CN110814591A

CN110814591A - Cartridge clip type small material automatic carrying mechanism of intelligent welding equipment for building aluminum template

Info

Publication number: CN110814591A
Application number: CN201911160216.3A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Jiangsu Tianlicheng Construction Technology Co ltd
Priority date: 2019-11-23
Filing date: 2019-11-23
Publication date: 2020-02-21
Anticipated expiration: 2039-11-23
Also published as: CN110814591B

Abstract

The invention belongs to the technical field of building aluminum template manufacturing equipment, and relates to an automatic carrying mechanism for cartridge clip type small materials of intelligent welding equipment for building aluminum templates. The contact inclined plane contacts or leaves the roller, the roller is close to or far away from the positioning inner plane to drive the swing arm to swing around the hinge III, the swing arm pushes and pulls the positioning pin through the connecting rod, and the positioning head positions the material clamp assembly; the lifting servo motor drives the lifting assembly and the small material to ascend through the combination of the thread pairs, the lifting and clamping assembly moves downwards and clamps the small material to ascend, the transverse moving servo motor drives the transverse moving assembly to move leftwards until the symmetrical middle plane of the left and right directions of the small material is superposed with the symmetrical middle plane of the left and right directions of the groove of the large plate, and the longitudinal moving servo motor drives the longitudinal moving assembly to move forwards and backwards until the small material is positioned right above the position to be installed and then is placed in place. The intelligent welding robot searches for a welding seam for spot welding. The material clamp assembly has the advantages of compact structure, storage and carrying space saving, automatic centering of small materials, and no movement of the small materials along with clamping fingers.

Description

Cartridge clip type small material automatic carrying mechanism of intelligent welding equipment for building aluminum template

Technical Field

The invention belongs to the technical field of building aluminum template manufacturing equipment, relates to automatic feeding, positioning, clamping and welding equipment for a building aluminum template, and particularly relates to an automatic cartridge clip type small material carrying mechanism for intelligent welding equipment for the building aluminum template.

Background

High-rise buildings use a large number of aluminum forms in construction. The aluminium form 9 shown in figure 18 comprises a large plate 91, a rear closure plate 92, a front closure plate 94 and three secondary ribs 93. Rear closure plate 92 and front closure plate 94 are collectively referred to as closure plates. The rear closure plate 92, the front closure plate 94 and the secondary ribs 93 are collectively referred to as small pieces.

The large plate 91 is a groove type, the thickness of the groove edge at the left and right sides is 8 mm, the outer height is 65 mm, the outer width of the large plate 91 is 400 mm, the groove width is 384 mm, and the groove bottom thickness is 3.5 mm. Rear cover plate 92 and front cover plate 94 are rectangular solids 400 mm long, 65 mm wide and 8 mm thick. The front surface of the rear sealing plate 92 is smooth and has grooves, and the front surface of the rear sealing plate 92 is attached to and welded to the rear end surface of the large plate 91. The rear surface of the front sealing plate 94 is smooth and grooved, and the rear surface of the front sealing plate 94 is fitted to the rear end surface of the large plate 91 and welded thereto. The secondary rib 93 is I-shaped, the length of the secondary rib 93 in the left-right direction is 384 mm, the width of the secondary rib 93 in the front-back direction is 30 mm, the height of the secondary rib 93 is 52.5 mm, the secondary rib 93 is embedded in the groove of the large plate 91, the lower surface of the secondary rib 93 is attached to the groove bottom surface of the large plate 91, the left end surface of the secondary rib 93 is attached to the left inner surface of the groove of the large plate 91, the right end surface of the secondary rib 93 is attached to the right inner surface of the groove of the large plate 91, and the adjacent sides of the attachment are welded.

The traditional intelligent welding equipment for the aluminum template comprises an intelligent welding robot, a workbench assembly, a longitudinal moving assembly, a transverse moving assembly, a lifting and clamping assembly, a material tray and a material tray moving frame;

the workbench component comprises a longitudinal linear guide rail, a longitudinal rack and a workbench; the worktable is fixedly connected with the rack, a clamping mechanism for large plates and small materials is arranged on the worktable, the longitudinal linear guide rail and the longitudinal rack are respectively and fixedly connected with the worktable, and the longitudinal linear guide rail and the longitudinal rack are both in the front-back horizontal direction; the aluminum template is placed on the workbench assembly and is positioned and clamped by the clamping component;

the longitudinal moving assembly comprises a longitudinal moving sliding block, a longitudinal moving servo motor, a longitudinal moving gear, a transverse linear guide rail, a transverse rack and a longitudinal moving frame; the longitudinal movement sliding block and a shell flange of the longitudinal movement servo motor are respectively fixedly connected with the longitudinal movement frame, a longitudinal movement gear is fixedly connected with an output shaft of the longitudinal movement servo motor, the longitudinal movement gear is meshed with a longitudinal rack, the longitudinal movement sliding block and the longitudinal linear guide rail form a linear guide rail pair, and the longitudinal movement servo motor drives a longitudinal movement assembly to move horizontally in the front-back horizontal direction along the longitudinal linear guide rail through the combination of the longitudinal movement gear and the longitudinal rack; the transverse linear guide rail and the transverse rack are respectively and fixedly connected with the longitudinal moving frame and are respectively arranged along the left and right horizontal directions;

the transverse moving assembly comprises a transverse moving support plate, a lifting cylinder, a transverse moving slide block, a transverse moving servo motor and a transverse moving gear; the lifting cylinder is a cylinder with a guide rod, and comprises a lifting cylinder body, a lifting cylinder piston rod and a guide rod; the lifting cylinder body, the transverse sliding block and a shell flange of the transverse moving servo motor are respectively fixedly connected with the transverse moving support plate, and the transverse moving gear is fixedly connected with an output shaft of the transverse moving servo motor; the transverse sliding block and the transverse linear guide rail are combined into a linear guide rail pair, and a transverse gear is meshed with a transverse rack; the transverse moving servo motor drives the transverse moving assembly to move horizontally along the transverse linear guide rail in the left-right horizontal direction through the combination of the transverse moving gear and the transverse rack;

the lifting and clamping assembly comprises a parallel opening and closing type clamping air claw and two clamping fingers; the parallel opening and closing type clamping gas claw comprises a clamping gas claw cylinder body and two clamping gas claw bodies; the clamping air claw cylinder body is fixedly connected with the combination of a lifting air cylinder piston rod and a guide rod, and the lifting air cylinder drives the lifting and clamping assembly to translate in the vertical direction; the two clamping fingers are respectively and fixedly connected with the two clamping air claws; the clamping fingers are provided with sealing plate clamping surfaces and secondary rib clamping grooves, the two sealing plate clamping surfaces on the two clamping fingers are opposite from front to back, the two secondary rib clamping grooves on the two clamping fingers are opposite from front to back, the two clamping fingers are driven by the parallel open-close type clamping air claws to synchronously translate in the front-back direction in opposite directions and then synchronously translate away from each other in opposite directions, the two sealing plate clamping surfaces clamp the rear sealing plate or the front sealing plate in the middle, or the two secondary rib clamping grooves clamp the secondary ribs in the middle;

the material tray moving frame is fixedly connected with the longitudinal moving frame, the material tray moving frame is positioned on the right side of the aluminum template, a material tray moving servo motor and a material tray moving transmission mechanism are arranged on the material tray moving frame, the material tray and the material tray moving frame are temporarily connected through a moving pair, and the material tray moving transmission mechanism are temporarily connected; the rear sealing plate, the secondary ribs and the front sealing plate are flatly laid on the material tray in the horizontal plane and are positioned and clamped by the positioning mechanisms, and the rear sealing plate, the secondary ribs and the front sealing plate are temporarily placed in the positioning mechanisms; the material tray moving servo motor drives the material tray to move horizontally in the front-back horizontal direction through the material tray moving transmission mechanism, so that the small material to be grabbed is positioned right below the lifting and clamping assembly. The tray moving transmission mechanism generally uses a combination of a ball screw and a nut, the ball screw needs to be supported by a front rotating pair and a rear rotating pair, and the tray needs to be temporarily connected with the nut.

