CN111331288A - Intelligent lower sealing plate storage and automatic conveying device for building aluminum template welding equipment - Google Patents
Intelligent lower sealing plate storage and automatic conveying device for building aluminum template welding equipment Download PDFInfo
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- CN111331288A CN111331288A CN202010282566.3A CN202010282566A CN111331288A CN 111331288 A CN111331288 A CN 111331288A CN 202010282566 A CN202010282566 A CN 202010282566A CN 111331288 A CN111331288 A CN 111331288A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
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Abstract
The invention belongs to the technical field of building material manufacturing equipment, and relates to a lower sealing plate storage and automatic conveying device for intelligent welding equipment of a building aluminum template. Pressing material cylinder drive pressure flitch and compressing tightly one and folding back shrouding, the propelling movement board gets into the feed bin inner chamber, promotes the back shrouding that pastes tight front side inner wall and comes out from the discharge gate, and this back shrouding gets into the turnover groove, and centering cylinder drive centering subassembly is accurate positioning on the left and right sides direction, and 180 degrees pneumatic finger drives back clamping jaw and the tight back shrouding of front clamping jaw clamp, and the shrouding rises more than welding platform's mesa behind the lift cylinder drive, and shrouding is hugged closely on the rear end face of big board behind the preceding push cylinder drive. All components of the invention can be lowered below the table top of the welding platform, the installation of secondary ribs is not interfered, the automation level is improved, and the positioning of the rear sealing plate is accurate.
Description
Technical Field
The invention belongs to the technical field of building material manufacturing equipment, relates to aluminum template manufacturing equipment, and particularly relates to a lower sealing plate storage and automatic conveying device for intelligent welding equipment of a building aluminum template.
Background
At present, the building aluminum template gradually uses automatic equipment for feeding and automatic clamping, and then is automatically welded by an intelligent welding robot, so that the manual assembly and spot welding work efficiency and the work quality are greatly improved.
The aluminum formwork 1 for the building with one specification comprises a front sealing plate, a rear sealing plate 11, a large plate 12 and an I-shaped secondary rib 13. The sub-rib 13 includes an upper plate, a middle standing plate, and a lower plate. The rib is indulged on the limit that is equipped with two fore-and-aft directions on the bottom plate of big board 12 and the muscle is indulged in two to two longitudinal ribs, and two limits are indulged the muscle and are located both sides, and four longitudinal ribs separate three groove, need install three row of secondary ribs 13 in three groove correspondingly, and back shrouding 11 pastes on big board rear end face, is equipped with the V-arrangement slot 111 of horizontal direction about on the vertical face that back shrouding 11 deviates from big board 12, and preceding shrouding pastes before the big board on the terminal surface. The top end of the middle longitudinal rib between the two grooves is provided with a flange. The flange can press the secondary rib 13 to prevent it from falling off, the fixing effect is enhanced, and the trouble is also brought when mounting, and the secondary rib 13 cannot be directly mounted in the groove by being downwardly translated along the vertical direction. One solution for mounting the secondary ribs 13 is to: the longitudinal moving assembly capable of translating along the front-back direction is arranged, a row of longitudinal moving mechanical arms arranged along the front-back direction are arranged below the longitudinal moving assembly, each longitudinal moving mechanical arm is used for clamping a secondary rib 13, the longitudinal moving assembly translates from back, and the row of secondary ribs 13 sequentially penetrate from the rear end of the groove. This arrangement provides a constraint on the mounting means of the rear closure plate 11 in that there is no projection above the welding platform on the rear of the large plate 12 which would otherwise impede the movement of the secondary ribs 13 and no corresponding design has been devised so far. The mounting device of the front closing plate has no such limitation requirement, and can be arranged above the welding platform.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the underneath type sealing plate storage and automatic conveying device for the intelligent welding equipment of the building aluminum template, which has the advantages that all components can be lowered below the table top of a welding platform, secondary rib installation is not interfered, the automation level is improved, and the rear sealing plate is accurately positioned.
The invention is realized by the following technical scheme:
a storage and automatic conveying device for an underneath type sealing plate of intelligent welding equipment for a building aluminum template comprises a rack, a pushing assembly, a material warehouse assembly, a turnover groove body, a conveying assembly and a welding robot; the rack comprises a welding platform, and a conveying avoidance hole is formed in the welding platform; the welding robot is fixedly connected with the frame;
the pushing assembly comprises a pushing cylinder and a pushing plate; the pushing cylinder is a cylinder with a guide rod; the pushing cylinder comprises a pushing cylinder body and a pushing cylinder piston rod; the pushing cylinder body is fixedly connected with the frame; the pushing plate is fixedly connected with a piston rod of the pushing cylinder; the pushing cylinder drives the pushing plate to move horizontally in a reciprocating mode in the left and right horizontal directions;
the material warehouse component comprises a material warehouse, a material pressing cylinder and a material pressing plate; the material warehouse is a cuboid container with an upward opening, the material warehouse is fixedly connected with the rack, a material warehouse inner cavity is arranged in the middle of the material warehouse, the inner surface of a front side plate of the material warehouse is a front side inner wall, a pushing plate through opening is arranged at the position where a left side plate of the material warehouse is adjacent to the front side inner wall, and a discharge opening is arranged at the position where a right side plate of the material warehouse is adjacent to the front side inner wall; the material pressing cylinder is a cylinder with a guide rod; the material pressing cylinder comprises a material pressing cylinder body and a material pressing cylinder piston rod; the material pressing cylinder body is fixedly connected with the rear side plate of the material warehouse; the pressing plate is fixedly connected with a piston rod of the pressing cylinder; a rear sealing plate of a stack of aluminum templates is arranged between the inner wall of the front side and the material pressing plate, the material pressing cylinder drives the material pressing plate to translate forwards from the back to press the stack of rear sealing plates, and the foremost one of the stack of rear sealing plates is tightly attached to the inner wall of the front side;
