assembling are improved.
The automatic intelligent assembling working method for the vertical hydraulic oil cylinder mainly comprises the following steps: the supporting unit is matched with the grabbing unit to complete the taking and placing of the hydraulic cylinder body; positioning and clamping the cylinder body of the hydraulic cylinder; the grabbing unit is matched with the pressing-in unit to complete the assembly of the cylinder body and the piston rod of the hydraulic cylinder and the integral taking-out of the hydraulic cylinder. By means of the steps, automatic intelligent assembly of the hydraulic oil cylinder is achieved.
Specifically, the supporting unit is matched with the grabbing unit, and the taking and placing of the hydraulic cylinder body and the piston rod are completed by the following steps: the mechanical arm support frame 6 moves horizontally on the crawler 5 to the position of the cylinder body of the hydraulic cylinder, the support table 3 is lifted under the action of the lifting hydraulic cylinder 2, and the clamping jaw 10 quickly aligns and grabs the cylinder body of the hydraulic cylinder; the lifting hydraulic cylinder 2 drives the supporting table 3 to descend, the clamping jaw 10 drives the hydraulic cylinder body to lift, and after the hydraulic cylinder body is lifted to a certain height, the rotary arm 9 rotates to enable the hydraulic cylinder body to be perpendicular to the ground; the hydraulic cylinder body moves horizontally along with the mechanical arm support frame 6 to the clamping unit, the extension arm 8 adjusts the distance to enable the hydraulic cylinder body to be aligned with the center of the bearing disc base 20 in a positioning mode, and the hydraulic cylinder body is placed on the bearing disc base 20 to finish picking and placing of the hydraulic cylinder body.
Specifically, the positioning and clamping of the hydraulic cylinder body comprises the following steps: according to the height of the hydraulic cylinder body, the four clamping and positioning devices of the clamping unit move to different heights along the mounting frame 15 through the sliding blocks; the motor starts to enter a working state to drive the bidirectional threaded screw 17 to rotate, so that the two V-shaped blocks 18 on the bidirectional threaded screw 17 move and are opened for a certain angle; the V-shaped block mounting base 16 moves towards the direction of the hydraulic cylinder body under the action of the telescopic rod and clamps the hydraulic cylinder body under the action of the V-shaped block 18.
Specifically, the assembly of the hydraulic cylinder body and the piston rod and the integral taking-out of the hydraulic cylinder comprise the following steps: the clamping jaw 10 grabs a piston rod of the hydraulic cylinder, so that the central shaft of the piston rod is aligned with the central shaft of the cylinder body of the hydraulic cylinder in a positioning way; under the action of the slide block and the telescopic arm screw rod, the height of the telescopic arm 13 is adjusted, so that the central shaft of the press-in mechanism 14 on the telescopic arm 13 is aligned with the central shaft of the piston rod; after alignment, under the synergistic action of the sliding block, the telescopic arm lead screw and the telescopic arm 13, the pressing-in mechanism 14 applies pressure downwards, and meanwhile the sliding block and the mechanical arm lead screw in the grabbing unit drive the mechanical arm to descend, so that a piston rod of the hydraulic cylinder is pressed into a cylinder body of the hydraulic cylinder, and assembly is completed; the V-shaped block 18 is opened, and the V-shaped block mounting base 16 moves backwards under the action of the telescopic rod and returns to the initial position; the bearing disc base 20 is lifted under the action of the bearing hydraulic cylinder 21 to drive the assembled body to reach the limit position, and the mechanical arm drives the clamping jaw to clamp the assembled body; after clamping, the mechanical arm rises to a certain height, and under the action of the crawler belt 5, the mechanical arm support frame 6 is driven to move horizontally, so that the hydraulic cylinder is integrally taken out.
In conclusion, the automatic intelligent assembling device for the vertical hydraulic cylinder and the working method thereof in the embodiment of the invention are based on the integrated control function of the PLC, can realize the automatic operation of hydraulic cylinder assembly under the mutual matching action of the supporting unit, the grabbing unit, the pressing-in unit, the clamping unit and the bearing unit, improve the assembly efficiency, can be suitable for large hydraulic cylinders with larger diameters or higher heights, reduce the assembly difficulty, eliminate the influence of the gravity of the hydraulic cylinder in the assembly process, greatly reduce the actual workload of workers compared with the existing manual assembly mode, are safer and more convenient, can be recycled, and can finish the assembly of hydraulic cylinders with different specifications and sizes.
