CN114083254A - Flexible clamping device and method for automatic adjustment of multiple hydraulic actuating cylinders - Google Patents
Flexible clamping device and method for automatic adjustment of multiple hydraulic actuating cylinders Download PDFInfo
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- CN114083254A CN114083254A CN202111428240.8A CN202111428240A CN114083254A CN 114083254 A CN114083254 A CN 114083254A CN 202111428240 A CN202111428240 A CN 202111428240A CN 114083254 A CN114083254 A CN 114083254A
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- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 210000001503 joint Anatomy 0.000 claims abstract description 4
- 238000004080 punching Methods 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims description 6
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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- 238000003032 molecular docking Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- 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
- 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
- B23P19/10—Aligning parts to be fitted together
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Abstract
The invention discloses a flexible clamping device and a method for automatic adjustment of a multi-type hydraulic actuator cylinder, wherein the device comprises a motion module, a leveling module and a piston clamping module; a multi-type hydraulic ram comprising a piston and a sleeve which are required to be axially assembled together, wherein: the parallel robot is used for clamping and fixing the sleeve part of the multi-type hydraulic actuating cylinder and is matched with the leveling module to level the sleeve; the motion module is used for driving the parallel robot to drive the sleeve to reach the position right below the clamping module from the initial position after the sleeve is leveled; the leveling module is positioned above the initial position and comprises a laser ranging mechanism capable of moving in the vertical direction; the piston clamping module is positioned at one side of the leveling module, comprises a clamping mechanism capable of moving in the vertical direction and is used for clamping the piston part of the multi-type hydraulic actuating cylinder; and when the sleeve moves to the position right below the piston clamping module, the piston part is driven to move downwards to complete butt joint assembly with the sleeve.
Description
Technical Field
The invention relates to the field of advanced digital assembly manufacturing and automation, in particular to a flexible clamping device for automatic assembly and adjustment of a multi-type hydraulic actuator cylinder.
Background
The safety, reliability and economical requirements of modern commercial airplanes are high, and the civil airplane which can be put into airline operation needs to pass through the strict approval of relevant civil aviation authorities layer by layer. The civil flight control hydraulic actuating system is one of core systems of modern airplanes as a highly integrated product integrating mechanical, electrical, hydraulic, magnetic, force and control, is concerned with the safety and comfort of the airplanes, and is a subject of key examination by airworthiness authorities. In order to meet the control requirements of different types of airplanes and different parts of the airplanes, the key power execution element actuating cylinder needs to be reliably serviced under severe working conditions of high oil pressure, high temperature difference, low air pressure, strong corrosive media and the like. This puts more stringent requirements on the assembly accuracy of the flight control hydraulic actuation part and the stability of the assembly quality.
The assembly of the piston and the cylinder is a crucial step for the assembly of the flight control hydraulic actuating component, and the assembly part is formed by assembling the piston and the cylinder as shown in fig. 1, and the reliability and the service life of the actuating component are directly influenced by the assembly process. The assembling process needs to realize quick and accurate positioning of the simple piston, accurately control the insertion depth of the piston, simultaneously guarantee the assembly coaxiality of the piston and the cylinder and avoid damage to an assembly part due to forced external force assembly. At present, the assembly of piston and barrel is mostly through two kinds of modes, and the first is simple artifical direct mount, and the second assembles for having designed automatic assembly equipment to specific size.
With the continuous development of aviation technology, the following problems are gradually exposed to manual assembly and single-size equipment:
the two parts are assembled, the manual assembly efficiency is higher, workers need to hold the parts for assembly for a longer time, the labor intensity is high, and continuous work is difficult;
secondly, the piston and the cylinder are difficult to fix in the assembling process, and the parts are easy to damage only by external force of workers, and the external force is not controlled well so as to damage the parts;
at present, the assembly body of the piston and the cylinder is in large demand and different in size, a large amount of financial and material resources can be consumed only by manual operation, and the requirements of multiple varieties cannot be met even through single-size equipment;
and fourthly, tiny assembly non-coaxiality is difficult to find in the current assembly process, the precision is difficult to control, and potential danger is brought to subsequent use.
Disclosure of Invention
The invention aims to provide a flexible clamping device for automatic adjustment of multiple hydraulic actuating cylinders, which is used for flexibly and accurately assembling cylinders and pistons related to different types of actuating cylinders.
