CN108381168B - Elevator plate type brake automatic assembly line - Google Patents

Abstract

The invention provides an elevator plate brake automatic assembly line which comprises a core iron skip car, an armature skip car, a skip car positioning mechanism, a first robot, a second robot, a hand changing claw platform, an assembly platform, a sleeve assembly station, a forced bolt feeding mechanism, a sleeve feeding plate chain line, a manual operation table, a silencing special machine, a spring force adjusting special machine and a blanking conveying line, wherein the assembly platform is provided with a pressing special machine and a sleeve assembly station. The unloading transfer chain sets up in manual operation platform next door, and the unloading transfer chain is belt drive mode. The assembly platform is arranged between the first robot and the second robot, and the skip positioning mechanism, the special silencing machine, the special spring force adjusting machine, the manual operation table and the blanking conveying line are arranged around the first robot; the forced bolt feeding mechanism, the sleeve feeding plate chain line and the hand changing claw platform are arranged around the second robot. The invention has high degree of automation, meets the assembly requirement of the plate brake, and improves the assembly efficiency of the brake and the qualification rate of finished products.

Description

Elevator plate type brake automatic assembly line

Technical Field

The invention relates to the technical field of automatic production, in particular to an elevator plate brake automatic assembly line.

Background

The plate brake is one of the most widely used brakes in permanent magnet synchronous traction machines of elevators. The current general plate brake mainly comprises a core iron module and an armature module, wherein the core iron module and the armature module are installed together through forced bolt matching, and a silencing structure, a spring force bolt, a micro switch and the like are further assembled between the core iron module and the armature module. At present, the plate brake is assembled mainly in a long production line operation mode, and is assembled by a plurality of workers at a plurality of stations, so that the assembly line occupies a large area, the assembly efficiency is low, and the yield of the assembled brake finished product is not high enough. Therefore, it is necessary to design a brake assembly line with a high degree of automation to improve the assembly efficiency of the brake and to improve the qualification rate of the brake finished product.

Disclosure of Invention

The invention aims to provide an elevator plate brake automatic assembly line with high automation degree, which meets the assembly requirement of a plate brake and improves the assembly efficiency of the brake and the qualification rate of finished products of the brake.

In order to achieve the above object, the present invention provides an automatic assembly line for an elevator plate brake, comprising: the core iron material car is provided with a plurality of trays and first positioning seats for placing core iron modules, and the armature material car is provided with a plurality of trays and second positioning seats for placing armature modules. The skip positioning mechanism is provided with a first guide block matched with the first positioning seat and a second guide block matched with the second positioning seat. The first robot, first robot arm installs the transport hand claw that is used for snatching core iron module, armature module and the stopper that is assembled by core iron module and armature module. The mechanical arm of the second robot can be provided with a forced bolt claw or a sleeve assembly claw, and the forced bolt claw is used for grabbing a forced bolt and installing the forced bolt on the brake; the sleeve assembly gripper is used to grasp the adjustment sleeve and assemble the adjustment sleeve to the brake. The second robot selectively connects and installs the forced bolt claw or the sleeve assembly claw according to the assembly progress of the brake. The gripper replacing platform is provided with a first gripper placing position for placing the forced bolt gripper and a second gripper placing position for placing the sleeve assembling gripper. The assembly platform is provided with a special pressing machine and a sleeve assembly station. The special pressing machine comprises a special pressing machine frame, a first transposition table and a first air cylinder are arranged on a pneumatic pressing bottom plate of the special pressing machine frame, the first transposition table adopts an air cylinder driving mode, the first transposition table comprises a first guide rail pair arranged on the pneumatic pressing bottom plate, a first transposition table plate is arranged on the first guide rail pair, a piston rod of the first air cylinder is connected with the first transposition table plate, and a first station clamp for fixing the core iron and the armature iron is arranged on the first transposition table plate. The first transposition bedplate is provided with a first square through groove, and the pneumatic pressing bottom plate is provided with a second square through groove. After the second robot is provided with the forced bolt claw, the forced bolt is arranged in the brake through the second square through groove and the first square through groove. And a pressurizing mechanism mounting frame is arranged right above the first guide rail pair, a gas-liquid pressurizing and pressing mechanism used for pressing the core iron and the armature is arranged on the pressurizing mechanism mounting frame, and the gas-liquid pressurizing and pressing mechanism comprises a second cylinder arranged on the pressurizing mechanism mounting frame and a pressure head mechanism connected with the second cylinder. The sleeve assembly station comprises a sleeve assembly station frame, and a second station clamp for fixing the brake is arranged on the sleeve assembly frame. The forced bolt feeding mechanism comprises a transmission chain structure, a sleeve is arranged on the transmission chain structure, and a forced bolt for locking the core iron and the armature is arranged on the sleeve. The sleeve feeding plate chain line comprises a plate chain line frame, a plurality of rows of pins which are arranged in parallel are arranged on the plate chain line frame, and an adjusting sleeve is arranged on the pins. The manual operation platform comprises an operation platform frame, wherein a first motion assembly and a second motion assembly for moving a brake are arranged on the operation platform frame, and a first control switch for spare first motion assemblies and a second control switch for controlling second motion assemblies are arranged on the operation platform frame. The special silencing machine comprises a first frame and a second frame, a sealing plate is arranged above the first frame, a second transposition table is arranged on the sealing plate, and the second transposition table moves in a screw rod transmission mode. The second transposition table comprises a second guide rail pair and a screw rod mechanism which are arranged on the sealing plate, a second transposition table plate is arranged on the second guide rail pair, the screw rod transmission mechanism is connected with the second transposition table plate, and a third station fixture for fixing the brake is arranged on the second transposition table plate. The lower part of the sealing plate is provided with a silencing structure nut back tightening mechanism, and the silencing structure nut back tightening mechanism comprises an air batch for back tightening the silencing structure nut. The second frame is higher than the first frame, is equipped with nut feed mechanism above the second frame, and nut feed mechanism includes saddle, nut vibration dish, nut direct vibration track, gas claw, drive mechanism mounting panel, rodless cylinder, gas claw movable rail, gas claw drive chain, gas claw connecting plate. One end of the transmission mechanism mounting plate is arranged on the supporting table, and the other end of the transmission mechanism mounting plate is arranged below the first frame. The device comprises a transmission mechanism mounting plate, a rodless cylinder, a gas claw moving guide rail and a gas claw transmission chain, wherein the gas claw is connected with the gas claw transmission chain through a gas claw connecting plate, the gas claw connecting plate is also connected with a sliding block mechanism arranged on the gas claw moving guide rail, and the rodless cylinder is connected with the gas claw transmission chain. The nut feeding mechanism further comprises a nut grabbing mechanism, and the nut grabbing mechanism is arranged below the sealing plate. The spring force adjusting special machine comprises a spring force adjusting special machine frame, a servo pressing mechanism is arranged on the spring force adjusting special machine frame and comprises a servo pressing mechanism mounting frame, a servo motor and a locking pressure head connected with the servo motor through a transmission shaft are arranged on the servo pressing mechanism mounting frame, an adjusting foot cup is arranged in the middle of the lower surface of the locking pressure head, and a supporting cylinder is further arranged on the lower surface of the locking pressure head and connected with a pressure rod. The servo pressing mechanism further comprises a pressure sensor, and the pressure sensor is arranged between the locking pressure head and the servo motor. The upper surface of the machine frame of the spring force adjusting special machine is provided with a third transposition table, the third transposition table is arranged below the servo pressing mechanism mounting frame and comprises a third guide rail pair, a third transposition table plate is arranged on the third guide rail pair, and a fourth station clamp for fixing a brake is arranged on the third transposition table plate. The special spring force adjusting machine frame is also provided with a spring force adjusting claw, and the spring force adjusting claw is provided with a spring force adjusting screwdriver head for adjusting the tightness of the spring force bolt. The special machine frame for adjusting the spring force is also provided with a spring force nut locking assembly, and the spring force nut locking assembly comprises a back nut sleeve for back tightening the spring force nut. And the blanking conveying line is arranged beside the manual operation table and is in a flat top chain transmission mode. The assembly platform is arranged between the first robot and the second robot, and the skip positioning mechanism, the special silencing machine, the special spring force adjusting machine, the manual operation table and the blanking conveying line are arranged around the first robot; the forced bolt feeding mechanism, the sleeve feeding plate chain line and the hand changing claw platform are arranged around the second robot.

Preferably, the carrying paw comprises a carrying paw connecting flange, the lower end of the carrying paw connecting flange is fixedly provided with a flange connecting plate, the lower surface of the flange connecting plate is relatively provided with a fixed carrying paw connecting plate and a movable carrying paw connecting plate, and the inner sides of the fixed carrying paw connecting plate and the movable carrying paw connecting plate are respectively provided with carrying fingers. The lower surface of the flange connecting plate is also provided with a thin air cylinder, and the thin air cylinder is connected with the movable carrying paw connecting plate. The carrying paw connecting flange is provided with a first visual identification module, and the first visual identification module comprises a first camera component.

Preferably, the carrying paw further comprises a height measuring mechanism and a detection and miss-release mechanism. The height measuring mechanism comprises a detecting rod which penetrates through the flange connecting plate and can move up and down, and a sensor is arranged at the lower end of the detecting rod.

The detection leakage mechanism comprises a guide post upper connecting plate arranged on the carrying paw connecting flange and a guide post lower connecting plate arranged between the fixed carrying paw connecting plate and the movable carrying paw connecting plate, wherein the guide post upper connecting plate is connected with the guide post lower connecting plate through a guide post. The lower extreme of guide pillar is equipped with the inductor mounting panel that can reciprocate, is provided with the detection component that is used for detecting whether there is the material in the mounting hole on the core iron on the inductor mounting panel, and detection component includes a plurality of sensors to the sensor on the inductor mounting panel is according to the relevant mounting hole's of core iron mounted position one-to-one setting.