the turnover tank body is fixedly connected with the frame; the turnover groove body is provided with a turnover groove, the turnover groove extends along the left and right horizontal directions, and the opening of the turnover groove is upward; the pushing cylinder drives the pushing plate to move horizontally from left to right, the pushing plate enters the inner cavity of the material warehouse through the pushing plate opening, the pushing plate pushes the rear sealing plate attached to the inner wall of the front side to come out of the material outlet, and the rear sealing plate enters the turnover groove;
the conveying assembly comprises a lifting cylinder, a forward pushing cylinder, a 180-degree pneumatic finger, a rear clamping jaw and a front clamping jaw; the lifting cylinder and the forward pushing cylinder are both provided with guide rods; the lifting cylinder comprises a lifting cylinder body and a lifting cylinder piston rod; the lifting cylinder body is fixedly connected with the frame; the forward pushing cylinder comprises a forward pushing cylinder body and a forward pushing cylinder piston rod; the forward cylinder body is fixedly connected with a piston rod of the lifting cylinder; the 180-degree pneumatic finger comprises a pneumatic finger cylinder body and two pneumatic finger bodies, and the pneumatic finger cylinder body is fixedly connected with a piston rod of the forward pushing cylinder; the rear clamping jaw is fixedly connected with the pneumatic finger body at the back; the front clamping jaw is fixedly connected with the front pneumatic finger body; the rear clamping jaw is provided with a V-shaped tenon extending along the left-right horizontal direction, and the front clamping jaw is provided with a clamping plane; the 180-degree pneumatic fingers drive the rear clamping jaw and the front clamping jaw to synchronously swing towards each other from a front-back extending state, the clamping plane is attached to the front side face of the rear sealing plate, and the V-shaped tenon is embedded into the V-shaped groove in the rear side face of the rear sealing plate, so that the rear sealing plate is clamped tightly, and the rear sealing plate is accurately positioned in the front-back and up-down directions; the forward pushing cylinder drives the combination of the 180-degree pneumatic finger, the rear clamping jaw, the front clamping jaw and the rear sealing plate to translate in the forward and backward directions; the lifting cylinder drives the combination of the forward pushing cylinder, the 180-degree pneumatic finger, the rear clamping jaw, the front clamping jaw and the rear sealing plate to move horizontally in the vertical direction.
The pushing assembly is long in stroke, the position of each rear sealing plate pushed into the turnover groove cannot be guaranteed to be accurate, and in order to guarantee the position of each rear sealing plate in the turnover groove to be accurate, the centering assembly is further arranged and comprises a centering left translation assembly, a centering right translation assembly, a left swing arm, a right swing arm, a centering air cylinder, a centering gear, a centering support, a centering left guide rail and a centering right guide rail;
the centering bracket is fixedly connected with the rack; the centering left guide rail and the centering right guide rail are respectively and fixedly connected with the centering bracket; the centering left guide rail and the centering right guide rail are respectively arranged along the left and right horizontal directions; the centering gear is connected with the centering bracket through a revolute pair; the centering left translation assembly comprises a centering left translation sliding block, a centering left translation supporting plate and a centering left rack; the centering left translation sliding block and the centering left rack are respectively and fixedly connected with the centering left translation supporting plate; the centering left translation support plate is provided with a centering left sliding hole which is through in the vertical direction and has the length direction along the front-back direction; the centering right translation assembly comprises a centering right translation sliding block, a centering right translation supporting plate and a centering right rack; the centering right translation sliding block and the centering right rack are respectively and fixedly connected with the centering right translation supporting plate; the centering right translation support plate is provided with a centering right sliding hole which is through in the vertical direction and has the length direction along the front-back direction; the centering left translation sliding block and the centering left guide rail form a linear guide rail pair, and the centering right translation sliding block and the centering right guide rail form a linear guide rail pair; the centering left rack and the centering right rack are respectively meshed with the centering gear, gear teeth of the centering left rack face upwards, and gear teeth of the centering right rack face downwards; the centering cylinder comprises a centering cylinder body and a centering cylinder piston rod, the centering cylinder body is fixedly connected with the centering support, and the centering cylinder piston rod is fixedly connected with the centering left translation support plate; the middle part of the left swing arm is provided with a left swing arm middle hole, the rear end of the left swing arm is provided with a right left swing arm clamping surface, the front end of the left swing arm is provided with a left swing arm front pin shaft, and the axis line of the left swing arm front pin shaft is arranged along the vertical direction; a hinge is formed by combining a middle hole of the left swing arm and a vertical pin shaft on the centering bracket; the left swing arm front pin shaft is in sliding fit with the centering left sliding hole; the middle part of the right swing arm is provided with a right swing arm middle hole, the rear end of the right swing arm is provided with a right swing arm clamping surface facing to the left, the front end of the right swing arm is provided with a right swing arm front pin shaft, and the axis line of the right swing arm front pin shaft is arranged along the vertical direction; a hinge is formed by combining a middle hole of the right swing arm and a vertical pin shaft on the centering bracket; the right swing arm front pin shaft is in sliding fit with the centering right sliding hole;
the centering cylinder drives the centering left translation assembly to translate leftwards along the centering left guide rail, and the centering left translation assembly drives the centering right translation assembly to translate rightwards at the same speed synchronously through the combination of the centering left rack, the centering gear and the centering right rack;
the centering left slide hole stirs the left swing arm front pin axle and swings left around the left swing arm mesopore, and left swing arm clamping surface swings right, and the centering right slide hole stirs the right swing arm front pin axle and swings right around the right swing arm mesopore simultaneously, and right swing arm clamping surface swings left, and left swing arm clamping surface and right swing arm clamping surface press from both sides the both ends about of the back shrouding that is located the turnover groove in step, make back shrouding accurate positioning about in the direction.