In order to realize the task, the invention adopts the following technical scheme:
a flexible clamping device for automatic adjustment of a multi-type hydraulic actuator cylinder comprises a motion module, a leveling module and a piston clamping module; the multi-type hydraulic ram includes a piston and a sleeve that need to be axially assembled together, wherein:
the parallel robot is used for clamping and fixing the sleeve part of the multi-type hydraulic actuator cylinder and is matched with the leveling module to level the sleeve; the motion module is used for driving the parallel robot to drive the sleeve to reach the position right below the clamping module from the initial position after the sleeve is leveled;
the leveling module is positioned above the initial position and comprises a laser ranging mechanism capable of moving in the vertical direction;
the piston clamping module is positioned at one side of the leveling module, comprises a clamping mechanism capable of moving in the vertical direction and is used for clamping the piston part of the multi-type hydraulic actuating cylinder; and when the sleeve moves to the position right below the piston clamping module, the piston part is driven to move downwards to complete butt joint assembly with the sleeve.
Furthermore, the motion module comprises a first guide rail arranged at the bottom of the flexible clamping device, and a horizontal plate is arranged on the first guide rail through a sliding block; a second guide rail perpendicular to the first guide rail is installed on the horizontal plate, a base is arranged on the second guide rail, and the parallel robot is installed on the base;
the base is driven by a servo motor and a lead screw nut to adjust the position of the parallel robot in a plane; and a grating ruler is arranged on the base, and the grating ruler and the servo motor form closed-loop control so as to accurately control the sleeve to move to the position right below the piston clamping module and keep coaxial with the piston.
Furthermore, the parallel robot comprises a telescopic adjusting mechanism and a mounting table positioned at the upper part of the telescopic adjusting mechanism, and the horizontal angle of the mounting table is adjusted through the telescopic adjusting mechanism;
be located the mount table and be provided with triangle-shaped ring frame, all be provided with first pneumatic means on every edge of ring frame, first pneumatic means's output shaft is inboard towards the ring frame and installs first clamping jaw, realizes fixing telescopic through a plurality of first clamping jaws.
Further, the leveling module comprises a first punching machine, wherein an output shaft of the first punching machine faces downwards and is vertical to the horizontal plane; the laser ranging mechanism comprises a plurality of laser sensors arranged on an output shaft along the vertical direction, a total reflection prism is arranged below the laser sensors, and laser protective shells are arranged outside the laser sensors and the total reflection prism; the laser protective housing is provided with a preformed hole for transmitting laser.
Further, the total reflection prism is used for converting laser emitted by the laser sensor into horizontal laser, after the sleeve is fixed on the parallel robot, the first punching machine drives the laser sensor to move downwards into the sleeve, and whether the sleeve is leveled or not is judged by receiving the laser reflected by different positions on the inner wall of the sleeve and calculating the distance.
Further, the piston clamping module comprises a second punching machine, and an output shaft of the second punching machine is vertically downward; the clamping mechanism comprises a second clamping jaw which is arranged on the output shaft and driven by a second pneumatic device, and a flexible protection device is arranged on the part, used for being in contact with the piston, of the second clamping jaw.
Furthermore, the flexible clamping device also comprises a device shell frame, and two mounting platforms are arranged above the device shell frame and are respectively used for mounting the leveling module and the piston clamping module; the bottom of the shell frame is used for installing the motion module.