When the aluminum template welding machine works, the lifting and clamping assembly descends to grab small materials, the lifting cylinder drives the lifting and clamping assembly and the small materials to ascend in a combined mode, the transverse moving servo motor drives the transverse moving assembly, the lifting and clamping assembly and the small materials to translate leftwards along the transverse linear guide rail through the combination of the transverse moving gear and the transverse rack, the longitudinal moving servo motor drives the longitudinal moving assembly, the transverse moving assembly, the lifting and clamping assembly and the small materials to translate along the longitudinal linear guide rail in the front-back horizontal direction through the combination of the longitudinal moving gear and the longitudinal rack until the small materials are located right above the positions to be welded of the small materials on the aluminum template, the lifting cylinder drives the lifting and clamping assembly and the small materials to descend in a combined mode, the small materials are placed at the corresponding positions of the aluminum template and then are welded by the intelligent welding robot;

the traditional intelligent welding equipment for the aluminum template has the defects. Firstly, the charging tray is the level setting, and the small powder is arranged in a word along the fore-and-aft horizontal direction on the charging tray, can occupy bigger space like this, will leave enough big movement space for the centre gripping finger between two adjacent small powder to prevent that the centre gripping finger from interfering with adjacent small powder mutually when the centre gripping, just so need the front and back horizontal dimension of charging tray enough big, the structure is not compact. In practice, many trays are used to buffer the problem of the mismatch between the production volumes, and the trays filled with small or empty material take up a lot of space, which requires more additional floor space. Secondly, when the small material is placed in the groove of the large plate, the two secondary rib clamping grooves clamp the secondary rib 93 in the middle, when the two clamping fingers are translated away from the secondary rib 93 in a reverse direction, most of the secondary ribs 93 can stay there, but a small number of the secondary ribs 93 can move forwards or backwards along with one of the secondary ribs, the secondary ribs 93 deviate from the expected position, and then when welding is performed, the intelligent welding robot still searches for welding seams according to the preset position, so that correct welding cannot be performed, or a welding gun can be collided. Thirdly, the small materials are positioned on the material tray by the positioning mechanism, in order to be convenient to take and place, loose matching is adopted between the size of the small materials in the left-right direction and the positioning mechanism, clamping fingers do not necessarily grab the middle of the small materials and are likely to deviate a little leftwards or rightwards, even if the deviation is very small 0.2 mm, the small materials are likely to be scraped with the groove edge on one side of the large plate 91 or cannot be placed into the groove, the system can detect errors and stop the machine, the machine waits for errors to be checked, the production cannot be continuously and smoothly carried out, and the production time is delayed. Serious problems can also occur in that the piston rod or guide rod of the lifting cylinder is bent.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides the automatic cartridge clip type small material conveying mechanism of the intelligent welding equipment for the building aluminum template, which has the advantages of compact structure, storage and conveying space saving, automatic centering of small materials and no movement of the small materials along with clamping fingers.

The invention is realized by the following technical scheme:

an automatic carrying mechanism for cartridge clip type small materials of intelligent welding equipment of building aluminum templates comprises an intelligent welding robot, a workbench assembly, a longitudinal moving assembly, a transverse moving assembly, a lifting and clamping assembly, a suspension frame assembly, a lifting assembly and a material clip assembly;

the workbench component comprises a longitudinal linear guide rail, a longitudinal rack and a workbench; the worktable is fixedly connected with the rack, the longitudinal linear guide rail and the longitudinal rack are respectively and fixedly connected with the worktable, and the arrangement directions of the longitudinal linear guide rail and the longitudinal rack are both front and back horizontal directions; placing the aluminum template on the workbench assembly, and positioning and clamping;

the longitudinal moving assembly comprises a longitudinal moving sliding block, a longitudinal moving servo motor, a longitudinal moving gear, a transverse linear guide rail, a transverse rack and a longitudinal moving frame; the longitudinal movement sliding block and a shell flange of the longitudinal movement servo motor are respectively fixedly connected with the longitudinal movement frame, a longitudinal movement gear is fixedly connected with an output shaft of the longitudinal movement servo motor, the longitudinal movement sliding block and a longitudinal linear guide rail form a linear guide rail pair, the longitudinal movement gear is meshed with a longitudinal rack, and the longitudinal movement servo motor drives a longitudinal movement assembly to move horizontally in the front-back horizontal direction along the longitudinal linear guide rail through the combination of the longitudinal movement gear and the longitudinal rack; the transverse linear guide rail and the transverse rack are respectively and fixedly connected with the longitudinal moving frame and are respectively arranged along the left and right horizontal directions;

the lifting and clamping assembly comprises a parallel opening and closing type clamping air claw and two clamping fingers; the parallel opening and closing type clamping gas claw comprises a clamping gas claw cylinder body and two clamping gas claw bodies; the clamping air claw cylinder body is fixedly connected with the combination of a lifting air cylinder piston rod and a guide rod, and the lifting air cylinder drives the lifting and clamping assembly to translate in the vertical direction; the two clamping fingers are respectively and fixedly connected with the two clamping air claws; the clamping fingers are provided with sealing plate clamping surfaces and secondary rib clamping grooves, the two sealing plate clamping surfaces on the two clamping fingers are opposite from front to back, the two secondary rib clamping grooves on the two clamping fingers are opposite from front to back, and the parallel open-close type clamping air claws drive the two clamping fingers to synchronously move in opposite directions in the front-back direction and then synchronously move away in opposite directions; if the middle part is provided with a rear sealing plate or a front sealing plate, the two sealing plate clamping surfaces clamp the rear sealing plate or the front sealing plate positioned in the middle part; if the secondary rib is arranged in the middle, the two secondary rib clamping grooves clamp the secondary rib positioned in the middle;

the suspension bracket assembly comprises a suspension bracket, a first threaded part, a second threaded part, a third threaded part, a fourth threaded part, a fifth threaded part, a sixth threaded part, a lifting linear guide rail, four positioning pins, four positioning springs, four connecting rods, four swing arms, four pairs of idler wheels, a lifting servo motor and a lifting gear; the suspension bracket is fixedly connected with the longitudinal moving bracket; the lifting linear guide rail is fixedly connected with the suspension bracket and is arranged along the vertical direction; the first threaded part, the second threaded part, the third threaded part, the fourth threaded part and the fifth threaded part are all sleeve-shaped, and internal threads are arranged inside the sleeve-shaped parts; the second threaded part, the third threaded part, the fourth threaded part, the fifth threaded part and the sixth threaded part are all provided with external threads, the upper ends of the external threads are all provided with upper retaining edges, and the lower ends of the external threads are all provided with lower retaining edges; the first internal thread is arranged inside the first threaded part, and the axis line of the first internal thread is arranged in the vertical direction; the first screw thread piece also comprises a driven gear which is fixedly connected, and the axis of the driven gear is superposed with the axis of the first internal screw thread; the first threaded part is connected with the suspension bracket through a revolute pair; the second internal thread is arranged inside the second threaded part, the second external thread is arranged outside the second threaded part, the axial leads of the second internal thread and the second external thread are arranged in the vertical direction, and the axial leads of the second internal thread and the second external thread are overlapped; the upper end of the second external thread is provided with a second upper retaining edge, and the lower end of the second external thread is provided with a second lower retaining edge; the third threaded part is internally provided with a third internal thread, the third threaded part is externally provided with a third external thread, the axial leads of the third internal thread and the third external thread are arranged in the vertical direction, and the axial leads of the third internal thread and the third external thread are superposed; the upper end of the third external thread is provided with a third upper retaining edge, and the lower end of the third external thread is provided with a third lower retaining edge; the fourth threaded part is internally provided with a fourth internal thread, the fourth threaded part is externally provided with a fourth external thread, the axial leads of the fourth internal thread and the fourth external thread are arranged in the vertical direction, and the axial leads of the fourth internal thread and the fourth external thread are superposed; the upper end of the external thread IV is provided with an upper retaining edge IV, and the lower end of the external thread IV is provided with a lower retaining edge IV; the inner part of the screw part five is provided with an internal thread five, the outer part of the screw part five is provided with an external thread five, the axial leads of the internal thread five and the external thread five are arranged in the vertical direction, and the axial leads of the internal thread five and the external thread five are superposed; the upper end of the external thread five is provided with an upper retaining edge five, and the lower end of the external thread five is provided with a lower retaining edge five; the screw part six is cylindrical, an external thread six is arranged on the cylindrical surface of the screw part six, and the axis line of the external thread six is arranged in the vertical direction; the upper end of the external thread six is provided with an upper retaining edge six, and the lower end of the external thread six is provided with a lower retaining edge six; the first internal thread and the second external thread form a first thread pair; the internal thread II and the external thread III form a thread pair II; the internal thread III and the external thread IV form a thread pair III; the fourth internal thread and the fifth external thread form a fourth thread pair; the internal thread five and the external thread six form a thread pair five; the screw pitches of the first screw thread pair, the second screw thread pair, the third screw thread pair, the fourth screw thread pair and the fifth screw thread pair are equal;

a shell flange of the lifting servo motor is fixedly connected with the suspension bracket, an output shaft of the lifting servo motor is fixedly connected with a lifting gear, and the lifting gear is meshed with a driven gear;