The 180-degree opening and closing type pneumatic finger is a very mature pneumatic element used in the field of industrial automation in the prior art, and two pneumatic finger bodies synchronously swing oppositely into a parallel state by forming an angle of 180 degrees to clamp a workpiece in the middle.
The material warehouse component also comprises a three-position five-way electromagnetic valve, the three-position five-way electromagnetic valve is a middle exhaust type three-position five-way electromagnetic valve, and two working ports of the three-position five-way electromagnetic valve are respectively communicated with a rod cavity and a rodless cavity of the material pressing cylinder; when the pushing plate is driven by the pushing cylinder to push the rear sealing plate attached to the inner wall of the front side to the right, the three-position five-way electromagnetic valve is located in the middle position, the piston rod of the pushing cylinder is actually in a floating state, the piston rod of the pushing cylinder can be pushed by lightly pushing the piston rod of the pushing cylinder, the pushing plate is only attached to the rearmost rear sealing plate, pressure is not applied, friction force also exists between the pushing cylinder body and the piston rod of the pushing cylinder, and the friction force is enough to ensure that the stacked rear sealing plates are arranged together and cannot topple over. Description of the drawings: the single rear sealing plate can be stably placed on the horizontal welding platform table surface without external force.
The cooperation between turnover groove and the back shrouding is loose cooperation, and back shrouding freely slides along left right direction in the turnover inslot, and the degree of depth in turnover groove needs guarantee more than that the back shrouding is in the space of rocking as far as possible reduction in the front and back direction like this, and the top edge in turnover groove can imitate the combination clamp of hindering 180 degrees pneumatic finger, back clamping jaw and front clamping jaw and get back shrouding. In order to enable the combination of the 180-degree pneumatic finger, the rear clamping jaw and the front clamping jaw to smoothly clamp the rear sealing plate, a clamping jaw avoiding notch is arranged in the middle of the upper edge of the turnover groove.
The working process of the present invention is as follows.
0) Initial state. The large plate is already precisely positioned and firmly clamped on the welding platform. A stack of rear sealing plates are arranged between the front inner wall and the material pressing plate, the material pressing cylinder drives the material pressing plate to translate from back to front to tightly press the stack of rear sealing plates, and the foremost one of the stack of rear sealing plates is tightly attached to the front inner wall; then the three-position five-way electromagnetic valve returns to the middle position, and the piston rod of the pushing cylinder is in a floating state.
1) The propelling movement cylinder drive propelling movement board is from left right translation, and the propelling movement board passes through the propelling movement board and mouthful gets into the feed bin inner chamber, and the back shrouding that promotes and paste the front side inner wall comes out from the discharge gate, and this back shrouding gets into the turnover groove. Then the pushing cylinder drives the pushing plate to translate from right to left to return to the initial position. The material pressing cylinder drives the material pressing plate to move forwards from back to front so as to press the stacked rear sealing plate tightly, and the foremost one of the stacked rear sealing plates is tightly attached to the inner wall of the front side; after the completion, the three-position five-way electromagnetic valve returns to the middle position, and the piston rod of the pushing cylinder is in a floating state. The stacked sealing plates are arranged together and cannot topple over due to the friction force existing between the pushing cylinder body and the pushing cylinder piston rod.
2) The centering cylinder drives the centering left translation assembly to translate leftwards along the centering left guide rail, and the centering left translation assembly drives the centering right translation assembly to translate rightwards at the same speed synchronously through the combination of the centering left rack, the centering gear and the centering right rack; the centering left slide hole stirs the left swing arm front pin axle and swings left around the left swing arm mesopore, and left swing arm clamping surface swings right, and the centering right slide hole stirs the right swing arm front pin axle and swings right around the right swing arm mesopore simultaneously, and right swing arm clamping surface swings left, and left swing arm clamping surface and right swing arm clamping surface press from both sides the both ends about of the back shrouding that is located the turnover groove in step, make back shrouding accurate positioning about in the direction.
Then the centering cylinder drives the centering left translation assembly to translate rightwards along the centering left guide rail, and the centering left translation assembly drives the centering right translation assembly to translate leftwards at the same speed synchronously through the combination of the centering left rack, the centering gear and the centering right rack; centering left sliding hole stirs left swing arm front pin axle and swings right around left swing arm mesopore, and left swing arm clamping surface swings the place ahead left, and right swing arm front pin axle is stirred around right swing arm mesopore and swings left to right swing arm clamping surface swings the place ahead right simultaneously to centering right sliding hole, and the line from the feed bin translation to between the turnover groove is avoided to left swing arm clamping surface, does not hinder back shrouding translation.
3) The 180-degree pneumatic fingers drive the rear clamping jaw and the front clamping jaw to swing oppositely from a front-back extending state, the clamping plane is attached to the front side face of the rear sealing plate tightly, and the V-shaped tenon is embedded into the V-shaped groove of the rear sealing plate, so that the rear sealing plate is clamped tightly, and the rear sealing plate is accurately positioned in the front-back direction and the up-down direction. The rear closure plate has been accurately positioned in the left-right direction by the centering assembly.
4) The lifting cylinder drives the forward pushing cylinder, the 180-degree pneumatic finger, the rear clamping jaw, the front clamping jaw and the rear sealing plate to vertically translate upwards, the rear sealing plate is separated from the turnover groove, and the 180-degree pneumatic finger and the rear sealing plate are combined to penetrate through the conveying avoiding hole and ascend to the highest end of the stroke of the lifting cylinder.