A flexible clamping method for automatic adjustment of a multi-type hydraulic actuator cylinder comprises the following steps:
firstly, one end of a piston of a hydraulic actuator cylinder to be assembled is attached to the lower bottom surface of a punch II, and a second pneumatic device is started to drive a second clamping jaw to clamp the piston for later use;
the sleeve of the hydraulic actuator cylinder is placed in the middle part of the ring frame on the parallel robot mounting table, and a first pneumatic device is started to drive a first clamping jaw to fix the sleeve for later use;
opening a plurality of laser sensors in the leveling module, starting the punching machine I to drive the laser sensors to move downwards, and stopping moving when moving to a first preset measuring position of the sleeve; the emitted laser is refracted by the total reflection prism, then the laser is irradiated on the inner wall of the sleeve, the reflected multiple laser beams are received and judged by the processor, if the measurement distances are different, the parallel robot is started, the pose is adjusted to be equal, and the first leveling step is completed; then the first punching machine drives the laser sensor to move downwards to a second preset measuring position and a third preset measuring position of the sleeve, and the leveling process is repeated until the central axis of the sleeve and the central axis of the first punching machine are superposed to finish the leveling of the sleeve; after leveling, the first punching machine drives the laser ranging mechanism to reset;
starting a servo motor, and driving the base and the sleeve to horizontally move under the driving of the servo motor; the grating ruler and the servo motor form closed-loop control, and when the sleeve reaches the specified position of assembly, the sleeve and the piston are coaxial; starting the punch II, enabling the piston to vertically move downwards, and stopping moving when the lower surface of the piston contacts the upper surface of the sleeve; the second pneumatic device is used for pressing, the second clamping jaw is loosened, and the second clamping jaw is reset under the driving of the second punching machine; and then the piston and the sleeve are screwed tightly, and the assembly is finished.
Compared with the prior art, the invention has the following technical characteristics:
the device ensures the clamping coaxiality of the piston sleeve and avoids the tiny damage caused by forced external force assembly by designing a proper positioning and leveling mechanism of the sleeve and the piston; meanwhile, a flexible clamping mechanism is designed, and the problem of automatic assembly of the piston sleeves with multiple sizes is solved. The device can ensure that the assembly of the piston assembly meets the process requirements, and the coaxiality of the assembly is ensured by a line laser detection technology, so that the assembly quality is ensured.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus of the present invention;
FIG. 2 is a schematic view of a hydraulic ram in accordance with an embodiment of the present invention;
FIG. 3 is a schematic top view of the mounting table portion;
FIG. 4 is a schematic view of a piston mounted on a piston clamping module in accordance with an embodiment of the present invention;
FIG. 5 is a schematic structural view of a leveling module;
FIG. 6 is a schematic structural diagram of a parallel robot;
FIG. 7 is a schematic structural diagram of a motion module;
fig. 8 is a schematic structural view of the first rail and the slider portion.
The reference numbers in the figures illustrate: the device comprises a sleeve 1, an end ring piston 2, a flange 3, a tailstock piston 4, a mounting table 5, a parallel robot 6, a horizontal plate 7, a servo motor 8, a base 9, a device shell frame 10, a second clamping jaw 11, a second punching machine 12, a first punching machine 13, a laser ranging mechanism 14, a first pneumatic device 15, a ring frame 16, a first clamping jaw 17, a second pneumatic device 18, a laser sensor 19, a laser protective shell 20, a total reflection prism 21, a lead screw 22, a first guide rail 23, a grating ruler 24, a nut 25 and a slider 26.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a flexible clamping device for automatic adjustment of a multi-type hydraulic cylinder, which comprises a piston and a sleeve 1 which need to be assembled together axially, and the piston of the cylinder has two sections including an end ring piston 2 and a tailstock piston 4 in the example of the hydraulic cylinder shown in figure 1, and a flange 3 is arranged between the two sections, referring to the attached drawings. When the hydraulic actuating cylinder is assembled, the end ring piston 2 is screwed into the sleeve 1 in the axial direction.
This device includes motion module, leveling module and piston centre gripping module, wherein:
the motion module is provided with a parallel robot 6, the parallel robot 6 is used for clamping and fixing the sleeve 1 part of the multi-type hydraulic actuator cylinder and is matched with the leveling module to level the sleeve 1; the motion module is used for driving the parallel robot 6 to drive the sleeve 1 to reach the position right below the clamping module from the initial position after the sleeve 1 is leveled.
Referring to fig. 2, 4 and 5, the moving module comprises a first guide rail 23 arranged at the bottom of the flexible clamping device, and a horizontal plate 7 is mounted on the first guide rail 23 through a sliding block 26; and a second guide rail vertical to the first guide rail 23 is installed on the horizontal plate 7, a base 9 is arranged on the second guide rail, and the parallel robot 6 is installed on the base 9. The base 9 is driven by a servo motor 8 and a screw rod 22 and a nut 25 to adjust the position of the parallel robot 6 in a plane; because the first guide rail 23 and the second guide rail are vertical, the parallel robot 6 has two degrees of freedom of movement in the horizontal plane, and an accurate docking process can be realized. A grating ruler 24 is arranged on the base 9 and used for measuring the moving position of the base 9; the grating ruler 24 and the servo motor 8 form closed-loop control so as to accurately control the sleeve 1 to move to the position right below the piston clamping module and keep coaxial with the piston.