the suspension bracket is provided with a left positioning inner plane and a right positioning inner plane which are opposite, the positioning inner plane is provided with a positioning guide hole penetrating inwards, a spring chamber is arranged in the positioning guide hole in a deep manner, the positioning guide hole is communicated with the spring chamber, the diameter of the spring chamber is larger than that of the positioning guide hole, and the spring chamber is provided with a first inner end face close to the positioning inner plane and a second inner end face far away from the positioning inner plane; the positioning pin is matched with the positioning guide hole; a protruding ring is arranged on the positioning pin and is positioned in the spring chamber; the positioning spring is sleeved on the positioning pin and is positioned in the spring chamber, one end of the positioning spring, which is close to the positioning inner plane, presses the convex ring, one end of the positioning spring, which is far away from the positioning inner plane, presses the inner end face II, under the action of the elastic force of the positioning spring, the positioning pin slides in the left-right direction along the positioning guide hole, the convex ring translates towards the direction close to the inner end face I, the first end of the positioning pin, namely the end, which is not on the same side as the positioning spring, of the convex ring is provided with a positioning head, and the positioning head extends out of the positioning inner; the second end of the positioning pin, namely the end which is at the same side of the convex ring as the positioning spring, is connected with the first end of the connecting rod through a first hinge; the second end of the connecting rod is connected with the first end of the swing arm through a second hinge; the second end of the swing arm is connected with the roller through a revolute pair, the middle part of the swing arm is connected with the suspension bracket through a hinge III, and the suspension bracket, the positioning pin, the connecting rod and the swing arm form a crank slide block mechanism; the crank-slider mechanism is a crank-slider mechanism shown in fig. 3-18 (c) on page 37 in light industry mechanical design basis published by Chinese light industry publisher and compiled by Shanghai, a suspension bracket is equivalent to a frame 4 in the figure, a positioning pin is equivalent to a slider 3 in the figure (the length of a rocker 3 is increased to infinity to form the slider 3), a connecting rod is equivalent to the connecting rod in the figure, and a crank 1 is equivalent to a swing arm in the figure; the AGV trolley for conveying small materials is provided with a touch plate, when a touch inclined plane on the touch plate translates along the direction from front to back and touches the roller, the roller moves towards the direction close to the inner positioning plane to drive the swing arm to swing around the hinge III, the swing arm pulls the positioning pin through the connecting rod, the positioning pin overcomes the elastic force of the positioning spring and slides along the positioning guide hole, and the positioning head retracts into the inner positioning plane;

the lifting assembly comprises a lifting support, a lifting supporting plate and a lifting sliding block; the rear edge of the lifting supporting plate is fixedly connected with the lifting bracket; the lifting slide block is fixedly connected with the lifting support, the lifting slide block is matched with the lifting linear guide rail to form a linear guide rail pair, and the upper end of the threaded part II is fixedly connected with the lifting support; an output shaft of the lifting servo motor rotates, a first thread piece is driven to rotate through the combination of the lifting gear and the driven gear, and a lifting assembly is driven to ascend through the combination of a first thread pair, a second thread pair, a third thread pair, a fourth thread pair and a fifth thread pair; the thread pair V, the thread pair IV, the thread pair III, the thread pair II and the thread pair I rotate successively or simultaneously, the friction resistance is the smallest, the thread pair I rotates firstly until the internal thread is blocked by the lower retaining edge of the corresponding external thread, and generally, the smaller the diameter of the thread is, the smaller the friction force is, and the smaller the diameter of the thread is, the thread pair I rotates firstly; because the thread pitches of the first thread pair, the second thread pair, the third thread pair, the fourth thread pair and the fifth thread pair are equal, the ascending distances of the first thread pair, the second thread pair, the third thread pair, the fourth thread pair and the fifth thread pair are equal no matter which thread pair rotates or which thread pairs rotate simultaneously each circle; the output shaft of the lifting servo motor rotates reversely, the lifting assembly is driven to descend through the combination of the lifting gear and the driven gear and the combination of the thread pair five, the thread pair four, the thread pair three, the thread pair two and the thread pair one, and the thread pair stops rotating when the internal thread is blocked by the upper blocking edge of the corresponding external thread; the function of the combination of the thread pair is the same as that of the combination of the ball screw and the nut used in the traditional scheme, the rotary motion of the servo motor is converted into the linear motion in the front-back direction, the ball screw needs to be supported by two revolute pairs at the front and back, the middle part of the ball screw is matched with the nut, three parts are connected, and two ends of the combination of the thread pair only need to be fixedly connected at two parts, so that the connection mode is simplified, and the manufacturing and mounting processes are simplified;

the material clamp assembly comprises two belt groove parts and a connecting plate which are symmetrically arranged left and right, and the left side and the right side of the connecting plate are fixedly connected with the front sides of the two belt groove parts respectively; the two belt groove parts are respectively provided with a secondary rib placing groove, the opening of the secondary rib placing groove on the left side faces to the right, the opening of the secondary rib placing groove on the right side faces to the left, and the openings of the two secondary rib placing grooves are opposite and used for storing secondary ribs; the two belt groove parts are respectively provided with a sealing plate placing groove, the opening of the left sealing plate placing groove faces to the right, the opening of the right sealing plate placing groove faces to the left, and the openings of the two sealing plate placing grooves are opposite and used for storing a rear sealing plate or a front sealing plate; because the rear sealing plate and the front sealing plate are 400 mm long, the length of the secondary rib is 384 mm, symmetrical surfaces in the left and right directions are overlapped when small materials are placed in the material clamp assembly, the thickness of the sealing plate is 8 mm, the width of the secondary rib is 30 mm, the sealing plate placing groove can be formed at the bottom of the secondary rib placing groove, and the depth of the sealing plate placing groove is 8 mm; a lifting support plate avoiding channel without any obstacle is arranged between the two secondary rib placing grooves or between the two close plate placing grooves, and the front edge of the lifting support plate extends forwards along the horizontal direction to be positioned under the lifting support plate avoiding channel; the front sealing plate is placed in the sealing plate placing groove and is positioned at the lowest surface; the secondary ribs are placed in the secondary rib placing grooves and stacked on the upper portion of the front sealing plate, other secondary ribs are sequentially stacked upwards, and the rear sealing plate is placed in the sealing plate placing grooves and stacked on the tops of the uppermost secondary ribs; the outer side of the part with the groove, namely the side opposite to the opening of the secondary rib placing groove, is provided with a positioning outer plane and a clamping plane, the positioning outer plane is provided with a positioning hole, and the clamping plane is provided with a clamping hole; namely, a positioning outer plane facing to the left and a positioning outer plane facing to the right are arranged on the material clamp assembly; the outer positioning plane facing to the left is attached to the inner positioning plane facing to the right, the outer positioning plane facing to the right is attached to the inner positioning plane facing to the left, the positioning head extends out of the inner positioning plane, and the extending part is inserted into the positioning hole, so that the material clamp assembly is embedded on the suspension bracket and positioned.

The lifting and clamping assembly further comprises a stop groove plate, a secondary rib stop groove with a downward opening is formed in the stop groove plate, and a seal plate stop groove is formed in the bottom of the secondary rib stop groove; the two secondary rib clamping grooves clamp the secondary rib positioned in the middle, the top and the front and back sides of the secondary rib are just embedded into the secondary rib locking clamping grooves, when the secondary rib is placed in the groove of the large plate, when two clamping fingers are translated back to back and leave the secondary rib, due to the blocking of the secondary rib locking clamping grooves, the secondary rib cannot move along with any clamping finger, and the secondary rib can stay at an expected position; the two sealing plate clamping surfaces clamp the rear sealing plate or the front sealing plate positioned in the middle, the top and the front side and the rear side of the rear sealing plate or the front sealing plate are just embedded into the sealing plate locking clamping grooves, when the rear sealing plate or the front sealing plate is placed in the groove of the large plate, when two clamping fingers are translated back to back and away from the rear sealing plate or the front sealing plate, the rear sealing plate or the front sealing plate cannot move along with any clamping finger due to the blocking of the sealing plate locking clamping grooves, and the rear sealing plate or the front sealing plate can stay at an expected position; the intelligent welding robot can find the correct welding seam position according to the preset position for welding, and the phenomenon of welding gun collision is avoided.

The automatic carrying mechanism for the cartridge clip type small materials of the intelligent welding equipment for the building aluminum template further comprises a centering assembly, wherein the centering assembly comprises a parallel opening and closing type centering gas claw and two centering clamping plates; the parallel opening-closing type centering gas claw comprises a centering gas claw cylinder body and two centering gas claw bodies; two centering splint are respectively with two centering gas claw body fixed connection, be equipped with the centering clamping face on the centering splint respectively, two centering clamping faces are parallel relative, parallel switching type centering gas claw drives two centering clamping face synchronous switching, make the symmetry median of the left and right directions of all small powder that snatch all coincide completely, the centre gripping finger just in time snatchs in the middle of the centre of small powder, avoid putting in the groove of big board with the groove edge of one side among them scraping mutually, avoid putting into, reduce the number of times of fault shut down, avoid delaying the production time, avoid damaging lift cylinder.

In order to prevent the centering clamping surface from interfering with the material clamp assembly during centering clamping, centering avoiding notches are arranged at the upper left corner and the upper right corner of the material clamp assembly.

The middle upper portion of connecting plate is equipped with the centre gripping subassembly and dodges the breach to prevent to interfere when going up and down and centre gripping subassembly snatchs the small powder.

The working process of the present invention is as follows.