5) The forward pushing cylinder drives the combination of the 180-degree pneumatic finger, the rear clamping jaw, the front clamping jaw and the rear sealing plate to horizontally translate forward, and the rear sealing plate is tightly attached to the rear end face of the large plate.
6) The welding robot welds the adjacent edges of the large plate and the rear sealing plate.
7) After the weld joint is cooled, the 180-degree pneumatic finger drives the rear clamping jaw and the front clamping jaw to extend forwards and backwards, and the clamping plane and the V-shaped tenon leave the rear sealing plate. The forward pushing cylinder drives the combination of the 180-degree pneumatic finger, the rear clamping jaw and the front clamping jaw to horizontally translate backwards, and the 180-degree pneumatic finger leaves the position right above the rear sealing plate.
8) The lifting cylinder drives the combination of the forward pushing cylinder, the 180-degree pneumatic finger, the rear clamping jaw and the front clamping jaw to vertically translate downwards, the initial state is returned, and all components of the conveying assembly descend below the table top of the welding platform.
9) Repeating the steps 1) to 9) once for each aluminum template, along with the welding rhythm of the aluminum templates, and then conveying a stack of rear sealing plates in the material warehouse to the rear ends of the large plates one by one and welding the large plates together.
The invention has the beneficial effects that: all components of the invention can be lowered below the table top of the welding platform, and the installation of the secondary ribs is not hindered; all the steps are automatically completed, so that the labor is saved; the rear sealing plate is accurately positioned in the front and back direction, the left and right direction and the up and down direction, and the positioning accuracy is high.
Drawings
FIG. 1 is a schematic three-dimensional structure of an embodiment of the present invention, in which a forward-pushing cylinder drives a combination of a 180-degree pneumatic finger, a rear clamping jaw, a front clamping jaw and a rear sealing plate to horizontally translate forward, and the rear sealing plate is tightly attached to the rear end face of a large plate;
fig. 2 is a schematic three-dimensional structure of the aluminum mold plate 1;
fig. 3 is a schematic three-dimensional structure diagram of the pushing assembly 3;
FIG. 4 is a schematic three-dimensional structure of the magazine assembly 4;
fig. 5 is a schematic three-dimensional structure of the turnover tank 5;
figure 6 is a schematic three-dimensional view of the centring assembly 6 with the left swing arm clamping surface 631 swung to the front and left clear of the path of translation of the rear closure plate 11 from the magazine 41 to the turnaround slot 51;
FIG. 7 is a schematic three-dimensional view of the centering assembly 6, with the left swing arm clamping surface 631 and the right swing arm clamping surface 641 simultaneously clamping the rear closure plate 11 within the turnaround slot 51;
FIG. 8 is a schematic three-dimensional view of centering left translation assembly 61;
FIG. 9 is a schematic three-dimensional view of centering right translation assembly 62;
fig. 10 is a three-dimensional structure diagram of the left swing arm 63;
fig. 11 is a schematic three-dimensional structure of the right swing arm 64;
fig. 12 is a schematic three-dimensional structure of the transfer unit 7;
FIG. 13 is a schematic three-dimensional view of the rear jaw 74;
figure 14 is a schematic three-dimensional view of the front jaw 75;
fig. 15 is a schematic view of the piping connection of the swaging cylinder 42 and the three-position five-way solenoid valve 44;
shown in the figure: 1. an aluminum template; 11. a rear closing plate; a V-shaped groove; 12. a large plate; 13. a secondary rib;
2. a frame; 21. welding a platform; 211. transmitting the avoidance hole;
3. a push assembly; 31. a push cylinder; 311. pushing the cylinder block; 312. pushing a piston rod of the cylinder; 32. a push plate;
4. a stock bin assembly; 41. a material warehouse; 411. an inner cavity of the material warehouse; 412. a pushing plate opening; 413. a discharge port; 414. a front side inner wall; 42. a material pressing cylinder; 421. a material pressing cylinder body; 422. a material pressing cylinder piston rod; 43. a material pressing plate; 44. a three-position five-way electromagnetic valve;
5. a turnover tank body; 51. a turnover groove; 52. the clamping jaw avoids the gap;
6. a centering assembly; 61. centering the left translation assembly; 611. centering the left translation slide block; 612. centering the left translation support plate; 613. centering the left slide hole; 614. centering the left rack; 62. a right-to-center translation assembly; 621. a middle right translation slide block; 622. a middle right translation support plate; 623. centering the right slide hole; 624. a right rack is aligned; 63. a left swing arm; 631. a left swing arm clamping surface; 632. a middle hole of the left swing arm; 633. a left swing arm front pin; 64. a right swing arm; 641. a right swing arm clamping surface; 642. a middle hole of the right swing arm; 643. a right swing arm front pin shaft; 65. a centering cylinder; 651. centering the cylinder block; 652. centering a cylinder piston rod; 66. a centering gear; 67. centering the bracket; 68. centering the left guide rail; 69. centering a right guide rail;
7. a transfer assembly; 71. a lifting cylinder; 711. a lifting cylinder block; 712. a lifting cylinder piston rod; 72. a forward push cylinder; 721. pushing the cylinder body forward; 722. a piston rod of the cylinder is pushed forwards; 73.180 degree pneumatic finger; 731. a pneumatic finger cylinder body; 732. a pneumatic finger body; 74. a rear clamping jaw; 740. a rear jaw in an extended position; 741. V-shaped tenons; 75. a front clamping jaw; 750. a front jaw in an extended position; 751. and (4) clamping the plane.
Detailed Description
The invention is further illustrated with reference to the following figures and examples:
example (b): see fig. 1-15.