Preferably, the forced bolt paw comprises a forced bolt paw connecting flange, a forced bolt paw auxiliary disc is installed at one end of the forced bolt paw connecting flange, a synchronous mechanism mounting plate is installed at the other end of the forced bolt paw connecting flange, a first synchronous mechanism side plate is arranged on the surface of the synchronous mechanism mounting plate, a first forced bolt assembly mechanism is installed on the first synchronous mechanism side plate, the first forced bolt assembly mechanism comprises a first nail feeding module and a first air batch assembly, the first nail feeding module comprises a forced bolt grabbing mechanism formed by a plurality of grabbing fingers, and the first air batch assembly comprises a telescopic air batch head.

The sleeve assembly claw comprises a sleeve assembly claw connecting flange, one end of the sleeve assembly claw connecting flange is provided with a sleeve assembly claw auxiliary disc, the other end of the sleeve assembly claw connecting flange is provided with a sleeve assembly claw connecting plate, the surface of the sleeve assembly claw connecting plate is provided with a sleeve locking mechanism, and the sleeve locking mechanism comprises a locking barrel controlled by a motor. The sleeve assembly paw connecting plate is fixedly connected with a sleeve grabbing paw mounting plate through two connecting blocks, a sleeve grabbing paw is mounted on the sleeve grabbing paw mounting plate, and the sleeve grabbing paw comprises a plurality of sleeve fixing sleeves fixedly arranged on the sleeve grabbing paw mounting plate, and magnets are arranged inside the sleeve fixing sleeves.

Preferably, a second synchronous mechanism side plate is arranged on the surface of the synchronous mechanism mounting plate, second assembly mechanisms which are identical to the first assembly mechanisms in structure are symmetrically arranged on the second synchronous mechanism side plate, and the first forced bolt assembly mechanisms and the second forced bolt assembly mechanisms are connected in a positioning mode through reinforcing shafts. The distance between the first air batch component on the first forced bolt assembly mechanism and the second air batch component on the second forced bolt assembly mechanism is equal to the distance between the forced bolt mounting holes at the two ends of the brake.

Preferably, the number of the sleeve fixing sleeves arranged on the sleeve grabbing paw mounting plate is four, and the mounting positions of the four sleeve fixing sleeves correspond to the positions of four adjusting sleeve mounting holes on the brake.

Preferably, the bushings on the drive chain structure of the forced bolt feeding mechanism are provided with four rows.

Preferably, a plurality of buffer tables and a transfer table are arranged on the manual operation table frame.

Preferably, the spring force adjusting special machine is further provided with a second visual identification module, the second visual comprises a second camera assembly, and the second camera assembly is arranged at the position where the servo pressing mechanism mounting frame is flush with the third transposition table.

Preferably, the end of a blanking frame of the blanking conveying line is provided with a correlation type photoelectric switch, the correlation type photoelectric switch is electrically connected with a driving device of the blanking conveying line, and a last stop block is further arranged in front of the correlation type photoelectric switch.

Compared with the prior art, the invention has the beneficial effects that: the brake automatic assembly line changes the traditional long assembly line operation mode into a three-dimensional space automatic operation mode, thereby saving the field space. According to the automatic operation equipment such as the robot, the special silencing machine and the special spring force adjusting machine, which are adopted by the invention, the process steps of feeding, assembling, parameter adjusting and the like of the brake are changed from a manual operation mode to an automatic operation mode, so that the assembly efficiency of the brake is improved, and the qualification rate of finished products of the brake is also improved.

Drawings

Fig. 1 is a first perspective view structural view of a plate brake assembled in an embodiment of the present invention.

Fig. 2 is a second perspective view structural diagram of the assembled plate brake in an embodiment of the present invention.

Fig. 3 is an exploded view of the structure of the assembled plate brake in the embodiment of the present invention.

Fig. 4 is a structural view of an automatic assembly line for an elevator plate brake according to the present invention.

Fig. 5 is a block diagram of the core car and armature car shown in fig. 4.

Fig. 6 is a schematic diagram of the first robot shown in fig. 4.

Fig. 7 is a block diagram of a first view of a carrying gripper assembled by a first robot.

Fig. 8 is a structural view of the first robot assembled carrying gripper from a second perspective.

Fig. 9 is a structural diagram of the press-fit special machine shown in fig. 4.

Fig. 10 is a block diagram of a first transposition stage of the lamination machine.

Fig. 11 is an enlarged view of the area a shown in fig. 10.

Fig. 12 is a block diagram of a first view of a forced bolt gripper assembled by a second robot.

Fig. 13 is a structural view of a second view of the forced bolt hand assembled by the second robot.

Fig. 14 is a view showing a first view of the forced bolt feeding structure shown in fig. 4.

Fig. 15 is a structural view of the forced bolt loading structure of fig. 4 at a second view angle.

Fig. 16 is a block diagram of the sleeve assembly station shown in fig. 4.

Fig. 17 is a block diagram of a first view of a sleeve-mounted gripper assembled by a second robot.

Fig. 18 is a block diagram of a second view of a sleeve-mounted gripper mounted by a second robot.

Fig. 19 is a block diagram of a chain line of the socket feed plate shown in fig. 4.

Fig. 20 is a structural view of the manual operation panel shown in fig. 4.

Fig. 21 is a view of the silencer unit of fig. 4 from a first perspective.

Fig. 22 is a view of the silencer unit of fig. 4 from a second perspective.

Fig. 23 is an enlarged view of the region B shown in fig. 22.

Fig. 24 is a block diagram of the spring force adjusting special machine shown in fig. 4 at a first view angle.

Fig. 25 is a view of the spring force adjusting special machine shown in fig. 4 from a second view angle.

Fig. 26 is a structural diagram of the third view of the spring force adjusting special machine shown in fig. 4.

Fig. 27 is an enlarged view of region C shown in fig. 25.

Fig. 28 is an enlarged view of the region D shown in fig. 25.

Fig. 29 is an enlarged view of the area E shown in fig. 26.

Fig. 30 is a structural view of the blanking conveying line shown in fig. 4.

Detailed Description

The invention is further described below with reference to the drawings and examples. For the purpose of better illustrating the embodiments, certain accessories are omitted, enlarged, or reduced; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The elevator plate brake automatic assembly line is mainly applied to assembly of plate brakes. Referring to fig. 1 and 2, the plate brake 1 assembled in the present embodiment includes a core module including a core 11 and an armature module, as shown in the direction of fig. 1. The armature module includes an armature 12, a brake shoe 13 fixed to the armature 12 by a bolt, and a brake pad 14 mounted on an upper surface of the brake shoe 13 by an interference fit. A micro switch 15 is arranged on the left end face of the brake 1. The core iron module and the armature module are locked and matched together through forced bolts 16 arranged at the left side and the right side of the brake 1, in this embodiment, the number of the forced bolts 16 is two, namely 4 forced bolts 16 are arranged at the left side and the right side, and the forced bolts sequentially pass through the core iron 11 and the armature 12 from the lower surface of the core iron 11 from bottom to top. The front and back sides of the middle part of the brake 1 are provided with 4 spring force bolts 17, the front and back sides of the brake 1 are provided with two spring force bolts 17, and the spring force bolts 17 are installed in the core iron 11 from bottom to top and are locked by the spring force nuts 170. The left and right sides of the brake 1 are provided with adjusting sleeves 18 for preventing the stroke, the total number of the adjusting sleeves 18 is 4, the adjusting sleeves 18 are respectively arranged at the positions of the 4 corners of the brake 1, and the adjusting sleeves 18 sequentially pass through the armature 12 and the core iron 11 from top to bottom from the upper surface of the armature 12. At the installation position near the 4 adjustment sleeves 18, 4 silencing structures (not shown in the figure) are also installed, and the silencing structures are installed in the core iron 11 and are locked by the silencing structure bolts 19 and nuts 190 which sequentially pass through the core iron 1 and the armature 2 from bottom to top.

Referring to fig. 3, as shown in the direction of fig. 3, two forced bolt mounting holes 110 are respectively formed on the left and right sides of the upper end surface of the core 11, corresponding forced bolt holes 120 are formed on the armature 12, and the forced bolts 16 penetrate through the forced bolt holes of the core 11 and the armature 12 to cooperatively lock the core module and the armature module. The left and right sides of core iron 11 up end is equipped with two spring mounting hole 111 respectively, is equipped with 6 spring mounting holes in the middle, and among 6 spring mounting holes in the centre, two spring mounting holes that are located the inside are the same with the spring mounting hole 111 that the left and right sides set up of core iron 11 up end, all do not pass core iron 11's lower terminal surface, and here these two spring mounting holes the same with spring mounting hole 111 structure are same marked as spring mounting hole 111, and other 4 spring mounting holes that are located core iron 11's outside edge are marked as spring mounting hole 112. In the embodiment of the present invention, the same reference numerals are used as long as they are components or structures having the same structure. The lower sides of the 4 spring mounting holes 112 are respectively provided with a threaded hole (not shown) communicated with the spring mounting holes, the aperture of the spring mounting holes 112 is larger than that of the threaded holes, and a spring seat (not shown) capable of moving up and down in the spring mounting holes 112 is arranged in the spring mounting holes 112. The plurality of spring mounting holes 111 and the plurality of spring mounting holes 112 each house a strong spring 100. The 4 spring force bolts 17 are respectively in the corresponding threaded holes of the spring mounting holes 112 and are locked by the spring force nuts 170, and the spring force bolts 17 can be communicated into the spring mounting holes 112, and the spring force between the core iron 1 and the armature iron 2 is adjusted by pushing the spring mounting seat to push the powerful spring in the spring mounting holes 112. Through holes 113 are formed in the positions of the 4 corners of the core iron 1, corresponding through holes 123 are formed in the armature 12, and the adjusting sleeve 18 penetrates through the through holes 123 and the through holes 113. The core iron 1 is provided with a silencing structure mounting hole 114 near the 4 through holes 113, and corresponding to the silencing structure mounting hole 114, the corresponding silencing structure mounting hole (not shown in the figure) is also provided with a silencing structure (not shown in the figure) and a strong spring 100, and a silencing structure bolt 19 sequentially penetrates through the silencing structure mounting hole 114 and the silencing structure mounting hole on the armature 12 from bottom to top and is locked on the upper surface of the armature 12 by a nut 190. Two circular coils 10 are also provided inside the core iron 11, and a spring mounting hole 111 is also provided at a middle position of the mounting positions of the two coils 10.