Referring to fig. 3, the parallel robot 6 includes a telescopic adjusting mechanism and a mounting table 5 located above the telescopic adjusting mechanism, and the horizontal angle of the mounting table 5 is adjusted by the telescopic adjusting mechanism; the telescopic adjusting mechanisms are arranged in plurality and can be hydraulic rods, pneumatic rods and the like; be located and be provided with triangle-shaped ring frame 16 on mount table 5, all be provided with first pneumatic means 15 on every edge of ring frame 16, first pneumatic means 15's output shaft is towards the ring frame 16 inboard and install first clamping jaw 17, and first clamping jaw 17 is the arc structure, and after sleeve 1 put into, first pneumatic means 15 drive first clamping jaw 17 removes and presss from both sides tight sleeve 1 simultaneously, realizes fixing sleeve 1 through a plurality of first clamping jaws 17.
The leveling module is located above the home position and includes a laser ranging mechanism 14 that is movable in a vertical direction. The leveling module comprises a first punching machine 13, and an output shaft of the first punching machine 13 faces downwards and is vertical to the horizontal plane; the laser ranging mechanism 14 comprises a plurality of laser sensors 19 arranged on an output shaft along the vertical direction, a total reflection prism 21 is arranged below the laser sensors 19, and a laser protection shell 20 is arranged outside the laser sensors 19 and the total reflection prism 21; the laser protection shell 20 is provided with a preformed hole for transmitting laser.
The total reflection prism 21 is arranged in a horizontal plane at an angle of 45 degrees and is used for converting laser emitted by the laser sensor 19 into horizontal laser; after the sleeve 1 is fixed on the parallel robot 6, the first punching machine 13 drives the laser sensor 19 to move downwards into the sleeve 1, and whether the sleeve 1 is leveled or not is judged by receiving laser reflected by different positions on the inner wall of the sleeve 1 and calculating the distance.
The piston clamping module is positioned at one side of the leveling module, comprises a clamping mechanism capable of moving in the vertical direction and is used for clamping the piston part of the multi-type hydraulic actuating cylinder; when the sleeve 1 moves to the position right below the piston clamping module, the piston part is driven to move downwards to complete butt joint assembly with the sleeve 1.
The piston clamping module comprises a second punching machine 12, and an output shaft of the second punching machine is vertically downward; the clamping mechanism comprises a second clamping jaw 11 which is arranged on the output shaft and driven by a second pneumatic device 18, and a flexible protection device is arranged on the part, used for being contacted with the piston, of the second clamping jaw 11 to prevent the surface of the piston from being scratched; the flexible protection device can be a flexible protection pad made of rubber, silicon gel and the like.
On the basis of the device, the invention further provides a flexible clamping method for automatic adjustment of the multi-type hydraulic actuating cylinders, which comprises the following steps:
firstly, one end of a piston in a hydraulic actuating cylinder to be assembled is tightly attached to the lower bottom surface of a second punch 12, a second pneumatic device 18 is started to drive a second clamping jaw 11 to clamp the piston, and the piston is clamped for standby application under the action of pressure; since the second jaws 11 are evenly distributed in the horizontal circumferential direction, the piston held by the second jaws 11 remains vertical.
The sleeve 1 of the hydraulic actuator cylinder is placed in the middle of a ring frame 16 on an installation table 5 of the parallel robot 6, a first pneumatic device 15 is started, and a first clamping jaw 17 is driven under the action of pressure to fix the sleeve 1 for later use.