A storage and automatic conveying device for an underneath type sealing plate of intelligent welding equipment for a building aluminum template comprises a rack 2, a pushing assembly 3, a material warehouse assembly 4, a turnover tank body 5, a conveying assembly 7 and a welding robot; the frame 2 comprises a welding platform 21, and a transmission avoidance hole 211 is formed in the welding platform 21; the welding robot is fixedly connected with the frame 2;
the pushing assembly 3 comprises a pushing cylinder 31 and a pushing plate 32; the pushing cylinder 31 is a cylinder with a guide rod; the pushing cylinder 31 comprises a pushing cylinder body 311 and a pushing cylinder piston rod 312; the pushing cylinder body 311 is fixedly connected with the frame 2; the pushing plate 32 is fixedly connected with a pushing cylinder piston rod 312; the pushing cylinder 31 drives the pushing plate 32 to perform reciprocating translation in the left-right horizontal direction;
the material warehouse component 4 comprises a material warehouse 41, a material pressing cylinder 42 and a material pressing plate 43; the material storehouse 41 is a cuboid container with an upward opening, the material storehouse 41 is fixedly connected with the frame 2, a material storehouse inner cavity 411 is arranged in the middle of the material storehouse 41, the inner surface of the front side plate of the material storehouse 41 is a front side inner wall 414, a pushing plate through opening 412 is arranged at the position where the left side plate of the material storehouse 41 is adjacent to the front side inner wall 414, and a discharge opening 413 is arranged at the position where the right side plate of the material storehouse 41 is adjacent to the front side inner wall 414; the material pressing cylinder 42 is a cylinder with a guide rod; the swaging cylinder 42 comprises a swaging cylinder body 421 and a swaging cylinder piston rod 422; the material pressing cylinder body 421 is fixedly connected with the rear side plate of the material storage 41; the material pressing plate 43 is fixedly connected with a material pressing cylinder piston rod 422; the rear sealing plate 11 of the stack of aluminum templates 1 is placed between the front inner wall 414 and the pressing plate 43, the pressing cylinder 42 drives the pressing plate 43 to translate from back to front to press the stack of rear sealing plates 11 tightly, and the foremost one of the stack of rear sealing plates 11 is tightly attached to the front inner wall 414;
the turnover tank body 5 is fixedly connected with the frame 2; the turnover groove body 5 is provided with a turnover groove 51, the turnover groove 51 extends along the left-right horizontal direction, the opening of the turnover groove 51 faces upwards, and the upper edge of the turnover groove 51 is provided with a clamping jaw avoiding notch 52; the pushing cylinder 31 drives the pushing plate 32 to move horizontally from left to right, the pushing plate 32 enters the inner cavity 411 of the magazine through the pushing plate through opening 412, the pushing plate 32 pushes the rear sealing plate 11 attached to the front inner wall 414 to come out of the discharge opening 413, and the rear sealing plate 11 enters the turnover groove 51;
the conveying assembly 7 comprises a lifting cylinder 71, a forward pushing cylinder 72, a 180-degree pneumatic finger 73, a rear clamping jaw 74 and a front clamping jaw 75; the lifting cylinder 71 and the forward pushing cylinder 72 are both cylinder with guide rods; the lifting cylinder 71 comprises a lifting cylinder block 711 and a lifting cylinder piston rod 712; the lifting cylinder block 711 is fixedly connected with the frame 2; the forward-push cylinder 72 includes a forward-push cylinder body 721 and a forward-push cylinder piston rod 722; the forward cylinder body 721 is fixedly connected with the lifting cylinder piston rod 712; the 180-degree pneumatic finger 73 comprises a pneumatic finger cylinder body 731 and two pneumatic finger bodies 732, and the pneumatic finger cylinder body 731 is fixedly connected with a forward-push cylinder piston rod 722; the rear jaw 74 is fixedly coupled to the rear pneumatic finger 732; the front jaw 75 is fixedly coupled to the front pneumatic finger 732; a V-shaped tenon 741 extending along the left-right horizontal direction is arranged on the rear clamping jaw 74, and a clamping plane 751 is arranged on the front clamping jaw 75; the 180-degree pneumatic finger 73 drives the rear clamping jaw 74 and the front clamping jaw 75 to swing oppositely from a front-back stretching state, the clamping plane 751 is attached to the front side face of the rear sealing plate 11, the V-shaped tenon 741 is embedded into the V-shaped groove 111 on the rear side face of the rear sealing plate 11, so that the rear sealing plate 11 is clamped tightly, and the rear sealing plate 11 is accurately positioned in the front-back and up-down directions; the forward pushing cylinder 72 drives the combination of the 180-degree pneumatic finger 73, the rear clamping jaw 74, the front clamping jaw 75 and the rear sealing plate 11 to translate in the forward and backward directions; the lifting cylinder 71 drives the combination of the forward pushing cylinder 72, the 180 degree pneumatic finger 73, the rear clamping jaw 74, the front clamping jaw 75 and the rear sealing plate 11 to translate in the vertical direction.