In an embodiment of the invention, the brake shoe 13 and the brake pad 14 are already mounted on the armature 12 before the armature 12 enters the automation line. Further, the inside of the plurality of spring mounting holes 111, 112 and the noise reducing structure mounting hole 114 of the core iron 11 have been put with the strong spring 100, and the inside of the through hole 113 has also been put with the washer 180.

Referring to fig. 4, the directions as shown in fig. 4, the directions described above, below, left, right, etc. for fig. 4 refer to two-dimensional directions in fig. 4, and do not relate to a three-dimensional stereoscopic space. The brake assembly line in the embodiment of the invention comprises a movable core car 21 and an armature car 22, wherein the core car 21 and the armature car 22 are arranged on the right side of the brake assembly line. After the core iron skip 21 and the armature skip 22 are well fed from the feeding room, the core iron skip 21 and the armature skip 22 are pushed to the fixing of the assembly line for feeding.

On the left side of the core car 21, a first robot 2 is provided, and the first robot 2 is a six-axis robot having multiple degrees of freedom. The first robot 2 is mainly used for carrying a workpiece, and therefore a carrying claw 5 is mounted on a mechanical arm of the first robot 2.

On the left side of the first robot 2, an assembling platform 3 is provided, and a press-fit special machine 31 and a sleeve assembling station 32 are arranged on the assembling platform 3. The first robot 2 grabs and places the core module and the armature module from the core car 21 and the armature car 22 onto the press-fit special machine 31, and then the press-fit special machine 31 presses the core module and the armature module.

On the left side of the assembly platform 3, a second robot 4 is provided, and the second robot 4 is an assembly robot and is mainly used for performing process assembly on the brake 1. Therefore, the second robot 4 is a six-axis robot having multiple degrees of freedom from the first robot 2, and is different in that the gripper mounted on the arm of the second robot 4 can be replaced according to the assembly process of the brake 1. The gripper mounted on the arm of the second robot 4 can be switched between the forced bolt gripper 6 and the sleeve-mounted gripper 7. Therefore, a gripper platform 41 is provided above the second robot 4, on which a first gripper receiving position 411 for receiving the forced bolt gripper 6 and a second receiving position 412 for receiving the sleeve-mounted gripper 7 are provided.

At the lowest left of the second robot 4, a forced bolt feeding mechanism 42 is provided. After the second robot 4 is equipped with the forced bolt gripper, the forced bolt can be grabbed from the forced bolt feeding mechanism 42 and rotated to the position of the special pressing machine 31, and the core iron module and the armature iron module are locked by the forced bolt. After the forced bolts lock the core and armature modules, the first robot 2 transfers the brake workpiece to the sleeve assembly platform 32.

Above the forced screw feeding mechanism 42, a sleeve feeding plate chain line 43 is provided. After the second robot 4 locks the forcing bolt on the brake workpiece, the second robot 4 unloads the forcing bolt gripper on the first gripper placing position 411, replaces the sleeve grabbing gripper on the second gripper placing position 412, grabs the adjusting sleeve from the sleeve feeding plate chain line 43 and moves to the sleeve assembling platform 32 to install the adjusting sleeve on the brake workpiece.

Directly below the first robot 2, a manual operation table 23 is provided. The manual operation table 23 is provided with a spring force bolt and a noise reducing structure for manually installing the brake workpiece. After the adjustment sleeve is installed on the brake workpiece, the first robot 2 moves the brake workpiece onto the manual operation table 23 to be manually operated by installing the spring force bolt and installing the noise reducing structure.

A special silencing machine 8 is provided directly above the first robot 2. After the spring force bolt and the silencing structure are manually installed inside the brake on the manual operation table 23, the first robot 2 carries the brake workpiece to the silencing special machine 8, and the silencing special machine 8 performs assembly locking of the silencing structure on the brake workpiece.

Above the assembly platform 3, a spring force adjusting special machine 9 is arranged. After the brake workpiece is assembled with the silencing structure, the first robot 2 moves the brake workpiece to the special spring force adjusting machine 9, the second robot 4 replaces the forced bolt paw again, and the second robot 4 adjusts the spring force between the core iron and the armature iron of the brake workpiece together with the special spring force adjusting machine 9.

Below the core car 21, a blanking conveying line 24 is provided. After the spring force between the core iron and the armature of the brake workpiece is adjusted, the first robot 2 moves the brake workpiece to the manual operation table 23, the micro switch is manually installed on the brake, and finally the first robot 2 conveys the brake finished product to the blanking conveying line 24 for blanking.

Further, an air tank 25 is provided on the right side of the muffler unit 8. The air reservoir 25 provides the required air pressure for the relevant pneumatic mechanism of the overall assembly line. On the right of the manual operation table 23, a first robot control cabinet 20 is provided. Below the second robot 4, a second robot control cabinet 40 is provided. The whole assembly line is protected by the safety fence 26 to ensure safe production, and the manual operation table 23, the forced bolt feeding mechanism 42, the sleeve feeding plate chain line 43 and the blanking conveying line 24 are partially arranged outside the safety fence 26, and the first robot control cabinet 20 is completely arranged outside the safety fence 26. In addition, a system control cabinet 27 for controlling the entire assembly line system is provided outside the safety fence 26.

Referring to fig. 5, the core car 21 is a car with rollers capable of manually pushing and sliding, and comprises a core material frame 210, and a plurality of trays 211 for placing core are arranged on the core material frame 210. A first push frame 212 is provided at one end of the core material frame 210, and a first positioning seat 213 is provided at the other end. Similarly, the armature carriage comprises an armature material frame 220, and a plurality of trays 221 for placing armatures are arranged on the armature material frame 220. The armature material frame 220 is provided with a second push frame 222 at one end and a second positioning seat 223 at the other end. The core-iron skip 21 and the armature skip 22 are manually pushed to a skip positioning mechanism of an assembly line to be fixed, and the skip positioning mechanism is fixedly arranged. The skip positioning mechanism comprises a positioning frame 290, and a plurality of metal fixing foot cups 291 are arranged at the lower end of the positioning frame 290 so as to fix the skip positioning mechanism. Cam bearing followers 292 are mounted on the middle steel frame and the two side steel frames of the positioning frame 290, and a first guide block 293 and a second guide block 294 are arranged on the positioning frame 290. The positioning frame 290 is further provided with two core material frame positioning cylinders 295, at the same time, a lever mechanism (not shown in the figure) is installed at a position of the positioning frame 290, which is located outside the installation position of the two core material frame positioning cylinders 295 (and is located inside between the two core material frame positioning cylinders 295), and a piston rod of the core material frame positioning cylinder 295 is connected with one end of a movable rod of the lever mechanism, which is located inside. A photoelectric sensor 296 is provided on the first guide block 293, and the photoelectric sensor 296 is electrically connected to the two core work positioning cylinders 295 via a relay box 297 mounted on the positioning frame 290. Similarly, two armature material frame positioning cylinders 298 are also arranged on the positioning frame 290, a photoelectric sensor 299 is arranged on the second guide block 294, and the photoelectric sensor 299 is electrically connected with the two armature material frame positioning cylinders 298 through a relay box 297. When the core car 21 and the armature car 22 just push in, the core material frame positioning cylinder 295 and the armature material frame positioning cylinder 298 are in a contracted state, and at this time, the movable rod of the lever mechanism is inclined to the inner side, so that the core car 21 and the armature car 22 can be smoothly pushed into the car positioning mechanism. In the pushing process, cam bearing followers 292 are mounted on the outer sides of the core car 21 and the armature car 22 and on two sides of the positioning frame 290, and the cam bearing followers 292 can ensure that the core car 21 and the armature car 22 slide to the positioning mechanism smoothly and the positioning accuracy. When the photoelectric sensor 296 and the photoelectric sensor 299 sense the approaching signal of the skip car, the piston rods of the core material frame positioning cylinder 295 and the armature material frame positioning cylinder 298 extend out, so that the movable rod of the lever mechanism inclines outwards, and the movable rod positions the core material car 21 and the armature skip car 22. Meanwhile, the first guide block 293 is matched with the first positioning seat 213 on the core car 21, and the second guide block 294 is matched with the second positioning seat 223 on the armature car 22, so that the core car 21 and the armature car 22 are further fixed.

In the embodiment of the invention, when the core car 21 and the armature car 22 are used for feeding, the placement direction of the core module and the armature module is the direction shown in fig. 3. The core iron module is arranged on a core iron skip 21, and the surface of the core iron 11, which is contacted with the armature 12, faces upwards. In this embodiment, the side of the core 11 that contacts the armature 12 is referred to as the front side, and the opposite side facing downward is referred to as the bottom side. On the armature carriage 22, the side of the armature 12 on which the brake shoe 13 is mounted faces upward, and in this embodiment, the side of the armature 12 on which the brake shoe 13 is mounted is referred to as the front side, and the side of the armature 12 in contact with the core 11 is referred to as the bottom side. Thus, both the core 11 and the armature 12 are right side up in the skip car. In the present embodiment, the end surface of the brake 1 on which the micro switch 15 is mounted is referred to as a side end surface, and the other end surface facing the side end surface, as shown in fig. 1.

Referring to fig. 6, the first robot 2 includes a base 201, a robot body 202 is mounted on the base 201, a robot arm 203 is mounted on the robot body 202, and a main tray 204 is mounted at the end of the robot arm 203. The master 204 is used to attach a mounting and handling gripper.

Also, the structure of the second robot 4 is similar to that of the first robot 2, and will not be described again.