Leveling treatment is carried out: opening a plurality of laser sensors 19 in the leveling module, starting a first punching machine 13 to drive the laser sensors 19 to move downwards, and stopping moving when moving to a first preset measuring position of the sleeve 1; because the total reflection prism is obliquely arranged at an angle of 45 degrees, the emitted laser is refracted by the total reflection prism 21, and then the vertical laser is converted into horizontal laser, is emitted from a preformed hole on the laser protective shell 20 and is irradiated on the inner wall of the sleeve 1; the reflected multiple laser beams are received and judged by a processor, if the three distances are different, the parallel robot 6 is started to adjust the position and posture until the three distances are equal, and the first leveling step is completed; then the first punch 13 drives the laser sensor 19 to move downwards to the second and third preset measuring positions of the sleeve 1, and the leveling process is repeated until the central axis of the sleeve 1 and the central axis of the first punch 13 are superposed to finish the leveling of the sleeve 1; after leveling, the first punch 13 drives the laser ranging mechanism 14 to reset.
The assembly of the cylinder and the piston is mainly realized through a motion module: starting the servo motor 8, and under the drive of the servo motor 8, starting the screw rod 22 to rotate to drive the base 9 and the sleeve 1 to horizontally move; the grating ruler 24 and the servo motor 8 form closed-loop control, and the moving distance is ensured to be equal to the distance between the axes of the two punching machines, so that when the sleeve 1 reaches the specified position of assembly, the sleeve 1 and the piston are coaxial; at the moment, the second punch 12 is started, the piston vertically moves downwards, and when the lower surface of the piston contacts the upper surface of the sleeve 1, the piston stops moving; the second pneumatic device 18 releases pressure, the second clamping jaw 11 is loosened, and the second clamping jaw is reset under the driving of the second punch 12; the piston is then screwed to the sleeve 1 and the assembly is complete.
The above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equally replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application, and are intended to be included within the scope of the present application.
Claims (8)
1. A flexible clamping device for automatic adjustment of a multi-type hydraulic actuator cylinder is characterized by comprising a motion module, a leveling module and a piston clamping module; the hydraulic ram comprises a piston and a sleeve (1) which are required to be fitted together axially, wherein:
the parallel robot (6) is arranged on the motion module, and the parallel robot (6) is used for clamping and fixing the sleeve (1) part of the multi-type hydraulic actuating cylinder and is matched with the leveling module to level the sleeve (1); the motion module is used for driving the parallel robot (6) to drive the sleeve (1) to reach the position right below the clamping module from the initial position after the sleeve (1) is leveled;
the leveling module is positioned above the initial position and comprises a laser ranging mechanism (14) capable of moving in the vertical direction;
the piston clamping module is positioned at one side of the leveling module, comprises a clamping mechanism capable of moving in the vertical direction and is used for clamping the piston part of the multi-type hydraulic actuating cylinder; when the sleeve (1) moves to the position right below the piston clamping module, the piston part is driven to move downwards to complete butt joint assembly with the sleeve (1).
2. The flexible clamping device for the automatic adjustment of the multiple hydraulic cylinders according to claim 1, wherein the moving module comprises a first guide rail (23) arranged at the bottom of the flexible clamping device, and a horizontal plate (7) is arranged on the first guide rail (23) through a sliding block (26); a second guide rail perpendicular to the first guide rail (23) is installed on the horizontal plate (7), a base (9) is arranged on the second guide rail, and the parallel robot (6) is installed on the base (9);
the base (9) is driven by a servo motor (8) and a screw rod (22) and a nut (25) to adjust the position of the parallel robot (6) in a plane; the base (9) is provided with a grating ruler (24), the grating ruler (24) and the servo motor (8) form closed-loop control, so that the sleeve (1) is accurately controlled to move to the position right below the piston clamping module and keep coaxial with the piston.
3. The flexible clamping device for automatic adjustment of multiple hydraulic cylinders according to claim 1, wherein the parallel robot (6) comprises a telescopic adjusting mechanism and a mounting table (5) positioned at the upper part of the telescopic adjusting mechanism, and the horizontal angle of the mounting table (5) is adjusted through the telescopic adjusting mechanism;
be located and be provided with triangle-shaped ring frame (16) on mount table (5), all be provided with first pneumatic means (15) on every edge of ring frame (16), the output shaft of first pneumatic means (15) is inboard towards ring frame (16) and installs first clamping jaw (17), realizes fixing sleeve (1) through a plurality of first clamping jaws (17).