The stroke of the pushing assembly 3 is long, so that the position of each rear sealing plate 11 pushed into the revolving groove 51 cannot be guaranteed to be accurate, and in order to guarantee the position accuracy of the rear sealing plate 11 in the revolving groove 51, the centering assembly 6 is further arranged, wherein the centering assembly 6 comprises a centering left translation assembly 61, a centering right translation assembly 62, a left swing arm 63, a right swing arm 64, a centering cylinder 65, a centering gear 66, a centering bracket 67, a centering left guide rail 68 and a centering right guide rail 69;
the centering bracket 67 is fixedly connected with the frame 2; the centering left guide rail 68 and the centering right guide rail 69 are fixedly connected with the centering bracket 67 respectively; the centering left rail 68 and the centering right rail 69 are respectively provided along the left-right horizontal direction; the centering gear 66 is connected with the centering bracket 67 through a revolute pair; the centering left translation assembly 61 comprises a centering left translation slider 611, a centering left translation support plate 612 and a centering left rack 614; the centering left translation sliding block 611 and the centering left rack 614 are fixedly connected with the centering left translation support plate 612 respectively; the centering left translation support plate 612 is provided with a centering left sliding hole 613 which is through in the up-down direction and has the length direction along the front-back direction; the centering right translation assembly 62 comprises a centering right translation slider 621, a centering right translation fulcrum 622 and a centering right rack 624; the centering right translation sliding block 621 and the centering right rack 624 are respectively and fixedly connected with the centering right translation supporting plate 622; the centering right translation support plate 622 is provided with a centering right sliding hole 623 which is through in the vertical direction and has the length direction along the front-back direction; the centering left translation sliding block 611 and the centering left guide rail 68 form a linear guide rail pair, and the centering right translation sliding block 621 and the centering right guide rail 69 form a linear guide rail pair; the centering left rack 614 and the centering right rack 624 are respectively meshed with the centering gear 66, the gear teeth of the centering left rack 614 face upwards, and the gear teeth of the centering right rack 624 and the gear teeth face downwards; the centering cylinder 65 comprises a centering cylinder body 651 and a centering cylinder piston rod 652, the centering cylinder body 651 is fixedly connected with the centering bracket 67, and the centering cylinder piston rod 652 is fixedly connected with the centering left translation support plate 612; a left swing arm center hole 632 is formed in the middle of the left swing arm 63, a right left swing arm clamping surface 631 is arranged at the rear end of the left swing arm 63, a left swing arm front pin shaft 633 is arranged at the front end of the left swing arm 63, and the axis line of the left swing arm front pin shaft 633 is arranged along the vertical direction; the middle hole 632 of the left swing arm and the vertical pin shaft on the centering bracket 67 are combined into a hinge; the left swing arm front pin shaft 633 is in sliding fit with the centering left sliding hole 613; a right swing arm center hole 642 is formed in the middle of the right swing arm 64, a right swing arm clamping surface 641 facing the left is formed in the rear end of the right swing arm 64, a right swing arm front pin 643 is formed in the front end of the right swing arm 64, and the axis line of the right swing arm front pin 643 is arranged along the vertical direction; a hinge is formed by combining the right swing arm middle hole 642 and a vertical pin shaft on the centering bracket 67; a right swing arm front pin 643 is in sliding fit with the centering right sliding hole 623;
the centering cylinder 65 drives the centering left translation assembly 61 to translate leftwards along the centering left guide rail 68, and the centering left translation assembly 61 drives the centering right translation assembly 62 to translate rightwards at the same speed synchronously through the combination of the centering left rack 614, the centering gear 66 and the centering right rack 624;
centering left slide hole 613 drives left swing arm front pin 633 to swing leftwards around left swing arm center hole 632, left swing arm clamping surface 631 swings rightwards, and centering right slide hole 623 drives right swing arm front pin 643 to swing rightwards around right swing arm center hole 642, right swing arm clamping surface 641 swings leftwards, and left swing arm clamping surface 631 and right swing arm clamping surface 641 synchronously clamp the left and right ends of rear sealing plate 11 located in turnaround slot 51, so that rear sealing plate 11 is accurately positioned in the left and right directions.
The 180-degree opening and closing type pneumatic finger is a very mature pneumatic element used in the field of industrial automation in the prior art, and two pneumatic finger bodies swing oppositely into a parallel state by forming an angle of 180 degrees to clamp a workpiece in the middle.
The material warehouse component 4 further comprises a three-position five-way electromagnetic valve 44, the three-position five-way electromagnetic valve 44 is a middle exhaust type three-position five-way electromagnetic valve, and two working ports of the three-position five-way electromagnetic valve 44 are respectively communicated with a rod cavity and a rodless cavity of the material pressing cylinder 42; when the pushing plate 32 is driven by the pushing cylinder 31 to push the rear sealing plate 11 attached to the front inner wall 414 to the right, the three-position five-way solenoid valve 44 is in the neutral position, the pushing cylinder piston rod 312 is actually in a floating state, and the pushing plate can be pushed by slightly pushing the pushing cylinder piston rod 312 with a hand, the pushing plate 32 is only attached to the rearmost rear sealing plate 11 without applying pressure, and friction force exists between the pushing cylinder body 311 and the pushing cylinder piston rod 312, and the friction force is enough to ensure that the stacked rear sealing plates 11 are arranged together and cannot topple over. Description of the drawings: a single rear closure plate 11 can be stably placed on the horizontal welding platform 21 table without the aid of external forces.
The cooperation between turnover groove 51 and back shrouding 11 is loose fit, and back shrouding 11 freely slides along left and right sides direction in turnover groove 51, and the degree of depth of turnover groove 51 needs to guarantee more than guaranteeing that back shrouding 11 is in the back and forth direction and reduces as far as possible and rocks, and the upper edge of turnover groove 51 can hinder 180 degrees pneumatic finger 73, back clamping jaw 74 and the combination clamp of preceding clamping jaw 75 and get back shrouding 11. In order to enable the combination of the 180-degree pneumatic finger 73, the rear jaw 74 and the front jaw 75 to smoothly clamp the rear sealing plate 11, a jaw escape notch 52 is provided in the middle of the upper edge of the revolving groove 51.
The working process of this embodiment is as follows.
0) Initial state. The large plate 12 has been accurately positioned and clamped firmly on the welding platform 21. A stack of rear sealing plates 11 is placed between the front inner wall 414 and the pressure plate 43, the pressure cylinder 42 drives the pressure plate 43 to translate from back to front to press the stack of rear sealing plates 11 tightly, and the foremost one of the stack of rear sealing plates 11 is close to the front inner wall 414; the three-position, five-way solenoid valve 44 then returns to the neutral position, pushing the cylinder piston rod 312 to a floating state.