Referring to fig. 7 and 8, the carrying gripper 5 connected to the first robot 2 includes a carrying gripper connecting flange 50, one end of the carrying gripper connecting flange 50 is provided with a carrying gripper auxiliary disc (not shown in the drawings), and the carrying gripper 5 is in flange connection with the main disc 204 at the end of the mechanical arm 203 of the first robot 2 through the carrying gripper auxiliary disc. The other end of the carrying claw connecting flange 50 is fixedly provided with a flange connecting plate 501, the surface of the flange connecting plate 501 is provided with a fixed carrying claw connecting plate 51 and a movable carrying claw connecting plate 52 oppositely, the inner side of the fixed carrying claw connecting plate 51 (i.e. the surface opposite to the movable carrying claw connecting plate 52) is provided with a carrying finger 510 for clamping the core iron module or the armature module, and the inner side of the movable carrying claw connecting plate 52 is provided with a carrying finger 520. A thin air cylinder 53 is further provided on the lower surface of the flange connection plate 501, and the thin air cylinder 53 is located outside the moving-conveyance-claw connection plate 52, and a piston rod of the thin air cylinder 53 is connected to the moving-conveyance-claw connection plate 52. The piston rod of the thin air cylinder 53 is contracted or extended to push the movable carrying claw connecting plate 52 to move, thereby changing the distance between the fixed carrying claw connecting plate 51 and the movable carrying claw connecting plate 52, namely changing the distance between the carrying finger 510 and the carrying finger 520, and clamping or loosening the brake workpiece, thereby realizing the carrying operation of the brake workpiece. In addition, the carrying gripper 5 further includes other electrical components, such as a relay box 502 and a cartridge solenoid valve 503 mounted on the flange connection plate 501, which are not described in detail herein. The carrying paw 5 is provided with a first visual recognition module, the first visual recognition module comprises a first camera assembly 54, and the first camera assembly 54 is mounted on the flange connecting plate 501. The first visual recognition module adopts a general technology, and is not described herein. When the carrying paw 5 is used for grabbing the core iron module or the armature module, whether the grabbed workpiece is correct or not is identified through the first visual identification module, and after the grabbed workpiece is confirmed to be correct, the carrying paw 5 is confirmed to execute grabbing action.

As described above, before the core 11 enters the assembly line, the plurality of spring mounting holes 111, 112 and the noise damping structure mounting hole 114 of the core 11 are internally provided with the strong spring 100, and the washer 180 is also internally provided with the through hole 113. If the core iron 11 lacks necessary elements, defective products are produced. Therefore, the carrying gripper 5 is further provided with a height measuring mechanism and a detecting and missing mechanism. The height measuring mechanism is mainly used for measuring the height of the core iron, and comprises a detection rod 55 which penetrates through the flange connecting plate 501 and can move up and down, and a sensor (not shown in the figure) is arranged at the lower end of the detection rod 55. The detecting rod 55 is driven to move up and down by an air cylinder or a screw rod mechanism, after the carrying paw 5 grabs the core iron 11, the detecting rod 55 stretches out downwards, a sensor at the lower end of the detecting rod 55 senses the core iron 11, and at the moment, the downwards stretching length of the detecting rod can be calculated, so that the height of the core iron 11 is calculated, and whether the core iron 11 meets production requirements or not is judged.

The detection leakage mechanism comprises a guide column upper connecting plate 561 and a guide column lower connecting plate 562, wherein the guide column upper connecting plate 561 is arranged on the carrying paw connecting flange 50, the guide column upper connecting plate 561 and the guide column lower connecting plate 562 are connected through more than two guide columns 560, the guide columns 560 penetrate through the flange connecting plate 501, and the guide column lower connecting plate 562 is arranged between the fixed carrying paw connecting plate 51 and the movable carrying paw connecting plate 52. The lower end of the guide post 560 is further provided with an inductor mounting plate 57 capable of moving up and down, the inductor mounting plate 57 is located above the guide post lower connecting plate 562, and a detection assembly is arranged on the inductor mounting plate 57, and the detection assembly comprises a plurality of inductors (not shown in the figure) for detecting whether the strong springs 100 or the washers 180 are arranged in the mounting holes on the core iron 11. Referring back to fig. 3, the core iron 11 is provided with 8 spring mounting holes 111, 4 spring mounting holes 112, 4 silencing structure mounting holes 114 and 4 through holes 113, and the number and positions of the inductors on the inductor mounting plate 57 are set according to the layout of the relevant holes on the core iron 11, so that the purpose of one-to-one correspondence is achieved, and each inductor can accurately detect whether the relevant holes on the core iron 11 are fed or not. Likewise, the sensor mounting plate 57 is driven by a cylinder (not shown) or a screw (not shown) provided on the flange connection plate 501 and moves up and down along the guide post 560. The exposed wires on the carrying jaw 5 are gathered to form a wire bundle 58 to reduce the influence of wire scattering on the movement of the mechanism.

When the carrying paw 5 grabs the core iron 11, after the height measuring mechanism measures the height of the core iron 11, the detection component of the sensor mounting plate 57 detects whether relevant materials are placed in each mounting hole on the core iron 11 through the dragging action of the transmission mechanism. Next, the first robot 2 sequentially conveys the core iron module and the armature module to the lamination machine 31 in the direction shown in fig. 3.

Referring to fig. 9 to 11, the special press 31 includes a special press frame 310, a pneumatic press bottom plate 311 is disposed above the special press frame 310, a first transposition table is disposed on the pneumatic press bottom plate 311, the first transposition table includes a first rail pair 301 disposed on the pneumatic press bottom plate 311, a first transposition platen 302 is disposed on the first rail pair 301, and the first transposition platen 302 is cooperatively mounted on the first rail pair 301 through a slider mechanism (not shown in the drawing). The first indexing platen 302 is provided with a first square through slot 303. In addition, a second square through groove 312 is provided between the first rail pair 301 in the pneumatic press-fit bottom plate 311. The first square through groove 303 is provided with limiting blocks 304 for fixing the core iron module and the armature iron module, and the limiting blocks 304 around form a first station fixture. The core module and the armature module are placed in a first station fixture formed by the limiting blocks 304, the core module is arranged below the first station fixture, the armature module is arranged above the core module, and the core module and the armature module form an unlocked brake 1. The first station fixture further comprises a jacking component arranged on the side edge of the limiting block 304, the jacking component comprises a jacking cylinder 305 arranged on the first transposition platen 302, a piston rod of the jacking cylinder 305 is connected with an elastic jacking piece 307 through a connecting plate 306, and the jacking cylinder 305 is electrically connected with a relay box 300 arranged on the first transposition platen 302. The two jacking assemblies are arranged on the same side, the piston rod movement direction of the jacking cylinders 305 of the two jacking assemblies is perpendicular to the first guide rail pair 301 (namely, the cylinders arranged on the two same side are perpendicular to the first guide rail pair 301), and the jacking cylinders 305 jack the core iron module and the armature iron module from the direction perpendicular to the first guide rail pair 301. A first cylinder 3050 is also provided on the pneumatic press-fit base 301, a piston rod of the first cylinder 3050 being connected to the first indexing platen 302 by a connection (not shown in the figures). The first index cylinder 3050 is disposed between the first rail pairs 301 and parallel to the first rail pairs 301 (i.e., the movement direction of the piston rod of the first cylinder 3050 is parallel to the first rail pairs 301), so that the first cylinder 3050 can push the first index platen 302 to move in parallel along the first rail pairs 301. In addition, as with the two jack cylinders 305, the first cylinder 3050 is also connected to the elastic jack 307 via the connection plate 306 in the direction parallel to the first rail pair 301. In this way, the first cylinder 3050 pushes the first index platen 302 out while pushing the core block and the armature block in a direction parallel to the first rail pair 301. In order to prevent the stopper 1 from being biased by the excessive pressing force of the pressing member, a stopper member 313 is further provided on the first indexing platen 302 in the direction in which the piston rod of the pressing cylinder 305 extends. When the jacking cylinder 305 jacks the brake through the elastic jacking piece 307, the lower part of the connecting plate 306 is in contact with the limiting component 313, and the limiting component plays a limiting role on the connecting plate 306, so that the limiting role on the jacking component is achieved, and the jacking component is prevented from jacking the brake 1 due to overlarge jacking force. In addition, the plurality of wires on the first indexing table are also collectively formed into a wire bundle 308 to reduce interference of the wires with the movement of the first indexing table due to scattering. The core iron module and the armature module are placed on the first station fixture, the core iron module and the armature module are propped up by two propping cylinders 305 which are arranged on the same side and are perpendicular to the first guide rail pair 301, and the core iron module and the armature module are propped up by elastic propping pieces 307, and then the first cylinder 3050 is inflated to extend out of the piston rod, so that the first transposition platen 302 is pushed out. It can be seen that the handling gripper 5 places the core module and the armature module on the first station clamp consisting of the stop block 304, the cylinder 305 of the jack assembly pushing the elastic jack 307 further securing it.

A pressurizing mechanism mounting frame 313 is arranged right above the first guide rail pair 301, the pressurizing mechanism mounting frame 313 is arranged on the pneumatic pressing bottom plate 311 and is positioned at the tail end of the first guide rail pair 301, and the initial end of the first guide rail pair 301 is the initial position of the first transposition table in the non-working state. After the first indexing table mounts the core and armature modules, the hold-down assembly holds them down and slides under the booster mount 313. For accurate positioning, the pneumatic press-fit base 311 is provided with a buffer 309 at the position of the end of the first rail pair 301. The pressurizing mechanism mounting frame 313 is provided with a gas-liquid pressurizing and pressing mechanism for pressing the core iron module and the armature module from top to bottom, and the gas-liquid pressurizing and pressing mechanism comprises a second cylinder 314 and a pressure head mechanism 315 connected with the second cylinder. The second cylinder 314 is installed at the uppermost part of the pressurizing mechanism installation frame 313, and the pressure head mechanism 315 is installed below the pressurizing mechanism installation frame 313, and a piston rod of the second cylinder 314 penetrates through a transverse plate of the pressurizing mechanism installation frame 313 to be connected with the pressure head mechanism 315, so that the gas-liquid pressurizing and pressing mechanism presses the core iron module and the armature iron module on the first transposition table.