The above-described embodiments should not be construed as limiting the scope of the invention, and any alternative modifications or alterations to the embodiments of the present invention will be apparent to those skilled in the art.
The present invention is not described in detail, but is known to those skilled in the art.
Claims (10)
1. Automatic intelligent assembly quality of vertical hydraulic cylinder, its characterized in that: the device comprises an operation table, wherein a supporting unit, a grabbing unit, a pressing-in unit and a clamping unit which are matched with each other are arranged on the operation table, and a bearing unit is arranged at the bottom of the clamping unit; the supporting unit is used for horizontally placing a hydraulic cylinder body to be assembled, the grabbing unit is used for grabbing the horizontally placed hydraulic cylinder body and converting the horizontally placed hydraulic cylinder body into a vertical direction to be placed in the clamping unit, the pressing-in unit is used for realizing pressing-in and assembling of a piston rod of the hydraulic cylinder, the clamping unit is used for limiting the position of the hydraulic cylinder to ensure that the hydraulic cylinder is in a vertical and shake-free state during assembling, and the bearing unit is used for supporting the hydraulic cylinder during assembling; the operating table is also provided with a control unit, and the control unit is respectively and correspondingly electrically connected with the supporting unit, the grabbing unit, the pressing-in unit, the clamping unit and the bearing unit through leads.
2. The automatic intelligent assembling device of the vertical hydraulic oil cylinder according to claim 1, characterized in that: the supporting unit comprises a lifting hydraulic cylinder vertically arranged inside the operating platform, a supporting table is arranged on a piston rod of the lifting hydraulic cylinder, and the supporting table is used for horizontally placing a cylinder body of the hydraulic cylinder.
3. The automatic intelligent assembling device of the vertical hydraulic oil cylinder according to claim 1, characterized in that: the grabbing unit comprises a mechanical arm base, a crawler belt is arranged on the mechanical arm base along the length direction of the mechanical arm base, a mechanical arm supporting frame is arranged on the crawler belt in a sliding mode, the mechanical arm supporting frame is movably connected with a mechanical arm through a mechanical arm lead screw, a sliding block and a guide rail, the mechanical arm comprises an extension arm and a rotary arm, and a clamping jaw is arranged on the rotary arm; the crawler belt is used for driving the mechanical arm supporting frame to move along the horizontal direction, the sliding block screw rod and the guide rail are used for driving the mechanical arm to move along the vertical direction, the extension arm is used for adjusting the operation distance of the clamping jaw, and the rotary arm is used for adjusting the operation angle of the clamping jaw.
4. The automatic intelligent assembling device of the vertical hydraulic oil cylinder according to claim 1, characterized in that: the unit of impressing includes flexible arm base, has linked firmly flexible arm support frame on flexible arm base, flexible arm support frame has flexible arm through flexible arm lead screw and slider swing joint, and the one end of keeping away from flexible arm support frame on flexible arm is equipped with the mechanism of impressing, the mechanism of impressing is used for realizing impressing and the assembly of pneumatic cylinder piston rod.
5. The automatic intelligent assembling device of the vertical hydraulic oil cylinder according to claim 1, characterized in that: the clamping unit comprises an installation frame, clamping and positioning devices are respectively and movably installed on four surfaces of the inner side of the installation frame, and the clamping and positioning devices can slide up and down on the installation frame to realize positioning and placement of hydraulic cylinder bodies with different heights; the clamping and positioning device comprises a sliding block movably arranged on the mounting frame, a V-shaped block mounting base is connected to the sliding block through a telescopic rod, the V-shaped block mounting base is movably connected with two oppositely arranged V-shaped blocks through a bidirectional threaded lead screw and a motor, and the motor and the bidirectional threaded lead screw are used for driving the two oppositely arranged V-shaped blocks to move and adjusting the distance between the two V-shaped blocks; the bearing unit comprises a bearing disc base, and a bearing hydraulic cylinder is arranged below the bearing disc base.
6. The automatic intelligent assembling device of the vertical hydraulic oil cylinder according to claim 1, characterized in that: the control unit comprises a PLC controller, a touch screen and a sensor and is used for completing input and output of each switching value, control of system logic functions, detection of system working states, signal acquisition and communication of each switching value and analog quantity parameters.