1) The pushing cylinder 31 drives the pushing plate 32 to move horizontally from left to right, the pushing plate 32 enters the inner cavity 411 of the magazine through the pushing plate opening 412, the rear sealing plate 11 attached to the front inner wall 414 is pushed to come out of the discharge opening 413, and the rear sealing plate 11 enters the revolving groove 51. The pusher cylinder 31 then drives the pusher plate 32 to translate from right to left back to the initial position. The material pressing cylinder 42 drives the material pressing plate 43 to translate from back to front, so as to press the rear stack of sealing plates 11, and the foremost one of the rear stack of sealing plates 11 is tightly attached to the inner wall 414 of the front side; after the completion, the three-position five-way solenoid valve 44 returns to the middle position, and the pushing cylinder piston rod 312 is in a floating state. The friction between the pusher cylinder block 311 and the pusher cylinder piston rod 312 ensures that the stack of rear closure plates 11 are aligned together and do not topple over.
2) The centering cylinder 65 drives the centering left translation assembly 61 to translate leftwards along the centering left guide rail 68, and the centering left translation assembly 61 drives the centering right translation assembly 62 to translate rightwards at the same speed synchronously through the combination of the centering left rack 614, the centering gear 66 and the centering right rack 624; centering left slide hole 613 drives left swing arm front pin 633 to swing leftwards around left swing arm center hole 632, left swing arm clamping surface 631 swings rightwards, and centering right slide hole 623 drives right swing arm front pin 643 to swing rightwards around right swing arm center hole 642, right swing arm clamping surface 641 swings leftwards, and left swing arm clamping surface 631 and right swing arm clamping surface 641 synchronously clamp the left and right ends of rear sealing plate 11 located in turnaround slot 51, so that rear sealing plate 11 is accurately positioned in the left and right directions.
Then the centering cylinder 65 drives the centering left translation assembly 61 to translate rightwards along the centering left guide rail 68, and the centering left translation assembly 61 drives the centering right translation assembly 62 to translate leftwards at the same speed synchronously through the combination of the centering left rack 614, the centering gear 66 and the centering right rack 624; centering left slide hole 613 toggles left swing arm front pin 633 to swing right around left swing arm center hole 632, left swing arm clamping surface 631 swings left-front, and centering right slide hole 623 toggles right swing arm front pin 643 to swing left around right swing arm center hole 642, and right swing arm clamping surface 641 swings right-front until left swing arm clamping surface 631 avoids the path of rear closure plate 11 translating from magazine 41 to turnaround slot 51, without hindering rear closure plate 11 translation.
3) The 180 degree pneumatic fingers 73 drive the rear jaw 74 and the front jaw 75 to swing toward each other from a forward to rearward extended position, the clamping plane 751 abuts against the front side of the rear closure plate 11, and the V-shaped tongue 741 fits into the V-shaped groove 111 of the rear closure plate 11 to clamp the rear closure plate 11 tightly and to position the rear closure plate 11 accurately in the forward and rearward and upward and downward directions. Rear closure plate 11 has been accurately positioned in the left-right direction by centering assembly 6.
4) The lifting cylinder 71 drives the combination of the forward pushing cylinder 72, the 180-degree pneumatic finger 73, the rear clamping jaw 74, the front clamping jaw 75 and the rear sealing plate 11 to vertically translate upwards, the rear sealing plate 11 is separated from the turnover groove 51, and the combination of the 180-degree pneumatic finger 73 and the rear sealing plate 11 penetrates through the transmission avoiding hole 211 and rises to the highest end of the stroke of the lifting cylinder 71.
5) The forward pushing cylinder 72 drives the combination of the 180-degree pneumatic finger 73, the rear clamping jaw 74, the front clamping jaw 75 and the rear sealing plate 11 to horizontally translate forward, and the rear sealing plate 11 is tightly attached to the rear end face of the large plate 12.
6) The welding robot welds the adjacent edges of the large plate 12 and the rear closure plate 11.
7) After the weld has cooled, the 180 degree pneumatic fingers 73 drive the rear jaw 74 and the front jaw 75 to spread apart, and the clamping plane 751 and the V-shaped tenon 741 clear of the rear closure plate 11. Forward push cylinder 72 drives the combination of 180 degree pneumatic finger 73, rear jaw 74 and front jaw 75 to translate horizontally rearward, with 180 degree pneumatic finger 73 moving away from directly above rear closure plate 11.
8) The lifting cylinder 71 drives the combination of the forward pushing cylinder 72, the 180 degree pneumatic finger 73, the rear clamping jaw 74 and the front clamping jaw 75 to translate vertically and downwards, and then returns to the initial state, and all components of the conveying assembly 7 descend below the table surface of the welding platform 21.
9) Repeating the steps 1) to 9) for each aluminum template to be processed, along with the welding rhythm of the aluminum templates, so that the stack of rear sealing plates 11 in the material warehouse 41 can be conveyed to the rear ends of the large plates one by one and welded together.
The beneficial effects of this embodiment: all components of the present embodiment can be lowered below the table of the welding platform 21 without interfering with the installation of the secondary ribs 13; all the steps are automatically completed, so that the labor is saved; the rear sealing plate 11 is accurately positioned in the front and back direction, the left and right direction and the up and down direction, and the positioning accuracy is high.