It can be seen that when the press-fit special machine 31 presses the core iron module and the armature module, the bottom surface of the core iron 11 faces downward, and the front surface of the armature 12 faces upward. The second square through groove 312 on the pneumatic lamination bottom plate 311 and the first square through groove 303 on the first transposition platen 302 on the bottom surface of the core iron 11 are exposed below the lamination special machine 31. At this time, the second robot 4 installs the forced bolt gripper, and grabs the forced bolt from the forced bolt feeding mechanism 42, and installs the forced bolt into the forced bolt hole of the brake through the second square through groove 312 on the pneumatic press-fit bottom plate 311 and the first square through groove 303 on the first transposition platen 302 from below the press-fit special machine 31, thereby locking the core iron module and the armature iron module.

Referring to fig. 12 and 13, the forced bolt hand 6 includes a forced bolt hand connection flange 60, and a forced bolt hand auxiliary disc 600 is mounted at one end of the forced bolt hand connection flange 60, and the forced bolt hand 6 is connected with a main disc on the mechanical arm of the second robot 4 through the forced bolt hand auxiliary disc 600. The other end of the forced bolt paw connecting flange 60 is provided with a synchronous mechanism mounting plate 61, the surface of the synchronous mechanism mounting plate 61 is provided with a synchronous mechanism side plate, a forced bolt assembling mechanism is arranged on the synchronous mechanism side plate, and the forced bolt assembling mechanism comprises a nail feeding module and an air batch module. As can be seen from fig. 2 or 3, the brake 1 is fitted with a total of 4 forced bolts 16, and both ends of the brake 1 are fitted with 2 forced bolts 16. To improve the efficiency of the assembly of the forcing bolts, two side plates of the synchronizing mechanism are mounted on the synchronizing mechanism mounting plate 61, including a first side plate 611 and a second side plate 612. The first synchronization mechanism side plate 611 is provided with a first forced bolt assembly mechanism, the first forced bolt assembly mechanism comprises a first slide rail fixing seat 63 fixedly connected to the first synchronization mechanism side plate 611, a first slide rail 630 is arranged on the first slide rail fixing seat 63, a first slide block mounting plate 631 is arranged on the first slide rail 630 in a matched mode, an air batch assembly is arranged on the first slide block mounting plate 631, the air batch assembly on the first slide block mounting plate 631 comprises a first air batch assembly and a second air batch assembly which are arranged in parallel, the first air batch assembly comprises a first air batch cylinder 632 and a first air batch 633 connected with the first air batch cylinder 632, and the first air batch 633 is used for screwing the forced bolt 16 through an air batch head 634 of the first air batch. The first slider mounting plate 631 is further provided with a first solenoid valve 635 for controlling the operation of the first air batch assembly, and the synchronizing mechanism mounting plate 61 is provided with a relay box 62 for controlling the entire forced bolt claw 6. Likewise, the second air batch assembly includes a second air batch cylinder, a second air batch, etc., which are not described in detail herein.

Still be provided with first nail send the module on first slide rail fixing base 63, first nail send the module including the first finger 641 that snatchs that sets up side by side, second snatch finger 642, third snatch finger 643 and fourth snatch finger 644. The second and third grasping fingers 642 and 643 are fixed, and the first and fourth grasping fingers 641 and 644 are movable to both sides by control of a slide mechanism (not shown in the drawings). The first gripping finger 641 and the second gripping finger 642 together form a gripping mechanism for gripping the forcing bolt 16, and the third gripping finger 643 and the fourth gripping finger 644 together form a gripping mechanism for gripping the forcing bolt 16. The first air batch assembly screws up the forced bolts 16 gripped by the first gripping finger 641 and the second gripping finger 642 through the first air batch 633, and the second air batch assembly screws up the forced bolts 16 gripped by the third gripping finger 643 and the fourth gripping finger 644 through the second air batch. Thus, the first nail feeding module can grasp two forced bolts 16 at a time and screw the forced bolts 16 into the core iron and armature of the brake by the first air block 633. In the present embodiment, when the first nail feeding module grabs and clamps the two forced bolts 16, the distance of the two forced bolts 16 is exactly equal to the distance between the two forced bolt mounting holes 110 on the same side of the core iron 11, so that the first nail feeding module can accurately mount the forced bolts 16 into the brake 1.

In order to simultaneously install the forced bolts in the two forced bolt installation holes 110 at the other end of the core iron 11, the second synchronizing mechanism side plate 612 is symmetrically installed with a second forced bolt installation mechanism identical to the first forced bolt installation mechanism, and the second forced bolt installation mechanism will not be described in detail. The first synchronization mechanism side plate 611 and the second synchronization mechanism side plate 612 are connected in a positioning way through the reinforcing shaft 65, on one hand, the mounting stability of the first synchronization mechanism side plate 611 and the second synchronization mechanism side plate 612 is guaranteed, and on the other hand, the distance between the air batch head of the first forced bolt assembly mechanism and the air batch head of the second forced bolt assembly mechanism is exactly equal to the distance between the forced bolt mounting holes at two ends of the brake, so that the forced bolt claw 6 can complete the forced bolt assembly process of the brake 1 at one time.

Referring back to fig. 4, the second robot 4 uses the forced bolt gripper 6 to grasp the forced bolt from the forced bolt feeding mechanism 42, and then uses the forced bolt to lock the core iron module and the armature iron module from the lower part of the press-fit special machine 31.

Referring to fig. 14 and 15, the forced bolt feeding mechanism 42 includes a transmission chain structure 425, and a driving manner of the transmission chain structure 425 adopts a well-known transmission technology, which is not described herein in detail. The driving chain structure 425 is provided with the sleeve 420, the forced bolt 16 is placed in the sleeve 420, and the nut of the forced bolt 16 is higher than the sleeve 420, so that the forced bolt 16 can be grasped by the nail feeding module of the forced bolt claw 6.

In the orientation shown in fig. 14, the drive chain structure 425 is transported from left to right, and the forcing bolt 16 is placed into the sleeve 420 on the drive chain structure 425 above the left end of the drive chain structure 425. In the present embodiment, among the adjacent 4 forced bolts 161, 162, 163 and 164 shown in fig. 14, the distance between the forced bolt 161 and the forced bolt 162 is 53.6mm, the distance between the forced bolt 162 and the forced bolt 163 is 48mm, and the distance between the forced bolt 163 and the forced bolt 164 is 53.6mm. It can be seen that the distance between two adjacent forcing bolts on the drive chain structure 425 is alternately cycled between 48mm and 53.6mm. In addition, the distance between the rightmost two forcing bolts (i.e., sleeve 420) is 48mm. Of course, in other applications, the distance between the forcing bolts is also adjustable by other parameters.

As shown in fig. 15, the bushings 420 provided on the transmission chain structure 425 are divided into 4 rows, and the 4 rows of bushings are labeled as a first row of bushings 421, a second row of bushings 422, a third row of bushings 423, and a fourth row of bushings 424, respectively. Each side of the drive chain structure 425 is provided with two rows of bushings, the bushings provided on both sides are symmetrical with respect to the centre line of the drive chain structure 425, and the distance between the two rows of bushings on the same side is smaller than the distance between the two rows of bushings in the middle.

Referring back to fig. 12 and 13, and referring to fig. 14 and 15, taking the first nail feeding module on the forced bolt 6 as an example, the dimensions of the fixed second grabbing finger 642 and the fixed third grabbing finger 643 plus the gap distance thereof are smaller than 48mm, that is, the second grabbing finger 642 and the third grabbing finger 643 can extend between the forced bolt 162 and the forced bolt 163. The first grabbing finger 641 and the fourth grabbing finger 644 need to slide in a translational manner, and the width of 53.6mm can meet the requirement of the sliding distance, so that the first grabbing finger 641 can extend into the interval between the forced bolt 161 and the forced bolt 162, and the fourth grabbing finger 644 can extend into the interval between the forced bolt 163 and the forced bolt 164. Thus, the first gripping finger 641 and the fourth gripping finger 644 slide inward to be tightened, so that the two forced bolts can be gripped. Symmetrically, the second nail feeding module also grabs two forced bolts. In addition, the distance between the first and second staple feeding modules on the forced bolt hand 6 is equal to the distance between two rows of spaced apart bushings on the drive chain structure 425, namely the first row of bushings 421 and the third row of bushings 423 (or the second row of bushings 422 and the fourth row of bushings 424). The forced bolt gripper 6 grips the forced bolts on the forced bolt feeding mechanism 42, grips the forced bolts in the first-row sleeve 421 and the third-row sleeve 423, or grips the forced bolts in the second-row sleeve 422 and the fourth-row sleeve 424. In the orientation shown in fig. 14, the right end of the drive chain structure 425 is provided with a photoelectric switch (not shown in the figure) by which the movement of the drive chain structure 425 to the right is automatically controlled. For example, the positive bolt gripper 6 removes the positive bolts of the first row of bushings 421 and the third row of bushings 423 from the drive chain structure 425, and then removes the positive bolts of the second row of bushings 422 and the fourth row of bushings 424, and after the positive bolts of the same row of bushings have been removed, the photoelectric switch controls the drive chain structure 425 to move forward in preparation for the next material removal of the positive bolt gripper 6.

Referring back to fig. 9 to 11, the second robot 4 uses the forced bolt claw 6 to sequentially pass through the second square through groove 312 on the pneumatic pressing bottom plate 311 and the first square through groove 303 on the first transposition table 302 from the lower side of the pressing special machine 31, and installs four forced bolts 16 into the core iron module and the armature module pressed on the first transposition table at one time from the bottom surface of the core iron 11, so as to cooperatively lock the core iron module and the armature module.

After the core module and the armature module are locked by the forcing bolts 16, the core module and the armature module are combined into the brake 1. The first indexing table is withdrawn and the brake 1 released, and the first robot 2 then carries the brake 1 to the sleeve assembly station 32.

Referring to fig. 16, the sleeve assembling station 32 includes a sleeve assembling station frame 320, and a second station jig 321 for clamping a brake workpiece is provided on an upper surface of the sleeve assembling station frame 320. The specific structural principle of the second station fixture 321 is basically the same as that of the first station fixture on the press-fit special machine 31, except that the first station fixture can move along with the first transposition platen 302, and the second station fixture 321 is fixedly arranged on the upper surface of the sleeve assembly station frame 320. For other specific structural principles of the second station fixture 321, refer to the foregoing description of the first station fixture, which is not repeated herein.