1) And exchanging the material clamp assembly. And a manipulator on the AGV clamps the empty material clamp assembly through the clamping plane and the clamping hole. The contact plate on the AGV dolly is from the front to the back translation, touches the inclined plane and touches the gyro wheel, and the gyro wheel moves to the direction that is close to the interior plane in location, drives the swing arm and winds the swing of hinge three, and the swing arm passes through the connecting rod pulling locating pin, and the locating pin overcomes positioning spring's elastic force and slides along the location guiding hole, and the locating head is pulled out from the locating hole, and the locating head indentation becomes free in the plane of location interior plane, empty collet assembly in the perpendicular to left and right directions. The manipulator on the AGV dolly drives the material clamp assembly to translate forward from back, the outer plane of location slides for the inner plane of location, and the empty material clamp assembly finally breaks away from the inner plane of location, is removed from by the AGV dolly. Then the manipulator on the AGV dolly grips the material clamp subassembly of filling with the smallclothes through clamping plane and centre gripping hole, from the translation backward forward, four location outer planes laminate respectively on four location interior planes, and four locating holes align with four location guiding hole respectively. The touch board is from the back translation forward, touch the inclined plane and leave the gyro wheel, the swing arm is around three swings of hinge, the gyro wheel with to keeping away from the direction swing of the interior planes in location, the swing arm passes through the connecting rod and relaxs the locating pin, the locating pin slides along the location guiding hole under the elastic force of positioning spring and the tensile combined action of connecting rod, the location head stretches out the interior planes in location, insert in the locating hole, thereby the messenger fills up the collet subassembly of smallclothes and fixes on the mounted frame, the manipulator on the AGV dolly is removed, then the AGV dolly leaves, the replacement of empty collet subassembly and the collet subassembly of filling up the smallclothes has been accomplished.

2) An output shaft of the lifting servo motor rotates, a first thread piece is driven to rotate through the combination of the lifting gear and the driven gear, and a lifting assembly is driven to ascend through the combination of a first thread pair, a second thread pair, a third thread pair, a fourth thread pair and a fifth thread pair; the lifting support plate avoids the channel to lift upwards through the lifting support plate, and simultaneously lifts the front seal plate upwards, the front seal plate upwards translates along the seal plate placing groove, meanwhile, the secondary rib receives the lifting force of the front seal plate or the secondary rib below, the lifting force of the secondary rib below the rear seal plate is upwards translated along the seal plate placing groove, and the rear seal plate rises to the height suitable for lifting and grabbing of the clamping assembly until the rear seal plate rises.

3) The lift cylinder starts, drives lift and centre gripping subassembly translation to the lower extreme of stroke downwards, and the shrouding clamping face on the centre gripping finger lies in the front and back both sides at back shrouding top, and both sides embedding shrouding locking groove around the back shrouding top.

4) The parallel open-close type is to the start-up of gas claw, and two are to the synchronous translation in opposite directions of gas claw body drive two centering splint, clip middle back shrouding, if back shrouding has size skew left or right, then obtain the correction under the pushing action of centering splint. Then the parallel open-close type centering gas claw is reversely started, and the two centering clamping plates synchronously move back to leave the rear sealing plate.

5) The parallel open-close type clamping pneumatic claw is started to drive the two clamping fingers to synchronously move in opposite directions in the front and back directions, and the two sealing plate clamping surfaces clamp the back sealing plate positioned in the middle.

6) The lifting cylinder is started to drive the lifting and clamping assembly to translate upwards to the uppermost end of the stroke,

7) and the transverse moving servo motor is started, and the transverse moving assembly is driven to translate leftwards along the transverse linear guide rail through the combination of the transverse moving gear and the transverse rack until the symmetrical middle plane of the left and right directions of the rear sealing plate is superposed with the symmetrical middle plane of the left and right directions of the groove of the large plate.

8) The longitudinal movement servo motor drives the longitudinal movement assembly to translate along the longitudinal linear guide rail in the front-back horizontal direction through the combination of the longitudinal movement gear and the longitudinal rack until the rear sealing plate is positioned right above the position to be installed.

9) The lift cylinder starts, drives lift and centre gripping subassembly translation to the lower extreme of stroke downwards, and parallel open closed type centre gripping gas claw starts to relieve and presss from both sides tight back shrouding, and two shrouding clamping face leave back shrouding forward, back respectively, because the blockking of shrouding locking draw-in groove, back shrouding can not move along with any centre gripping finger, and back shrouding can stop in anticipated position.

10) The lifting cylinder is started to drive the lifting and clamping assembly to translate upwards to the uppermost end of the stroke, the transverse moving servo motor is started to drive the transverse moving assembly and the lifting and clamping assembly to translate rightwards to return to the position right above the material clamping assembly.

11) The intelligent welding robot searches for a welding seam according to a preset position to carry out spot welding.

12) And (4) repeating the steps 2) to 11) four times, and sequentially completing the steps of lifting, centering, clamping, vertical translation, transverse translation, longitudinal translation, placement, spot welding and the like of the three secondary ribs and the front sealing plate.

13) And the intelligent welding robot searches for the welding seam according to the preset position to carry out full welding. And (5) automatically carrying and welding an aluminum template.

The invention has the beneficial effects that: 1) the small materials are directly stacked together in the material clamp assembly along the up-down direction, no space exists between every two adjacent small materials, the arrangement is very compact, the volume of the material clamp assembly is small, accordingly, a lot of space is saved for storage and carrying of the material clamp assembly, and the applicable factory building area is small. 2) Through the centering effect of centering subassembly, the centre gripping finger just in time snatchs in the centre of expecting well, avoids putting into the groove of big board when putting with the groove edge looks scraping of one side wherein, avoids not putting into, reduces the number of times of fault shutdown, avoids delaying production time, avoids damaging the lift cylinder. 3) When small materials are placed in the grooves of the large plate, when the two clamping fingers move back to back and leave the small materials, the small materials cannot move along with any clamping finger due to the blocking of the sealing plate locking clamping groove or the secondary rib locking clamping groove, and the secondary rib locking clamping groove can stay at an expected position; the intelligent welding robot can find the correct welding seam position according to the preset position for welding, and the phenomenon of welding gun collision is avoided.

Drawings

FIG. 1 is a schematic three-dimensional structure of an embodiment of the present invention;

FIG. 2 is a schematic three-dimensional view of the traversing assembly 3;

FIG. 3 is a front view of lift and clamp assembly 4 with stop slot plate 43 removed and clamping fingers 42 translated back and forth in unison in a fore-aft direction away from rear closure plate 92 or secondary ribs 93;

FIG. 4 is a front view of the lift and clamp assembly 4 with two clamping fingers 42 translated together in a back and forth direction in unison;

FIG. 5 is a schematic three-dimensional view of the detent groove plate 43;

FIG. 6 is a schematic three-dimensional structure of the centering assembly 5;

FIG. 7 is a front view of the hanger assembly 6;

FIG. 8 is a cross-sectional view taken along line A-A of FIG. 7;

FIG. 9 is a view from the direction B of FIG. 7;

FIG. 10 is a partial cross-sectional view taken along line C-C of FIG. 7, prior to actuation of the ramp 691 against the roller 68;

FIG. 11 is a partial cross-sectional view taken along line C-C of FIG. 7, with the trigger ramp 691 translated in the forward-to-rearward direction 6A, after the roller 68 is triggered;

FIG. 12 is a partial cross-sectional view of the three-dimensional structure of the first screw member 621;

FIG. 13 is a partial cross-sectional view of the three-dimensional structure of the second threaded member 622;

FIG. 14 is a schematic three-dimensional view of a six-626 threaded member;

FIG. 15 is a schematic three-dimensional structure of the lifting assembly 7;

fig. 16 is a schematic three-dimensional structure of the material clamp assembly 8 from a first view;

FIG. 17 is a partially cut-away schematic view of the three-dimensional structure of the collet assembly 8 from a second perspective;

fig. 18 is a schematic three-dimensional structure of the aluminum mold plate 9;

shown in the figure: 1. a table assembly; 11. a longitudinal linear guide rail; 12. a longitudinal rack; 13. a work table; 2. a longitudinal movement component; 21. a transverse linear guide rail; 22. a transverse rack; 23. a longitudinally moving frame; 24. longitudinally moving the sliding block; 3. a traversing assembly; 31. transversely moving the support plate; 32. a lifting cylinder; 321. a lifting cylinder block; 322. the combination of a piston rod and a guide rod of a lifting cylinder; 33. transversely moving the sliding block; 34. a transverse moving servo motor; 35. a lateral moving gear; 4. a lifting and clamping assembly; 41. a parallel opening and closing type clamping gas claw; 411. a gripper cylinder; 412. clamping the gas claw body; 42. clamping fingers; 421. a sealing plate clamping surface; 422. a secondary rib gripping groove; 43. a locking slot plate; 431. a closing plate locking clamping groove; 432. the secondary rib stops the neck; 5. a centering assembly; 51. a parallel opening and closing type centering gas claw; 511. centering the gas claw cylinder body; 512. for middle-jiao qi paw; 52. centering the clamping plate; 521. centering the clamping surface; 6. a suspension frame assembly; 61. a suspension bracket; 611. positioning the inner plane; 612. positioning a guide hole; 613. a spring chamber; 6131. a first inner end surface; 6132. a second inner end surface; 601. a first hinge; 602. a second hinge; 603. a third hinge; 621. a first screw thread piece; 6211. a first internal thread; 6215. a driven gear; 622. a second thread piece; 6221. a second internal thread; 6222. a second external thread; 6223. an upper blocking edge II; 6224. a second lower blocking edge; 623. a third thread piece; 624. a fourth thread piece; 625. a fifth screw part; 626. a sixth threaded element; 6262. an external thread six; 6263. an upper blocking edge six; 6264. a lower blocking edge six; 63. lifting the linear guide rail; 64. positioning pins; 641. positioning the head; 642. a projecting ring; 65. a positioning spring; 66. a connecting rod; 67. swinging arms; 68. a roller; 69. a touch plate; 691. touching the inclined plane; 6A, triggering the translation direction of the inclined plane; 6001. lifting the servo motor; 6002. a lifting gear; 7. a lifting assembly; 71. lifting the support; 72. lifting the supporting plate; 73. lifting the slide block; 8. a material clamp assembly; 800. a grooved member; 81. a secondary rib placing groove; 82. a closing plate placing groove; 831. positioning an outer plane; 832. positioning holes; 841. clamping a plane; 842. a clamping hole; 85. lifting the supporting plate to avoid the channel; 86. a connecting plate; 861. the clamping assembly avoids the gap; 87. centering and avoiding the notch; 9. an aluminum template; 91. a large plate; 92. a rear closing plate; 93. a secondary rib; 94. and a front closing plate.