4. The flexible clamping device for the automatic adjustment of multiple hydraulic cylinders according to claim 1, wherein the leveling module comprises a first punch (13), an output shaft of the first punch (13) faces downwards and is vertical to a horizontal plane; the laser ranging mechanism (14) comprises a plurality of laser sensors (19) which are distributed on an output shaft and are arranged along the vertical direction, a total reflection prism (21) is arranged below the laser sensors (19), and a laser protective shell (20) is arranged outside the laser sensors (19) and the total reflection prism (21); the laser protective shell (20) is provided with a preformed hole for transmitting laser.
5. The flexible clamping device for the automatic adjustment of the multiple hydraulic cylinders according to claim 1, wherein the total reflection prism (21) is used for converting laser emitted by the laser sensor (19) into horizontal laser, after the sleeve (1) is fixed on the parallel robot (6), the first punch (13) drives the laser sensor (19) to move downwards into the sleeve (1), and whether the sleeve (1) is leveled or not is judged by receiving the laser reflected at different positions on the inner wall of the sleeve (1) and calculating the distance.
6. The flexible clamping device for the automatic adjustment of multiple hydraulic cylinders according to claim 1, wherein the piston clamping module comprises a second punch (12) with its output shaft facing vertically downward; the clamping mechanism comprises a second clamping jaw (11) which is arranged on the output shaft and driven by a second pneumatic device (18), and a flexible protection device is arranged on a part, used for being in contact with the piston, of the second clamping jaw (11).
7. The flexible clamping device for automatic adjustment of multiple hydraulic cylinders according to claim 1, further comprising a device housing (10), wherein two mounting platforms are arranged above the device housing (10) and are respectively used for mounting the leveling module and the piston clamping module; the bottom of the shell frame is used for installing the motion module.
8. A flexible clamping method for automatic adjustment of a multi-type hydraulic actuator cylinder is characterized by comprising the following steps:
one end of a piston of a hydraulic actuator cylinder with the end to be assembled is attached to the lower bottom surface of the punch II (12), and a second pneumatic device (18) is started to drive a second clamping jaw (11) to clamp the piston for later use;
the sleeve (1) of the hydraulic actuator cylinder is placed in the middle of an upper ring frame (16) of a mounting table (5) of the parallel robot (6), and a first pneumatic device (15) is started to drive a first clamping jaw (17) to fix the sleeve (1) for later use;
opening a plurality of laser sensors (19) in the leveling module, starting a first punching machine (13) to drive the laser sensors (19) to move downwards, and stopping moving when moving to a first preset measuring position of the sleeve (1); the emitted laser is refracted by a total reflection prism (21), then the laser is irradiated on the inner wall of the sleeve (1), a plurality of reflected lasers are received and judged by a processor, if the measured distances are different, a parallel robot (6) is started, the pose is adjusted to be equal, and the first leveling step is completed; then the first punch (13) drives the laser sensor (19) to move downwards to a second preset measuring position and a third preset measuring position of the sleeve (1), and the leveling process is repeated until the central axis of the sleeve (1) is coincided with the central axis of the first punch (13) to finish the leveling of the sleeve (1); after leveling, the first punch (13) drives the laser ranging mechanism (14) to reset;
starting the servo motor (8), and driving the base (9) and the sleeve (1) to horizontally move under the driving of the servo motor (8); the grating ruler (24) and the servo motor (8) form closed-loop control, and when the sleeve (1) reaches the specified position of assembly, the sleeve (1) and the piston are coaxial; at the moment, a second punch (12) is started, the piston vertically moves downwards, and when the lower surface of the piston contacts the upper surface of the sleeve (1), the piston stops moving; the second pneumatic device (18) is released, the second clamping jaw (11) is loosened, and the second clamping jaw is reset under the driving of the second punch (12); then the piston is screwed with the sleeve (1) to finish the assembly.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114850855A (en) * | 2022-05-09 | 2022-08-05 | 西北工业大学 | Automatic leveling device and method for actuating cylinder body |
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| CN113369863A (en) * | 2021-07-09 | 2021-09-10 | 北京机械设备研究所 | Automatic press-fitting system and assembling method for ball screw pair support sleeve |
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Cited By (2)
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| CN114850855B (en) * | 2022-05-09 | 2023-05-26 | 西北工业大学 | Automatic leveling device and method for cylinder body of actuator cylinder |
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