The first robot 2 carries the brake 2 to the sleeve assembling station 32 with the armature 12 facing up, then the second robot 4 turns to the position of the switching claw platform 41, the forced bolt claw 6 is detached and fixedly placed at the first claw placing position 411, then the second robot 4 is replaced with the sleeve assembling claw 7 from the second claw placing position 412, the sleeve assembling claw 7 is utilized to grasp the adjusting sleeve from the sleeve loading plate chain line 43, and the adjusting sleeve is moved to the sleeve assembling platform 32 for installing the brake workpiece.

Referring to fig. 17 and 18, the sleeve-assembling finger 7 includes a sleeve-assembling finger connecting flange 70, one end of the sleeve-assembling finger connecting flange 70 is provided with a sleeve-assembling finger auxiliary disc 700, and the other end is provided with a sleeve-assembling finger connecting plate 71. The surface of the sleeve-assembling claw coupling plate 71 is provided with a sleeve locking mechanism, the sleeve locking mechanism comprises a motor 721, the output end of the motor 721 is connected with a sleeve locking transmission shaft 722 through a coupling (not shown in the figure), and the tail end of the transmission shaft 722 is connected with a locking cylinder 723 for locking the adjusting sleeve 18. A torque limiter 724 is further provided between the output shaft of the motor 721 and the transmission shaft 722 to prevent the brake from being damaged by an excessive torque of the lock cylinder 723.

Sleeve grasping claw mounting plates 73 and side plates 74 are further arranged on two sides of the sleeve assembling claw connecting plate 71 respectively, sleeve grasping claws are arranged on the surfaces of the side plates 73, each sleeve grasping claw comprises a sleeve grasping claw mounting plate 731, and the sleeve grasping claw mounting plates 731 are connected with the sleeve grasping claw mounting plates 73 through connecting blocks 732 and 733 arranged at two ends. 4 identical sleeve-securing sleeves 734 are provided on the outer surface of the sleeve-grasping jaw mounting plate 731. Referring back to fig. 3, the mounting locations of the 4 sleeve retaining sleeves 734 are in one-to-one correspondence with the 4 through holes 123 on the armature 12. Inside the sleeve holder 734, a magnet (not shown) for holding the adjustment sleeve 18 is provided, by means of which the sleeve holder 734 grips and releases the adjustment sleeve 18. A relay box 740 is provided on the outer surface of the side plate 74, and an electrical mechanism of the sleeve-fitted claw 7 such as a motor 721 or the like is electrically connected to the relay box 740.

Referring to fig. 19, the sleeve feeding plate chain 43 includes a plate chain frame 430, a plurality of rows of pins 431 arranged in parallel are provided on the plate chain frame 430, and the adjusting sleeve 18 is sleeved on the pins 431.

Referring back to fig. 16, after the second robot 4 is replaced with the sleeve assembling gripper 7, 4 adjustment sleeves 18 are once grasped from the sleeve loading plate chain line 43 and moved to the position of the sleeve assembling platform 32, the 4 adjustment sleeves 18 are put into the through holes 123 from the front face of the armature 12, then the sleeve assembling gripper 7 is rotated, and the adjustment sleeves 18 are adjusted and locked by the lock cylinder 723.

After the second robot 4 has mounted the brake 1 with the adjustment sleeve 18, the second robot 4 removes the sleeve assembly jaw 7 and again mounts the forced bolt jaw 5 in preparation for the subsequent adjustment spring force process. At the same time, the first robot 2 turns the brake 1 180 degrees and places it on the manual operation table 23, i.e., the bottom surface of the core iron 11 is upward, and the front surface of the armature 12 is downward.

Referring to fig. 20, the manual operation table 23 includes an operation table frame 230, and a first slide table mechanism is provided on an upper surface of the operation table frame 230, the first slide table mechanism includes a first rail pair 231, and a first moving assembly 232 is provided on the first rail pair 231. The movement of the first moving assembly 232 on the rail pair 231 adopts a cylinder driving mode, which will be understood by those skilled in the art, and thus will not be described in detail herein. One end (the end close to an operator) of the guide rail pair 231 is provided with two first control switches 233 for controlling the first moving assembly 232 to slide, and the first moving assembly 232 can be controlled to slide by pressing the two first control switches 233. For example, the first moving component 232 slides in a direction approaching the operator when the two first control switches 233 are pressed simultaneously for the first time, and the first moving component 232 slides in a direction separating from the operator when the two first control switches 233 are pressed simultaneously for the second time. By simultaneously pressing the two control switches to operate the sliding of the sliding table mechanism, the damage to equipment caused by the fact that the control switch is pressed by mistake can be effectively reduced. Of course, a forward switch and a backward switch may be provided. A damper 234 is provided at the other end of the guide rail pair 231, and the damper 234 limits the stroke of the first moving assembly.

As can be seen from fig. 2 and 3, the spring force bolts 17 are installed from 4 threaded holes in the bottom surface of the core 11 and pass through the spring mounting holes 112, and the sound damping structure is also installed from 4 sound damping structure mounting holes 114 in the bottom surface of the core 11. Therefore, before the spring force bolt 17 and the noise reducing structure are manually mounted on the brake 1, the brake 1 needs to be fixed to the upper surface of the first moving member 232 in such a direction that the bottom surface of the core iron 11 faces upward. Referring back to fig. 16, with the brake 1 on the sleeve assembly station 32, the brake 1 is right side up with the armature 12, i.e., the brake 1 is carried from the sleeve assembly station 32 over the first motion assembly 232, with a 180 degree flip. The turning process can be performed independently by the carrying gripper 5, but this increases both the structural complexity of the carrying gripper 5 and the probability of the brake falling off the gripper. In view of this, as shown in fig. 20, a plurality of buffer tables 235 and a transfer table 236 are further disposed on the console frame 230. The size of the station fixture on the first moving assembly 232 is set according to the size of the bottom surface of the core 11, the size of the station fixture on the buffer stage 235 is set according to the size of the front surface of the armature 12, and the size of the station fixture on the intermediate turntable 236 is set according to the size of the side end surface of the brake 1. It can be seen that the brake 1 can be fixed to the buffer stage 235 with the bottom surface of the core 11 facing downward, and the brake 1 can be fixed to the intermediate turntable 236 with the smaller side end surface facing downward. The first robot 2 first places the brake 1 on the buffer stage 235 with the bottom surface of the core 11 facing downward, then the first robot 2 places the brake 1 on the transfer stage 236 with the side end surface facing downward, and finally the first robot 2 places the brake 1 on the first moving assembly 232 with the bottom surface of the core 11 facing upward, thereby completing 180-degree flip placement of the brake 1, then installs the spring force bolts 17 from 4 screw holes in the bottom surface of the core 11 and through the spring mounting holes 112 by hand, while primarily screwing the spring force nuts 170 on the spring force bolts 17, and installs the noise damping structure and the noise damping structure bolts in the noise damping structure mounting holes 114.

After the spring force bolt 17 and the noise reducing structure are mounted inside the brake 1 on the manual operation table 23, the first robot 2 carries the brake to the noise reducing machine 8.

Referring to fig. 21 to 23, the special silencing machine 8 includes a first frame 81, a sealing plate 810 is disposed above the first frame 81, and a second transposition table similar to the first transposition table on the special pressing machine 31 is disposed on the sealing plate 810. Corresponding to the first indexing stage, the second indexing stage includes a second rail pair 811 provided on the closure plate 810, a second indexing platen (not shown) provided on the second rail pair 811, and a third station fixture 812 provided on the second indexing platen. The seal plate 810 is provided with a through groove structure (not shown) at a position of the end of the second rail pair 811. In the initial state, the third station fixture 812 is located at the starting end of the second guide rail pair 811, the first robot 2 places the brake 1 on the third station fixture 812, the front face of the armature 12 faces downward, and then the third station fixture 812 slides to the end of the second guide rail pair 811, so that the front face of the armature 12 is exposed below the sealing plate 810 through the through groove structure on the sealing plate 810. The second indexing table 812 differs from the first indexing table mainly in that the first indexing table is chain driven. The second transposition table 812 adopts a screw transmission structure, the screw transmission mechanism comprises a motor 813 arranged on one side of the second guide rail pair 811 and a screw (not shown in the figure) connected with the motor 813, and a guard plate 814 is arranged outside the screw. The lead screw is connected to the second indexing table by two connectors 815.

The silencing structure nut back tightening mechanism 82 is arranged below the sealing plate 810, and the silencing structure nut back tightening mechanism 82 mainly is used for back-tightening the silencing structure nut on a silencing structure bolt of the brake, so that the silencing structure is fixedly arranged in the brake 1. The main structure of the nut tightening mechanism 82 includes an air-packing (not shown) for tightening the nut and a moving structure capable of moving in space, which are known to those skilled in the art and will not be described in detail herein.

The special silencing machine further comprises a second frame 83, wherein the second frame 83 is arranged on one side of the first frame 81, and the second frame 83 is lower than the first frame 81 in the vertical direction. A nut feeding mechanism is arranged above the second frame 83 and comprises a supporting table 830, a nut vibration disc 831, a nut direct vibration track 832, a pneumatic claw 833, a transmission mechanism mounting plate 834, a rodless cylinder 835, a pneumatic claw moving guide rail 836, a transmission chain 837 and a pneumatic claw connecting plate 838. One end of the transmission mounting plate 834 is disposed on the pallet 830 and the other end is disposed below the first frame 81. The rodless cylinder 835, the rail 836 and the drive chain 837 are all disposed above the drive mechanism mounting plate 834, and the air pawl 833 is connected to the drive chain 837 by an air pawl web 838, which air pawl web 838 is also connected to a slider mechanism (not shown) disposed on the rail 836. The rodless cylinder 835 is connected with a drive chain 837. It can be seen that the rodless cylinder 835 drives the air pawl 833 along the rail 836 via the drive chain 837 and the air pawl web 838. The nut direct vibration rail 832 is disposed on the pallet 830, and one end of the nut direct vibration rail 832 is connected to the discharge port of the nut vibration plate 831 and the other end is located above the guide rail 836. In the initial state, the air jaw 833 is connected with the end of the nut direct vibration rail 832, the nut vibration disc 831 sends the noise reduction structure nut to the nut direct vibration rail 832 through rotational vibration, then the nut direct vibration rail 832 sends the air jaw 833, and then the air jaw 833 is sent to the lower part of the first frame 81 through the rodless cylinder 835. The nut feeding mechanism further includes a nut grasping mechanism (not shown in the drawings) provided below the first frame 81. The nut grabbing mechanism grabs the silencing structure nut on the air jaw 833, and places the silencing structure nut on the air screwdriver head of the silencing structure nut backing mechanism 82, and then the silencing structure nut backing mechanism 82 is used for backing the silencing structure nut on the silencing structure bolt from the front side of the armature 12 through the through groove structure on the sealing plate 810, so that the silencing structure is installed and locked in the brake.