Detailed Description

The invention is further illustrated with reference to the following figures and examples:

example (b): see fig. 1-18.

An automatic carrying mechanism for cartridge clip type small materials of intelligent welding equipment of a building aluminum template comprises an intelligent welding robot, a workbench assembly 1, a longitudinal moving assembly 2, a transverse moving assembly 3, a lifting and clamping assembly 4, a suspension bracket assembly 6, a lifting assembly 7 and a material clip assembly 8;

the workbench component 1 comprises a longitudinal linear guide rail 11, a longitudinal rack 12 and a workbench 13; the worktable 13 is fixedly connected with the rack, the longitudinal linear guide rail 11 and the longitudinal rack 12 are respectively fixedly connected with the worktable 13, and the arrangement directions of the longitudinal linear guide rail 11 and the longitudinal rack 12 are both front and back horizontal directions; the aluminum template 9 is placed on the workbench component 1 and is positioned and clamped;

the longitudinal movement assembly 2 comprises a longitudinal movement sliding block 24, a longitudinal movement servo motor, a longitudinal movement gear, a transverse linear guide rail 21, a transverse rack 22 and a longitudinal movement frame 23; the longitudinal movement sliding block 24 and a housing flange of the longitudinal movement servo motor are fixedly connected with the longitudinal movement frame 23 respectively, a longitudinal movement gear is fixedly connected with an output shaft of the longitudinal movement servo motor, the longitudinal movement sliding block 24 and the longitudinal linear guide rail 11 form a linear guide rail pair, the longitudinal movement gear is meshed with the longitudinal rack 12, and the longitudinal movement servo motor drives the longitudinal movement assembly 2 to move horizontally in the front-back horizontal direction along the longitudinal linear guide rail 11 through the combination of the longitudinal movement gear and the longitudinal rack 12; the transverse linear guide rail 21 and the transverse rack 22 are respectively fixedly connected with the longitudinal moving frame 23, and the transverse linear guide rail 21 and the transverse rack 22 are respectively arranged along the left and right horizontal directions;

the transverse moving component 3 comprises a transverse moving support plate 31, a lifting cylinder 32, a transverse moving slide block 33, a transverse moving servo motor 34 and a transverse moving gear 35; the lifting cylinder 32 is a cylinder with a guide rod, and comprises a lifting cylinder body 321 and a combination 322 of a lifting cylinder piston rod and a guide rod; the lifting cylinder body 321, the traverse slide block 33 and the shell flange of the traverse servo motor 34 are respectively fixedly connected with the traverse support plate 31, and the traverse gear 35 is fixedly connected with the output shaft of the traverse servo motor 34; the transverse sliding block 33 and the transverse linear guide rail 21 are combined into a linear guide rail pair, and the transverse gear 35 is meshed with the transverse rack 22; the traversing servo motor 34 drives the traversing component 3 to translate in the left-right horizontal direction along the transverse linear guide rail 21 through the combination of the traversing gear 35 and the transverse rack 22;

the lifting and clamping assembly 4 comprises a parallel opening and closing type clamping air claw 41 and two clamping fingers 42; the parallel opening/closing type gripper gas claw 41 includes a gripper gas claw cylinder 411 and two gripper gas claw bodies 412; the clamping air claw cylinder 411 is fixedly connected with a lifting cylinder piston rod and guide rod combination 322, and the lifting cylinder 32 drives the lifting and clamping assembly 4 to translate in the vertical direction; the two clamping fingers 42 are fixedly connected with the two clamping air claws 412 respectively; the clamping fingers 42 are provided with sealing plate clamping surfaces 421 and secondary rib clamping grooves 422, the two sealing plate clamping surfaces 421 on the two clamping fingers 42 are opposite front and back, the two secondary rib clamping grooves 422 on the two clamping fingers 42 are opposite front and back, the parallel opening and closing type clamping air claws 41 drive the two clamping fingers 42 to synchronously translate in the front and back directions and then synchronously translate away in the opposite directions, the two sealing plate clamping surfaces 421 clamp the rear sealing plate 92 or the front sealing plate 94 in the middle, or the two secondary rib clamping grooves 422 clamp the secondary ribs 93 in the middle;

the suspension bracket assembly 6 comprises a suspension bracket 61, a first screw part 621, a second screw part 622, a third screw part 623, a fourth screw part 624, a fifth screw part 625, a sixth screw part 626, a lifting linear guide rail 63, four positioning pins 64, four positioning springs 65, four connecting rods 66, four swing arms 67, four rollers 68, a lifting servo motor 6001 and a lifting gear 6002; the suspension bracket 61 is fixedly connected with the longitudinal moving bracket 23; the lifting linear guide rail 63 is fixedly connected with the suspension bracket 61, and the lifting linear guide rail 63 is arranged along the vertical direction; the first threaded part 621, the second threaded part 622, the third threaded part 623, the fourth threaded part 624 and the fifth threaded part 625 are all sleeve-shaped, and internal threads are arranged inside the sleeve-shaped; the second threaded part 622, the third threaded part 623, the fourth threaded part 624, the fifth threaded part 625 and the sixth threaded part 626 are all provided with external threads, the upper ends of the external threads are all provided with upper retaining edges, and the lower ends of the external threads are all provided with lower retaining edges; the first screw part 621 is internally provided with a first internal screw thread 6211, and the axis of the first internal screw thread 6211 is arranged in the vertical direction; the first screw part 621 further comprises a driven gear 6215 fixedly connected, and the axial line of the driven gear 6215 is superposed with the axial line of the first internal screw thread 6211; the first screw member 621 is coupled with the suspension bracket 61 through a revolute pair; the internal thread II 6221 is arranged inside the second screw member 622, the external thread II 6222 is arranged outside the second screw member 622, the axial lines of the internal thread II 6221 and the external thread II 6222 are arranged in the vertical direction, and the axial lines of the internal thread II 6221 and the external thread II 6222 are overlapped; the upper end of the second external thread 6222 is provided with a second upper retaining edge 6223, and the lower end of the second external thread 6222 is provided with a second lower retaining edge 6224; the third threaded part 623 is internally provided with a third internal thread, the third threaded part 623 is externally provided with a third external thread, the axial leads of the third internal thread and the third external thread are arranged in the vertical direction, and the axial leads of the third internal thread and the third external thread are superposed; the upper end of the third external thread is provided with a third upper retaining edge, and the lower end of the third external thread is provided with a third lower retaining edge; the inner part of the fourth screw member 624 is provided with a fourth internal thread, the outer part of the fourth screw member 624 is provided with a fourth external thread, the axial leads of the fourth internal thread and the fourth external thread are arranged in the vertical direction, and the axial leads of the fourth internal thread and the fourth external thread are superposed; the upper end of the external thread IV is provided with an upper retaining edge IV, and the lower end of the external thread IV is provided with a lower retaining edge IV; the inner part of the screw member five 625 is provided with an internal thread five, the outer part of the screw member five 625 is provided with an external thread five, the axial lines of the internal thread five and the external thread five are arranged in the vertical direction, and the axial lines of the internal thread five and the external thread five are superposed; the upper end of the external thread five is provided with an upper retaining edge five, and the lower end of the external thread five is provided with a lower retaining edge five; the screw member six 626 is cylindrical, the cylindrical surface of the screw member six 626 is provided with an external thread six 6262, and the axis line of the external thread six 6262 is arranged in the vertical direction; the upper end of the external thread hexa6262 is provided with an upper retaining edge hexa6263, and the lower end of the external thread hexa6262 is provided with a lower retaining edge hexa6264; the first internal thread 6211 and the second external thread 6222 form a first thread pair; the second internal thread 6221 and the third external thread form a second thread pair; the internal thread III and the external thread IV form a thread pair III; the fourth internal thread and the fifth external thread form a fourth thread pair; the fifth internal thread and the sixth external thread 6262 form a fifth thread pair; the screw pitches of the first screw thread pair, the second screw thread pair, the third screw thread pair, the fourth screw thread pair and the fifth screw thread pair are equal and are all 3 mm;