7. The automatic intelligent assembling working method of the vertical hydraulic oil cylinder is characterized by comprising the following steps of:
s1, the control unit transmits control instructions to the supporting unit and the grabbing unit respectively, and the supporting unit is matched with the grabbing unit to complete the taking and placing of the cylinder body of the hydraulic cylinder;
s2, the control unit transmits a control instruction to the clamping unit to complete the positioning and clamping of the cylinder body of the hydraulic cylinder;
and S3, the control unit transmits control instructions to the grabbing unit and the press-in unit respectively, and the grabbing unit is matched with the press-in unit to complete the assembly of the cylinder body and the piston rod of the hydraulic cylinder and the integral taking-out of the hydraulic cylinder.
8. The automatic intelligent assembling working method of the vertical hydraulic oil cylinder as claimed in claim 7, wherein the supporting unit is matched with the grabbing unit, and the completion of the picking and placing of the hydraulic cylinder body and the piston rod comprises the following steps:
s1.1, horizontally moving a mechanical arm support frame on a track to a position where a hydraulic cylinder body is located, lifting a support table under the action of a lifting hydraulic cylinder, and quickly aligning and grabbing the hydraulic cylinder body by a clamping jaw;
s1.2, driving a support table to descend by a lifting hydraulic cylinder, driving a hydraulic cylinder body to lift by a clamping jaw, and rotating a rotary arm after lifting to a certain height to enable the hydraulic cylinder body to be perpendicular to the ground;
s1.3, horizontally moving the hydraulic cylinder body along with the mechanical arm support frame to a clamping unit, extending the arm to adjust the distance, positioning and aligning the hydraulic cylinder body and the center of the bearing disc base, and placing the hydraulic cylinder body on the bearing disc base to finish picking and placing of the hydraulic cylinder body.
9. The automatic intelligent assembling working method of the vertical hydraulic oil cylinder as claimed in claim 7, wherein the positioning and clamping of the hydraulic cylinder body comprises the following steps:
s2.1, according to the height of a cylinder body of the hydraulic cylinder, four clamping and positioning devices of the clamping unit move to different heights along the mounting frame through the sliding blocks;
s2.2, the motor starts to enter a working state to drive the bidirectional threaded screw rod to rotate, so that the two V-shaped blocks on the bidirectional threaded screw rod move and are opened for a certain angle;
s2.3, the V-shaped block mounting base moves towards the direction of the hydraulic cylinder body under the action of the telescopic rod, and the hydraulic cylinder body is clamped under the action of the V-shaped block.
10. The automatic intelligent assembling working method of the vertical hydraulic oil cylinder as claimed in claim 7, wherein the assembling of the hydraulic cylinder body and the piston rod and the integral taking out of the hydraulic cylinder comprise the following steps:
s3.1, grabbing a piston rod of the hydraulic cylinder by the clamping jaw, and positioning and aligning a central shaft of the piston rod and a central shaft of a cylinder body of the hydraulic cylinder;
s3.2, under the action of the sliding block and the telescopic arm lead screw, adjusting the height of the telescopic arm, so that a central shaft of a press-in mechanism on the telescopic arm is aligned with a central shaft of the piston rod;
s3.3, after alignment, under the synergistic effect of the sliding block, the telescopic arm lead screw and the telescopic arm, the pressing-in mechanism applies pressure downwards, and meanwhile the sliding block and the mechanical arm lead screw in the grabbing unit drive the mechanical arm to descend, so that a piston rod of the hydraulic cylinder is pressed into a cylinder body of the hydraulic cylinder, and assembly is completed;
s3.4, the V-shaped block is opened, and the V-shaped block mounting base moves backwards under the action of the telescopic rod and returns to the initial position;
s3.5, the bearing disc base rises under the action of the bearing hydraulic cylinder to drive the assembled body to reach the limit position, and the mechanical arm drives the clamping jaw to clamp the assembled body;
and S3.6, after clamping, lifting the mechanical arm to a certain height, and driving the mechanical arm support frame to horizontally move under the action of the crawler belt to complete the integral taking-out of the hydraulic cylinder.
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| CN202110239295.8A CN113020934A (en) | 2021-03-04 | 2021-03-04 | Automatic intelligent assembling device for vertical hydraulic oil cylinder and working method thereof |
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| CN202110239295.8A CN113020934A (en) | 2021-03-04 | 2021-03-04 | Automatic intelligent assembling device for vertical hydraulic oil cylinder and working method thereof |
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| CN113020934A true CN113020934A (en) | 2021-06-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113334119A (en) * | 2021-06-26 | 2021-09-03 | 邢台职业技术学院 | Hydraulic control type tooling clamp suitable for automatic line machining of various types of gate valves |
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