After the silencing structure is installed inside the brake 1, the brake 1 is conveyed to the spring force adjusting special machine 9 by the first robot 2, and the spring force between the core iron 11 and the armature 12 is adjusted by the spring force adjusting special machine 9 so as to meet the parameter requirements of use.

Referring to fig. 24 to 27, a spring force adjusting special machine 9 is provided with a spring force adjusting special machine frame 90, and a servo pressing mechanism is arranged on the spring force adjusting special machine frame 90. The servo press includes a servo press mount 910. A servo motor 911 is mounted on the press mounting frame 910, and the servo motor 911 is mounted downward and connected to the locking ram 92 through a transmission shaft 912. The lock head 92 includes a support cylinder mount 920, and a servo motor 911 is connected to the lock head 92 via a drive shaft 912. The lower surface of the locking pressure head 92 is provided with an adjusting foot cup 921 in the middle, the lower surface of the locking pressure head 92 is also provided with 4 supporting cylinders 922,4, the supporting cylinders 922 are distributed around the adjusting foot cup 921 in a rectangular shape, and the 4 supporting cylinders 922 are connected with a pressing rod 923. The servo press mechanism further includes a pressure sensor (not shown) disposed between the lock head 92 and the servo motor 911.

The third transposition table is arranged on the upper surface of the special spring force adjusting machine frame 90, and the third transposition table is arranged below the servo pressing mechanism mounting frame 910. The third transposition table has a structure similar to that of the press-fit special machine 31, and includes a third guide rail pair 931, on which a third transposition table (not shown) is provided, on which a fourth positioning jig 932 for clamping the brake 1 is provided. In the direction shown in fig. 24, one end of the third guide rail pair 931 is disposed directly under the servo press mounting frame 910 and the other end is disposed outside the servo press mounting frame 910. The specific structure of the third transposition stage is referred to the description of the first transposition stage, and will not be repeated here. In the initial state, the fourth site jig 932 is located outside the servo press mounting frame 910, and after the first robot 2 carries the brake to the fourth site jig 932 to be fixed, the fourth site jig 932 moves the brake to directly below the lock position ram 92.

Referring to fig. 24 to 26, and fig. 28 and 29, a spring force adjusting claw 94 is provided on the spring force adjusting special machine frame 90, a fixing seat 940 is provided on the left side of the servo press mounting frame 910 in the direction shown in fig. 25, the spring force adjusting claw 94 is provided on the fixing seat 940, the spring force adjusting claw 94 is movable in the direction parallel to the guide rail pair 931, and a spring force adjusting head 941 for adjusting the tightness of the spring force bolt 17 is provided on the spring force adjusting claw 94.

The upper surface of the spring force adjustment special machine frame 90 is also provided with a spring force nut locking assembly 95 for locking the spring force nut 170, the spring force nut locking assembly comprising a back nut sleeve 951 for back tightening the spring force nut 170.

The spring force adjusting operation of the brake 1 by the spring force adjusting special machine 9 is as follows:

the first robot 2 places the brake 1 on the fourth site jig 932 in the direction in which the bottom surface of the core 11 faces upward, and the fourth site jig 932 slides directly under the lock head 92.

The servo motor 911 is started, the locking pressure head 92 moves downwards, and the adjusting foot cup 921 contacts the brake 1 to initially lock the brake 1.

The 4 support cylinders 922 are ventilated at a preset air pressure value to lower the 4 compression rods 923 to a preset height. If the core 11 and the armature 12 are locked tightly (the spring force in the brake is too large) in the initial state of the spring force bolt 17, the 4 compression rods 923 do not contact the brake. Conversely, if the core 11 and the armature 12 are locked loose (the spring force in the brake is too small) in the initial state of the spring force bolt 17, the 4 compression rods 923 contact the brake.

The second robot 4 releases 4 forcing bolts 16 on the brake with the forcing bolt gripper 6.

After releasing the 4 forced bolts 16 on the brake, the bottom surface of the core iron 11 is brought into contact with the 4 compression bars 923 by the action of the spring force. The spring force between the core 11 and the armature 12 is transmitted to the pressure sensor through the armature 12, the locking ram 92 and the transmission shaft 912, and is read by the pressure sensor, so that the corresponding spring force adjustment is performed according to the reading of the pressure sensor. Since there is a certain error in the height of each brake, when the 4 compression rods 923 contact the bottom surface of the core 11 at a predetermined height, the spring force between the core 11 and the armature 12 may be too large or too small.

If the spring force between the core iron 11 and the armature 12 is too large, the locking ram 92 is raised by a set unit stroke (each stroke is 0.6mm in this embodiment), the spring force between the core iron 11 and the armature 12 is read by the pressure sensor until the spring force meets the requirement, and then the spring force bolt 17 is screwed by the spring force adjusting pawl 94 through the spring force adjusting ram 941, so that the spring force bolt 17 is fixed. Next, the second robot 4 locks the forcing bolt 16 with the forcing bolt gripper 6, and then the spring force nut lock assembly 95 tightens the spring force nut 170 against the spring force bolt 17 through the tightening nut sleeve 951.

Conversely, if the spring force between the core 11 and the armature 12 is too small, the detent ram 92 is lowered by a set unit stroke, and then the related actions are performed in the above-described steps until the spring force between the core 11 and the armature 12 meets the requirements.

In order to make the adjustment of the spring force of the brake 1 more accurate, a second visual recognition module is further mounted on the servo press mounting frame 910, the second visual recognition module includes a second camera assembly 96, and the second camera 96 is mounted at a position where the servo press mounting frame 910 is level with the third transposition table. Therefore, the second visual recognition module performs an image capturing operation on the brake 1 through the second camera assembly 96, obtains images of the core iron 11 and the armature 12, and reads the gap between the core iron 11 and the armature 12 through a general analysis technology, so as to judge whether the spring force of the brake 1 meets the requirement from another angle.

When the spring force between the core iron 11 and the armature 12 of the brake 1 meets the requirement, the first robot 2 conveys the brake to the manual operation table 23 again, and the micro switch 15 is manually installed on the side surface of the brake 1.

Referring back to fig. 20, a second sliding table mechanism is further provided on the upper surface of the console frame 230, and the second sliding table mechanism includes a second rail pair 237, and a second moving assembly 238 is provided on the second rail pair 237. The movement of the second moving assembly 238 on the guide rail pair 237 adopts a chain driving mode, which will be understood by those skilled in the art, and thus will not be described in detail herein. The second moving assembly 238 is also provided with two second control switches 239 in the same manner as the control of the first moving assembly 232, and the sliding of the second moving assembly 238 is controlled by simultaneously pressing the two second control switches 239. Since the microswitch 15 is mounted on the side end surface of the brake 1, the size of the station fixture on the second moving assembly 238 is set according to the size of the side end surface of the brake 1, so that the brake 1 is fixed on the second moving assembly 238 in the direction of the side end surface facing downwards, at this time, the other side end surface of the brake 1 faces upwards, and then the microswitch 15 is manually mounted on the side end surface facing upwards of the brake 1.

After the micro switch 15 is manually installed on the side end face of the brake 1, the assembly process of the brake 1 is completed, and finally the brake 1 is conveyed to the blanking conveying line 24 by the first robot 2 for blanking.

Referring to fig. 30, the blanking conveying line 24 adopts a conveying mode of flat-top chain transmission. The blanking conveying line 30 comprises a blanking frame 241, a flat-top chain transmission mechanism 242 is arranged on the blanking frame 241, a supporting block 243 is arranged on the flat-top chain transmission mechanism 242, and the brake 1 is placed on the supporting block 243 and is transmitted through the flat-top chain transmission mechanism 242. In the direction shown in fig. 30, the transmission belt 242 is driven from left to right, that is, the brake 1 is transported from left to right. As can be seen in fig. 4, the blanking transfer line 24 is partially located inside the safety fence 26 and partially located outside the safety fence 26. In fig. 30, the left half of the blanking transfer line 24 is located inside the safety fence 26 and the right half is located outside the safety fence 26. The discharging frame 241 is provided with a control box 245 at the right end (i.e., end), which can be conveniently operated by a worker. In order to prevent the work from accumulating on the flat-top chain transmission mechanism 242, the opposite-type photoelectric switches 244 are provided on both sides of the right end of the flat-top chain transmission mechanism 242, and a last stop block 246 is provided on the rightmost end of the opposite-type photoelectric switches 244 (in front of the opposite-type switches 244). When the brake 1 is transferred to the position of the correlation type photoelectric switch 244, the correlation type photoelectric switch 244 senses the brake 1 and transmits the sensing signal to the control system of the blanking conveying line 24, so that the flat top chain transmission mechanism 242 is stopped, the last stop block 246 stops the brake 1 to prevent the brake 1 from falling down, and then the brake 1 is moved away by manpower or carrying equipment, so that the whole assembly process of the brake 1 is completed.