a shell flange of the lifting servo motor 6001 is fixedly connected with the suspension bracket 61, an output shaft of the lifting servo motor 6001 is fixedly connected with a lifting gear 6002, and the lifting gear 6002 is meshed with a driven gear 6215;

the suspension bracket 61 is provided with a left and a right opposite inner positioning planes 611, the inner positioning planes 611 are provided with inward penetrating positioning guide holes 612, spring chambers 613 are deeply arranged inwards along the positioning guide holes 612, the positioning guide holes 612 are communicated with the spring chambers 613, the diameters of the spring chambers 613 are larger than the diameters of the positioning guide holes 612, and the spring chambers 613 are provided with inner end faces 6131 close to the inner positioning planes 611 and inner end faces 6132 far away from the inner positioning planes 611; the positioning pin 64 is matched with the positioning guide hole 612; a protruding ring 642 is arranged on the positioning pin 64, and the protruding ring 642 is positioned in the spring chamber 613; the positioning spring 65 is sleeved on the positioning pin 64, the positioning spring 65 is located in the spring chamber 613, one end of the positioning spring 65 close to the positioning inner plane 611 presses the protruding ring 642, one end of the positioning spring 65 far away from the positioning inner plane 611 presses the inner end face II 6132, under the action of elastic force of the positioning spring 65, the positioning pin 64 slides along the positioning guide hole 612 in the left-right direction, the protruding ring 642 moves horizontally in the direction close to the inner end face I6131, the first end of the positioning pin 64, namely the end which is not on the same side of the protruding ring 642 as the positioning spring 65, is provided with a positioning head 641, and the positioning head 641 extends out of the positioning inner plane 611; the second end of the positioning pin 64, i.e. the end on the same side of the protruding ring 642 as the positioning spring 65, is connected with the first end of the connecting rod 66 through a first hinge 601; the second end of the connecting rod 66 is connected with the first end of the swing arm 67 through a second hinge 602; the second end of the swing arm 67 is connected with the roller 68 through a revolute pair, the middle part of the swing arm 67 is connected with the suspension bracket 61 through a third hinge 603, and the suspension bracket 61, the positioning pin 64, the connecting rod 66 and the swing arm 67 form a crank slider mechanism; the crank-slider mechanism is a crank-slider mechanism shown in fig. 3-18 (c) on page 37 in light industry mechanical design basis published by the Chinese light industry publisher and compiled by the Shanghai, a suspension bracket 61 is equivalent to a frame 4 in the figure, a positioning pin 64 is equivalent to a slider 3 in the figure (the length of a rocker 3 is increased to infinity to form the slider 3), a connecting rod 66 is equivalent to a connecting rod 2 in the figure, and a crank 1 is equivalent to a swing arm 67 in the figure; the AGV trolley for conveying small materials is provided with a touch plate 69, when a touch inclined plane 691 on the touch plate 69 translates along the 6A direction from front to back and touches a roller 68, the roller 68 moves towards the direction close to the inner positioning plane 611 to drive a swing arm 67 to swing around a third hinge 603, the swing arm 67 pulls a positioning pin 64 through a connecting rod 66, the positioning pin 64 overcomes the elastic force of a positioning spring 65 and slides along a positioning guide hole 612, and a positioning head 641 retracts into the inner positioning plane 611;

the lifting assembly 7 comprises a lifting bracket 71, a lifting support plate 72 and a lifting slide block 73; the rear edge of the lifting supporting plate 72 is fixedly connected with the lifting bracket 71; the lifting slide block 73 is fixedly connected with the lifting support 71, the lifting slide block 73 is matched with the lifting linear guide rail 63 to form a linear guide rail pair, and the upper end of the six thread pieces 626 is fixedly connected with the lifting support 71; the output shaft of the lifting servo motor 6001 rotates, the first screw member 621 is driven to rotate through the combination of the lifting gear 6002 and the driven gear 6215, and the lifting assembly 7 is driven to ascend through the combination of the fifth screw pair, the fourth screw pair, the third screw pair, the second screw pair and the first screw pair; the thread pair V, the thread pair IV, the thread pair III, the thread pair II and the thread pair I rotate successively or simultaneously, the friction resistance is the smallest, the thread pair I rotates firstly until the internal thread is blocked by the lower retaining edge of the corresponding external thread, and generally, the smaller the diameter of the thread is, the smaller the friction force is, and the smaller the diameter of the thread is, the thread pair I rotates firstly; because the thread pitches of the first thread pair, the second thread pair, the third thread pair, the fourth thread pair and the fifth thread pair are equal, the ascending distances of any one or more thread pairs rotating every circle are equal; when the output shaft of the lifting servo motor 6001 rotates reversely, the lifting assembly 7 is driven to descend by the combination of the lifting gear 6002 and the driven gear 6215 and the combination of the screw pair five, the screw pair four, the screw pair three, the screw pair two and the screw pair one, and the screw pair stops rotating when the internal thread is blocked by the upper blocking edge of the corresponding external thread; the function of the combination of the thread pair is the same as that of the combination of the ball screw and the nut used in the traditional scheme, the rotary motion of the servo motor is converted into linear motion, the ball screw needs to be supported by a front rotating pair and a rear rotating pair, the middle part of the ball screw is matched with the nut and is connected with the nut in three positions, and two ends of the combination of the thread pair only need to be fixedly connected with two positions, so that the connection mode is simplified, and the manufacturing and mounting processes are simplified;

the material clamp assembly 8 comprises two grooved components 800 and a connecting plate 86 which are symmetrically arranged left and right, and the left side and the right side of the connecting plate 86 are fixedly connected with the front sides of the two grooved components 800 respectively; the two grooved components 800 are respectively provided with a secondary rib placing groove 81, the left secondary rib placing groove 81 is opened towards the right, the right secondary rib placing groove 81 is opened towards the left, and the two secondary rib placing grooves 81 are opened oppositely and are used for storing the secondary ribs 93; the two groove parts 800 are respectively provided with a sealing plate placing groove 82, the left sealing plate placing groove 82 is opened towards the right, the right sealing plate placing groove 82 is opened towards the left, and the two sealing plate placing grooves 82 are opposite in opening and used for storing the rear sealing plate 92 or the front sealing plate 94; since the rear sealing plate 92 and the front sealing plate 94 are 400 mm long and the secondary ribs 93 are 384 mm long, the symmetrical surfaces of the small materials are overlapped when the small materials are placed in the material clamp assembly 8, the thickness of the sealing plates is 8 mm, and the width of the secondary ribs 93 is 30 mm, the sealing plate placement groove 82 can be formed at the bottom of the secondary rib placement groove 81; a lifting support plate avoiding channel 85 without any obstacle is arranged between the two secondary rib placing grooves 81 or between the two close plate placing grooves 82, and the front edge of the lifting support plate 72 extends forwards along the horizontal direction to be right below the lifting support plate avoiding channel 85; the front sealing plate 94 is placed in the sealing plate placing groove 82 and is positioned at the lowest surface; the secondary ribs 93 are placed in the secondary rib placement grooves 81 and stacked on the upper portion of the front sealing plate 94, the other secondary ribs 93 are sequentially stacked upward, and the rear sealing plate 92 is placed in the sealing plate placement grooves 82 and stacked on the top of the uppermost secondary rib 93; a positioning outer flat surface 831 and a clamping flat surface 841 are provided on the outer side of the belt groove member 800, i.e., the side opposite to the opening of the secondary rib placing groove 81, a positioning hole 832 is provided on the positioning outer flat surface 831, and a clamping hole 842 is provided on the clamping flat surface 841; namely, the material clamp component 8 is provided with a positioning outer plane 831 facing to the left and a positioning outer plane 831 facing to the right; the left-facing positioning outer plane 831 fits with the right-facing positioning inner plane 611, the right-facing positioning outer plane 831 fits with the left-facing positioning inner plane 611, the positioning head 641 extends out of the positioning inner plane 611, and the extended part is inserted into the positioning hole 832, so that the material clamp assembly 8 is embedded on the suspension bracket 61 and positioned; the middle upper portion of the connecting plate 86 is provided with a clamping component avoiding notch 861 to prevent interference when the lifting and clamping component 4 grabs small materials.

The lifting and clamping assembly 4 further comprises a stop groove plate 43, a secondary rib stop groove 432 with a downward opening is arranged on the stop groove plate 43, and a seal plate stop groove 431 is arranged at the bottom of the secondary rib stop groove 432; the two secondary rib clamping grooves 422 clamp the secondary rib 93 in the middle, the top and the front and back sides of the secondary rib 93 are just embedded into the secondary rib stopping clamping grooves 432, when the secondary rib 93 is placed in the groove of the large plate 91, when the two clamping fingers 42 are translated back and forth away from the secondary rib 93, the secondary rib 93 cannot move along with any clamping finger 42 due to the blocking of the secondary rib stopping clamping grooves 432, and the secondary rib 93 stays at an expected position; the two sealing plate clamping surfaces 421 clamp the rear sealing plate 92 or the front sealing plate 94 positioned in the middle, the top and the front and rear sides of the rear sealing plate 92 or the front sealing plate 94 are just embedded into the sealing plate retaining clamping grooves 431, when the rear sealing plate 92 or the front sealing plate 94 is placed in the groove of the large plate 91, when the two clamping fingers 42 are translated away from the rear sealing plate 92 or the front sealing plate 94 in opposite directions, due to the blocking of the sealing plate retaining clamping grooves 431, the rear sealing plate 92 or the front sealing plate 94 cannot move along with any clamping finger 42, and the rear sealing plate 92 or the front sealing plate 94 can stay at an expected position; the intelligent welding robot can find the correct welding seam position according to the preset position for welding, and the phenomenon of welding gun collision is avoided.

The automatic carrying mechanism for the cartridge clip type small materials of the intelligent welding equipment for the building aluminum template further comprises a centering assembly 5, wherein the centering assembly 5 comprises a parallel opening and closing type centering gas claw 51 and two centering clamping plates 52; the parallel opening and closing type centering gas claw 51 includes a centering gas claw cylinder 511 and two centering gas claw bodies 512; two centering splint 52 respectively with two to well gas claw body 512 fixed connection, be equipped with centering clamping face 521 on the centering splint 52 respectively, two centering clamping face 521 parallels are relative, parallel switching type centering gas claw 51 drives two centering clamping face 521 synchronous switching, make the symmetry mid-plane of the left and right directions of all small powder that snatch all coincide completely, centre gripping finger 42 just in time snatchs in the centre of small powder, avoid putting in the groove of big board 91 when scraping mutually with the groove edge of one side wherein, avoid not putting into, reduce the number of times of trouble shut down, avoid delaying production time, avoid damaging lift cylinder 32.

In order to prevent the centering clamping surface 521 from interfering with the material clamp assembly 8 during centering clamping, centering avoiding notches 87 are arranged at the upper left corner and the upper right corner of the material clamp assembly 8.

The working process of this embodiment is as follows.

1) The magazine assembly 8 is exchanged. The robot on the AGV grips the empty gripper assembly 8 through the gripping plane 841 and the gripping hole 842. The touch plate 69 on the AGV translates from front to back along the direction 6A, the slope 691 touches the roller 68, the roller 68 moves towards the direction close to the inner positioning plane 611, the swing arm 67 is driven to swing around the third hinge 603, the swing arm 67 pulls the positioning pin 64 through the connecting rod 66, the positioning pin 64 overcomes the elastic force of the positioning spring 65 to slide along the positioning guide hole 612, the positioning head 641 is pulled out of the positioning hole 832, the positioning head 641 retracts into the inner positioning plane 611, and the empty clamping assembly 8 becomes free in the plane perpendicular to the left-right direction. The manipulator on the AGV drives the material clamp assembly 8 to move forward from back, the positioning outer plane 831 slides relative to the positioning inner plane 611, and finally the empty material clamp assembly 8 is separated from the positioning inner plane 611 and is carried away by the AGV. Then, the manipulator on the AGV clamps the material clamp assembly 8 filled with small materials through the clamping plane 841 and the clamping hole 842, and translates from front to back, the four positioning outer planes 831 are respectively attached to the four positioning inner planes 611, and the four positioning holes 832 are respectively aligned with the four positioning guide holes 612. The touch plate 69 is translated from back to front in the direction opposite to 6A, the touch inclined plane 691 is separated from the roller 68, the combination of the roller 68 and the swing arm 67 swings around the hinge three 603 in the direction away from the positioning inner plane 611, the swing arm 67 releases the positioning pin 64 through the connecting rod 66, the positioning pin 64 slides along the positioning guide hole 612 under the combined action of the elastic force of the positioning spring 65 and the pulling force of the connecting rod 66, the positioning head 641 extends out of the positioning inner plane 611 and is inserted into the positioning hole 832, so that the material clamp assembly 8 filled with small materials is fixed on the suspension bracket 61, the manipulator on the AGV cart is removed, and then the AGV cart is separated, and the replacement of the empty material clamp assembly 8 and the material clamp assembly 8 filled with small materials is completed.

2) An output shaft of the lifting servo motor 6001 rotates, a first screw member 621 is driven to rotate through the combination of the lifting gear 6002 and a driven gear 6215, and a lifting assembly 7 is driven to ascend through the combination of a first screw pair, a second screw pair, a third screw pair, a fourth screw pair and a fifth screw pair; the lifting support plate 72 is lifted upwards through the lifting support plate avoiding channel 85, the front sealing plate 94 is lifted upwards, the front sealing plate 94 is translated upwards along the sealing plate placing groove 82, the secondary rib 93 is lifted upwards along the secondary rib placing groove 81 by the aid of lifting force of the lower front sealing plate 94 or the secondary rib 93, and the rear sealing plate 92 is lifted upwards along the sealing plate placing groove 82 by the aid of lifting force of the lower secondary rib 93 until the rear sealing plate 92 is lifted to a height suitable for the lifting and clamping assembly 4 to grab.

3) The lifting cylinder 32 is started to drive the lifting and clamping assembly 4 to translate downwards to the lowest end of the stroke, the sealing plate clamping surfaces 421 on the clamping fingers 42 are located on the front side and the rear side of the top of the rear sealing plate 92, and the front side and the rear side of the top of the rear sealing plate 92 are embedded into the sealing plate locking clamping grooves 431.

4) When the parallel opening and closing type centering gas claw 51 is started, the two centering gas claw bodies 512 drive the two centering clamping plates 52 to synchronously move in opposite directions to clamp the middle rear sealing plate 92, and if the rear sealing plate 92 has size deviation towards the left or the right, the correction is carried out under the pushing action of the centering clamping plates 52. The parallel opening and closing type centering gas pawl 51 is then actuated in reverse, and the two centering jaws 52 are simultaneously translated away from the rear closure plate 92.

5) The parallel opening/closing type gripper 41 is actuated to drive the two gripper fingers 42 to synchronously move in the front-rear direction toward each other, and the two closure plate gripping surfaces 421 grip the rear closure plate 92 located in the middle.

6) The lifting cylinder 32 is started to drive the lifting and clamping assembly 4 to move upwards to the uppermost end of the stroke,

7) the traverse servo motor 34 is started to drive the traverse assembly 3 to translate leftwards along the transverse linear guide 21 through the combination of the traverse gear 35 and the transverse rack 22 until the symmetrical middle plane of the left-right direction of the rear sealing plate 92 coincides with the symmetrical middle plane of the left-right direction of the slot of the large plate 91.

8) The longitudinal movement servo motor drives the longitudinal movement assembly 2 to translate along the longitudinal linear guide rail 11 in the front-back horizontal direction through the combination of the longitudinal movement gear and the longitudinal rack 12 until the rear sealing plate 92 is positioned right above the position to be installed.

9) The lifting cylinder 32 is started to drive the lifting and clamping assembly 4 to translate downwards to the lowest end of the stroke, the parallel opening and closing type clamping air claw 41 is started to release the clamping rear sealing plate 92, the two sealing plate clamping surfaces 421 leave the rear sealing plate 92 forwards and backwards respectively, due to the blocking of the sealing plate locking clamping groove 431, the rear sealing plate 92 cannot move along with any clamping finger 42, and the rear sealing plate 92 can stop at an expected position.

10) The lifting cylinder 32 is started to drive the lifting and clamping assembly 4 to move upwards to the uppermost end of the stroke, and the transverse moving servo motor 34 is started to drive the transverse moving assembly 3 and the lifting and clamping assembly 4 to move rightwards to return to the position right above the material clamping assembly 8.

12) And (3) repeating the steps 2) to 11) four times, and sequentially completing the steps of lifting, centering, clamping, vertical translation, transverse translation, longitudinal translation, placement, spot welding and the like of the three secondary ribs 93 and the front sealing plate 94.

The beneficial effects of this embodiment: 1) the small materials are directly stacked together in the material clamp assembly 8 along the up-down direction, no space exists between every two adjacent small materials, the arrangement is very compact, the volume of the material clamp assembly 8 is small, accordingly, a lot of space is saved for storage and carrying of the material clamp assembly 8, and the applicable factory building area is small. 2) Through the centering effect of centering subassembly 5, centre gripping finger 42 just in time snatchs in the centre of small powder, avoids putting in the groove of big board 91 the time and the groove edge of one side wherein scraping mutually, avoids not putting into, reduces the number of times of fault shutdown, avoids delaying production time, avoids damaging lift cylinder 32. 3) When the small material is placed in the groove of the large plate 91, when the two clamping fingers 42 are translated back to back and away from the small material, the small material cannot move along with any one clamping finger 42 due to the blocking of the sealing plate retaining groove 431 or the secondary rib retaining groove 432, and the secondary rib retaining groove 432 stays at an expected position; the intelligent welding robot can find the correct welding seam position according to the preset position for welding, and the phenomenon of welding gun collision is avoided.