The elevator plate brake automatic assembly line adopted by the invention has the advantages that the required assembly time of each brake is 167s under the condition of no faults, compared with the prior assembly scheme, the assembly efficiency is greatly improved, and the assembly precision of the brakes is higher.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention. On the basis of the above description, the invention can also make other variants or improvements. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (8)

1. An elevator plate brake automation line comprising:

the core iron material vehicle is provided with a plurality of trays and first positioning seats, wherein the trays are used for placing core iron modules; the armature skip car is provided with a plurality of trays for placing armature modules and a second positioning seat;

the skip positioning mechanism is provided with a first guide block matched with the first positioning seat and a second guide block matched with the second positioning seat;

the first robot is provided with a carrying paw, and the carrying paw is used for grabbing the core iron module, the armature module and a brake formed by assembling the core iron module and the armature module;

The mechanical arm of the second robot can be provided with a forced bolt paw or a sleeve assembly paw; the forced bolt claw is used for grabbing a forced bolt and installing the forced bolt on a brake; the sleeve assembling claw is used for grabbing the adjusting sleeve and assembling the adjusting sleeve on the brake;

the gripper replacing platform is provided with a first gripper placing position for placing the forced bolt gripper and a second gripper placing position for placing the sleeve assembly gripper;

the assembly platform is provided with a special pressing machine and a sleeve assembly station; the special pressing machine comprises a special pressing machine frame, a first transposition table and a first air cylinder are arranged on a pneumatic pressing bottom plate of the special pressing machine frame, the first transposition table adopts an air cylinder driving mode and comprises a first guide rail pair arranged on the pneumatic pressing bottom plate, a first transposition table plate is arranged on the first guide rail pair, and a first station clamp for fixing a core iron and an armature iron is arranged on the first transposition table plate; a piston rod of the first cylinder is connected with the first transposition platen; the first transposition bedplate is provided with a first square through groove, and the pneumatic pressing bottom plate is provided with a second square through groove; a pressurizing mechanism mounting frame is arranged right above the first guide rail pair, a gas-liquid pressurizing and pressing mechanism used for pressing the core iron and the armature is arranged on the pressurizing mechanism mounting frame, and the gas-liquid pressurizing and pressing mechanism comprises a second cylinder arranged on the pressurizing mechanism mounting frame and a pressure head mechanism connected with the second cylinder; the sleeve assembling station comprises a sleeve assembling station frame, and a second station clamp for fixing a brake is arranged on the sleeve assembling frame;

The forced bolt feeding mechanism comprises a transmission chain structure, a sleeve is arranged on the transmission chain structure, and a forced bolt for locking the core iron and the armature is arranged on the sleeve;

the sleeve feeding plate chain line comprises a plate chain line frame, a plurality of rows of pins which are arranged in parallel are arranged on the plate chain line frame, and an adjusting sleeve is arranged on each pin;

the manual operation table comprises an operation table frame, and a first movement assembly and a second movement assembly for moving the brake are arranged on the operation table frame; the operating platform rack is provided with a first control switch and a second control switch;

the special silencing machine comprises a first rack and a second rack, a sealing plate is arranged above the first rack, a second transposition table is arranged on the sealing plate, and the second transposition table moves in a screw rod transmission mode; the second transposition table comprises a second guide rail pair and a screw rod mechanism which are arranged on the sealing plate, a second transposition table plate is arranged on the second guide rail pair, the screw rod transmission mechanism is connected with the second transposition table plate, and a third station fixture for fixing a brake is arranged on the second transposition table plate; the lower part of the sealing plate is provided with a silencing structure nut back tightening mechanism, and the silencing structure nut back tightening mechanism comprises an air batch for back tightening of the silencing structure nut; the second frame is lower than the first frame in height, a nut feeding mechanism is arranged above the second frame and comprises a supporting table, a nut vibration disc, a nut direct vibration track, a gas claw, a transmission mechanism mounting plate, a rodless cylinder, a gas claw moving guide rail, a gas claw transmission chain and a gas claw connecting plate; one end of the transmission mechanism mounting plate is arranged on the supporting table, and the other end of the transmission mechanism mounting plate is arranged below the first rack; the rodless cylinder, the gas claw moving guide rail and the gas claw transmission chain are all arranged on the transmission mechanism mounting plate; the air claw is connected with the air claw transmission chain through the air claw connecting plate, and the air claw connecting plate is also connected with a sliding block mechanism arranged on the air claw moving guide rail; the rodless cylinder is connected with the pneumatic claw transmission chain; the nut feeding mechanism further comprises a nut grabbing mechanism, and the nut grabbing mechanism is arranged below the sealing plate;

The spring force adjusting special machine comprises a spring force adjusting special machine frame, a servo pressing mechanism is arranged on the spring force adjusting special machine frame and comprises a servo pressing mechanism mounting frame, a servo motor and a locking position pressing head connected with the servo motor through a transmission shaft are mounted on the servo pressing mechanism mounting frame, an adjusting foot cup is arranged in the middle of the lower surface of the locking position pressing head, a supporting cylinder is further arranged on the lower surface of the locking position pressing head, and the supporting cylinder is connected with a pressure rod; the servo pressing mechanism further comprises a pressure sensor, and the pressure sensor is arranged between the locking pressure head and the servo motor; the upper surface of the special spring force adjusting machine frame is provided with a third transposition table, the third transposition table is arranged below the servo pressing mechanism mounting frame and comprises a third guide rail pair, a third transposition table plate is arranged on the third guide rail pair, and a fourth station fixture for fixing a brake is arranged on the third transposition table plate; the special spring force adjusting machine frame is also provided with a spring force adjusting claw, and the spring force adjusting claw is provided with a spring force adjusting screwdriver head for adjusting the tightness of a spring force bolt; the special spring force adjusting machine frame is also provided with a spring force nut locking assembly, and the spring force nut locking assembly comprises a back nut sleeve for back tightening the spring force nut;

The blanking conveying line is arranged beside the manual operation table and is in a flat-top chain transmission mode;

the assembly platform is arranged between the first robot and the second robot, and the skip positioning mechanism, the special silencing machine, the special spring force adjusting machine, the manual operation table and the blanking conveying line are arranged around the first robot; the forced bolt feeding mechanism, the sleeve feeding plate chain line and the hand changing claw platform are arranged around the second robot;

the conveying claw comprises a conveying claw connecting flange, a flange connecting plate is fixedly arranged at the lower end of the conveying claw connecting flange, a fixed conveying claw connecting plate and a movable conveying claw connecting plate are arranged on the lower surface of the flange connecting plate relatively, and conveying fingers are arranged on the inner sides of the fixed conveying claw connecting plate and the movable conveying claw connecting plate; the lower surface of the flange connecting plate is also provided with a thin air cylinder, and the thin air cylinder is connected with the movable carrying paw connecting plate; the carrying paw connecting flange is provided with a first visual identification module;

the forced bolt paw comprises a forced bolt paw connecting flange, a forced bolt paw auxiliary disc is installed at one end of the forced bolt paw connecting flange, a synchronous mechanism mounting plate is installed at the other end of the forced bolt paw connecting flange, a first synchronous mechanism side plate is arranged on the surface of the synchronous mechanism mounting plate, a first forced bolt assembling mechanism is installed on the first synchronous mechanism side plate, the first forced bolt assembling mechanism comprises a first nail feeding module and a first air batch assembly, the first nail feeding module comprises a forced bolt grabbing mechanism formed by a plurality of grabbing fingers, and the first air batch assembly comprises a telescopic air batch head;

The sleeve assembling claw comprises a sleeve assembling claw connecting flange, one end of the sleeve assembling claw connecting flange is provided with a sleeve assembling claw auxiliary disc, the other end of the sleeve assembling claw connecting flange is provided with a sleeve assembling claw connecting plate, the surface of the sleeve assembling claw connecting plate is provided with a sleeve locking mechanism, and the sleeve locking mechanism comprises a locking barrel controlled by a motor; the sleeve assembly gripper connecting plate is further fixedly connected with a sleeve gripping gripper mounting plate through two connecting blocks, a sleeve gripping gripper is mounted on the sleeve gripping gripper mounting plate, the sleeve gripping gripper comprises a plurality of sleeve fixing sleeves fixedly arranged on the sleeve gripping gripper mounting plate, and magnets are arranged inside the sleeve fixing sleeves.

2. The elevator plate brake automation line of claim 1, wherein: the carrying paw further comprises a height measuring mechanism and a detection leakage mechanism; the height measuring mechanism comprises a detecting rod which penetrates through the flange connecting plate and can move up and down, and a sensor is arranged at the lower end of the detecting rod; the detection leakage mechanism comprises a guide post upper connecting plate arranged on the carrying paw connecting flange and a guide post lower connecting plate arranged between the fixed carrying paw connecting plate and the movable carrying paw connecting plate, and the guide post upper connecting plate is connected with the guide post lower connecting plate through a guide post; the sensor mounting plate capable of moving up and down is arranged at the lower end of the guide post, a detection component used for detecting whether materials exist in a mounting hole on the core iron or not is arranged on the sensor mounting plate, and the detection component comprises a plurality of sensors.

3. The elevator plate brake automation line of claim 1, wherein: the surface of the synchronous mechanism mounting plate is provided with a second synchronous mechanism side plate, second forced bolt assembly mechanisms which are identical to the first forced bolt assembly mechanisms in structure are symmetrically arranged on the second synchronous mechanism side plate, and the first forced bolt assembly mechanisms and the second forced bolt assembly mechanisms are connected in a positioning mode through reinforcing shafts.

4. The elevator plate brake automation line of claim 1, wherein: the number of the sleeve fixing sleeves arranged on the sleeve grabbing paw mounting plate is four.

5. The elevator plate brake automation line of claim 1, wherein: the sleeves on the transmission chain structure of the forced bolt feeding mechanism are provided with four rows.

6. The elevator plate brake automation line of claim 1, wherein: the operation table rack is provided with a plurality of cache tables and a transfer table.

7. The elevator plate brake automation line of claim 1, wherein: the spring force adjusting special machine is further provided with a second visual identification module, the second visual comprises a second camera assembly, and the second camera assembly is arranged at the position where the servo pressing mechanism mounting frame is flush with the third transposition table.

8. The elevator plate brake automation line of claim 1, wherein: the blanking frame end of the blanking conveying line is provided with a correlation type photoelectric switch, the correlation type photoelectric switch is electrically connected with a driving device of the blanking conveying line, and the blanking frame is further provided with a last-position baffle block in front of the correlation type photoelectric switch.

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