Claims

1. An automatic carrying mechanism for cartridge clip type small materials of intelligent welding equipment of building aluminum templates comprises an intelligent welding robot, a workbench assembly, a longitudinal moving assembly, a transverse moving assembly, a lifting and clamping assembly;

the workbench component comprises a longitudinal linear guide rail, a longitudinal rack and a workbench; the worktable is fixedly connected with the rack, the longitudinal linear guide rail and the longitudinal rack are respectively and fixedly connected with the worktable, and the arrangement directions of the longitudinal linear guide rail and the longitudinal rack are both front and back horizontal directions;

the lifting and clamping assembly comprises a parallel opening and closing type clamping air claw and two clamping fingers; the parallel opening and closing type clamping gas claw comprises a clamping gas claw cylinder body and two clamping gas claw bodies; the clamping air claw cylinder body is fixedly connected with the combination of a lifting air cylinder piston rod and a guide rod, and the lifting air cylinder drives the lifting and clamping assembly to translate in the vertical direction; the two clamping fingers are respectively and fixedly connected with the two clamping air claws; the clamping fingers are provided with sealing plate clamping surfaces and secondary rib clamping grooves, the two sealing plate clamping surfaces on the two clamping fingers are opposite from front to back, the two secondary rib clamping grooves on the two clamping fingers are opposite from front to back, and the parallel open-close type clamping air claws drive the two clamping fingers to synchronously move in opposite directions in the front-back direction and then synchronously move away in opposite directions;

the device is characterized by further comprising a suspension frame assembly, a lifting assembly and a material clamp assembly;

the suspension bracket assembly comprises a suspension bracket, a first threaded part, a second threaded part, a third threaded part, a fourth threaded part, a fifth threaded part, a sixth threaded part, a lifting linear guide rail, four positioning pins, four positioning springs, four connecting rods, four swing arms, four pairs of idler wheels, a lifting servo motor and a lifting gear; the suspension bracket is fixedly connected with the longitudinal moving bracket; the lifting linear guide rail is fixedly connected with the suspension bracket and is arranged along the vertical direction; the first threaded part, the second threaded part, the third threaded part, the fourth threaded part and the fifth threaded part are all sleeve-shaped, and internal threads are arranged inside the sleeve-shaped parts;

the second threaded part, the third threaded part, the fourth threaded part, the fifth threaded part and the sixth threaded part are all provided with external threads, the upper ends of the external threads are all provided with upper retaining edges, and the lower ends of the external threads are all provided with lower retaining edges;

the first internal thread is arranged inside the first threaded part, and the axis line of the first internal thread is arranged in the vertical direction; the first screw thread piece also comprises a driven gear which is fixedly connected, and the axis of the driven gear is superposed with the axis of the first internal screw thread; the first threaded part is connected with the suspension bracket through a revolute pair;

the second internal thread is arranged inside the second threaded part, the second external thread is arranged outside the second threaded part, the axial leads of the second internal thread and the second external thread are arranged in the vertical direction, and the axial leads of the second internal thread and the second external thread are overlapped; the upper end of the second external thread is provided with a second upper retaining edge, and the lower end of the second external thread is provided with a second lower retaining edge;

the third threaded part is internally provided with a third internal thread, the third threaded part is externally provided with a third external thread, the axial leads of the third internal thread and the third external thread are arranged in the vertical direction, and the axial leads of the third internal thread and the third external thread are superposed; the upper end of the third external thread is provided with a third upper retaining edge, and the lower end of the third external thread is provided with a third lower retaining edge;

the fourth threaded part is internally provided with a fourth internal thread, the fourth threaded part is externally provided with a fourth external thread, the axial leads of the fourth internal thread and the fourth external thread are arranged in the vertical direction, and the axial leads of the fourth internal thread and the fourth external thread are superposed; the upper end of the external thread IV is provided with an upper retaining edge IV, and the lower end of the external thread IV is provided with a lower retaining edge IV;

the inner part of the screw part five is provided with an internal thread five, the outer part of the screw part five is provided with an external thread five, the axial leads of the internal thread five and the external thread five are arranged in the vertical direction, and the axial leads of the internal thread five and the external thread five are superposed; the upper end of the external thread five is provided with an upper retaining edge five, and the lower end of the external thread five is provided with a lower retaining edge five;

the screw part six is cylindrical, an external thread six is arranged on the cylindrical surface of the screw part six, and the axis line of the external thread six is arranged in the vertical direction; the upper end of the external thread six is provided with an upper retaining edge six, and the lower end of the external thread six is provided with a lower retaining edge six;

the first internal thread and the second external thread form a first thread pair; the internal thread II and the external thread III form a thread pair II; the internal thread III and the external thread IV form a thread pair III; the fourth internal thread and the fifth external thread form a fourth thread pair; the internal thread five and the external thread six form a thread pair five; the screw pitches of the first screw thread pair, the second screw thread pair, the third screw thread pair, the fourth screw thread pair and the fifth screw thread pair are equal;

the suspension bracket is provided with left and right opposite inner positioning planes, the inner positioning planes are provided with inward through positioning guide holes, spring chambers are arranged in the inner positioning guide holes in a deep manner, the positioning guide holes are communicated with the spring chambers, the diameters of the spring chambers are larger than those of the positioning guide holes, and the spring chambers are provided with first inner end faces close to the inner positioning planes and second inner end faces far away from the inner positioning planes; the positioning pin is in sliding fit with the positioning guide hole; a protruding ring is arranged on the positioning pin and is positioned in the spring chamber; the positioning spring is sleeved on the positioning pin and is positioned in the spring chamber, one end of the positioning spring, which is close to the positioning inner plane, presses the convex ring, one end of the positioning spring, which is far away from the positioning inner plane, presses the inner end face II, under the action of the elastic force of the positioning spring, the positioning pin slides in the left-right direction along the positioning guide hole, the convex ring translates towards the direction close to the inner end face I, the first end of the positioning pin is provided with a positioning head, and the positioning head extends out of the positioning inner plane; the second end of the positioning pin is connected with the first end of the connecting rod through a first hinge; the second end of the connecting rod is connected with the first end of the swing arm through a second hinge; the second end of the swing arm is connected with the roller through a revolute pair, the middle part of the swing arm is connected with the suspension bracket through a hinge III, and the suspension bracket, the positioning pin, the connecting rod and the swing arm form a crank slide block mechanism; the roller moves towards the direction close to the positioning inner plane to drive the swing arm to swing around the hinge III, the swing arm pulls the positioning pin through the connecting rod, the positioning pin overcomes the elastic force of the positioning spring and slides along the positioning guide hole, and the positioning head retracts into the positioning inner plane;

the lifting assembly comprises a lifting support, a lifting supporting plate and a lifting sliding block; the rear edge of the lifting supporting plate is fixedly connected with the lifting bracket; the lifting slide block is fixedly connected with the lifting support, the lifting slide block is matched with the lifting linear guide rail to form a linear guide rail pair, and the upper end of the threaded part II is fixedly connected with the lifting support; an output shaft of the lifting servo motor rotates, a first thread piece is driven to rotate through the combination of the lifting gear and the driven gear, and a lifting assembly is driven to ascend through the combination of a first thread pair, a second thread pair, a third thread pair, a fourth thread pair and a fifth thread pair;

the material clamp assembly comprises two belt groove parts and a connecting plate which are symmetrically arranged left and right, and the left side and the right side of the connecting plate are fixedly connected with the front sides of the two belt groove parts respectively; the two belt groove parts are respectively provided with a secondary rib placing groove, the opening of the secondary rib placing groove on the left side faces to the right, the opening of the secondary rib placing groove on the right side faces to the left, and the openings of the two secondary rib placing grooves are opposite; the two belt groove parts are respectively provided with a sealing plate placing groove, the opening of the left sealing plate placing groove faces to the right, the opening of the right sealing plate placing groove faces to the left, and the openings of the two sealing plate placing grooves are opposite; a lifting support plate avoiding channel without any obstacle is arranged between the two secondary rib placing grooves or between the two close plate placing grooves, and the front edge of the lifting support plate extends forwards along the horizontal direction to be positioned under the lifting support plate avoiding channel; a positioning outer plane is arranged on the outer side of the belt groove part, and a positioning hole is arranged on the positioning outer plane; the left outer positioning plane is attached to the right inner positioning plane, the right outer positioning plane is attached to the left inner positioning plane, the positioning head extends out of the inner positioning plane, and the extending part is inserted into the positioning hole.

2. The mechanism of claim 1, wherein the lifting and clamping assembly further comprises a stop slot plate, the stop slot plate is provided with a secondary rib stop slot with a downward opening, and a seal plate stop slot is arranged at the bottom of the secondary rib stop slot.

3. The automatic conveying mechanism for the cartridge clip type small materials of the intelligent welding equipment for the building aluminum template as claimed in claim 1 or 2, is characterized by further comprising a centering assembly, wherein the centering assembly comprises a parallel opening and closing type centering gas claw and two centering clamping plates; the parallel opening-closing type centering gas claw comprises a centering gas claw cylinder body and two centering gas claw bodies; the two centering clamping plates are respectively and fixedly connected with the two centering gas claw bodies, centering clamping surfaces are respectively arranged on the centering clamping plates, the two centering clamping surfaces are parallel and opposite, and the parallel opening and closing type centering gas claw drives the two centering clamping surfaces to be opened and closed synchronously.

4. The automatic conveying mechanism for the small cartridge clip type materials of the intelligent welding equipment for the building aluminum templates as claimed in claim 3, is characterized in that a centering avoidance notch is arranged at the upper left corner and the upper right corner of the material clip assembly.