Claims (4)
1. A storage and automatic conveying device for an underneath type sealing plate of intelligent welding equipment of a building aluminum template comprises a rack and a welding robot, wherein the welding robot is fixedly connected with the rack;
the device is characterized by also comprising a pushing assembly, a material warehouse assembly, a turnover groove body and a conveying assembly; the rack comprises a welding platform, and a conveying avoidance hole is formed in the welding platform;
the pushing assembly comprises a pushing cylinder and a pushing plate; the pushing cylinder is a cylinder with a guide rod; the pushing cylinder comprises a pushing cylinder body and a pushing cylinder piston rod; the pushing cylinder body is fixedly connected with the frame; the pushing plate is fixedly connected with a piston rod of the pushing cylinder; the pushing cylinder drives the pushing plate to move horizontally in a reciprocating mode in the left and right horizontal directions;
the material warehouse component comprises a material warehouse, a material pressing cylinder and a material pressing plate; the material warehouse is a cuboid container with an upward opening, the material warehouse is fixedly connected with the rack, a material warehouse inner cavity is arranged in the middle of the material warehouse, the inner surface of a front side plate of the material warehouse is a front side inner wall, a pushing plate through opening is arranged at the position where a left side plate of the material warehouse is adjacent to the front side inner wall, and a discharge opening is arranged at the position where a right side plate of the material warehouse is adjacent to the front side inner wall; the material pressing cylinder is a cylinder with a guide rod; the material pressing cylinder comprises a material pressing cylinder body and a material pressing cylinder piston rod; the material pressing cylinder body is fixedly connected with the rear side plate of the material warehouse; the pressing plate is fixedly connected with a piston rod of the pressing cylinder; a rear sealing plate of a stack of aluminum templates is arranged between the inner wall of the front side and the material pressing plate, the material pressing cylinder drives the material pressing plate to translate forwards from the back to press the stack of rear sealing plates, and the foremost one of the stack of rear sealing plates is tightly attached to the inner wall of the front side;
the turnover tank body is fixedly connected with the frame; the turnover groove body is provided with a turnover groove, the turnover groove extends along the left and right horizontal directions, and the opening of the turnover groove is upward; the pushing cylinder drives the pushing plate to move horizontally from left to right, the pushing plate enters the inner cavity of the material warehouse through the pushing plate opening, the pushing plate pushes the rear sealing plate attached to the inner wall of the front side to come out of the material outlet, and the rear sealing plate enters the turnover groove;
the conveying assembly comprises a lifting cylinder, a forward pushing cylinder, a 180-degree pneumatic finger, a rear clamping jaw and a front clamping jaw; the lifting cylinder and the forward pushing cylinder are both provided with guide rods; the lifting cylinder comprises a lifting cylinder body and a lifting cylinder piston rod; the lifting cylinder body is fixedly connected with the frame; the forward pushing cylinder comprises a forward pushing cylinder body and a forward pushing cylinder piston rod; the forward cylinder body is fixedly connected with a piston rod of the lifting cylinder; the 180-degree pneumatic finger comprises a pneumatic finger cylinder body and two pneumatic finger bodies, and the pneumatic finger cylinder body is fixedly connected with a piston rod of the forward pushing cylinder; the rear clamping jaw is fixedly connected with the pneumatic finger body at the back; the front clamping jaw is fixedly connected with the front pneumatic finger body; the rear clamping jaw is provided with a V-shaped tenon extending along the left-right horizontal direction, and the front clamping jaw is provided with a clamping plane; the 180-degree pneumatic fingers drive the rear clamping jaw and the front clamping jaw to synchronously swing towards each other from a front-back extending state, the clamping plane is attached to the front side face of the rear sealing plate, and the V-shaped tenon is embedded into the V-shaped groove in the rear side face of the rear sealing plate; the forward pushing cylinder drives the combination of the 180-degree pneumatic finger, the rear clamping jaw, the front clamping jaw and the rear sealing plate to translate in the forward and backward directions; the lifting cylinder drives the combination of the forward pushing cylinder, the 180-degree pneumatic finger, the rear clamping jaw, the front clamping jaw and the rear sealing plate to move horizontally in the vertical direction.
2. The intelligent welding equipment underneath type sealing plate storing and automatic conveying device for the building aluminum template according to claim 1, further comprising a centering assembly, wherein the centering assembly comprises a centering left translation assembly, a centering right translation assembly, a left swing arm, a right swing arm, a centering cylinder, a centering gear, a centering bracket, a centering left guide rail and a centering right guide rail;
the centering bracket is fixedly connected with the rack; the centering left guide rail and the centering right guide rail are respectively and fixedly connected with the centering bracket; the centering left guide rail and the centering right guide rail are respectively arranged along the left and right horizontal directions; the centering gear is connected with the centering bracket through a revolute pair; the centering left translation assembly comprises a centering left translation sliding block, a centering left translation supporting plate and a centering left rack; the centering left translation sliding block and the centering left rack are respectively and fixedly connected with the centering left translation supporting plate; the centering left translation support plate is provided with a centering left sliding hole which is through in the vertical direction and has the length direction along the front-back direction; the centering right translation assembly comprises a centering right translation sliding block, a centering right translation supporting plate and a centering right rack; the centering right translation sliding block and the centering right rack are respectively and fixedly connected with the centering right translation supporting plate; the centering right translation support plate is provided with a centering right sliding hole which is through in the vertical direction and has the length direction along the front-back direction; the centering left translation sliding block and the centering left guide rail form a linear guide rail pair, and the centering right translation sliding block and the centering right guide rail form a linear guide rail pair; the centering left rack and the centering right rack are respectively meshed with the centering gear, gear teeth of the centering left rack face upwards, and gear teeth of the centering right rack face downwards; the centering cylinder comprises a centering cylinder body and a centering cylinder piston rod, the centering cylinder body is fixedly connected with the centering support, and the centering cylinder piston rod is fixedly connected with the centering left translation support plate; the middle part of the left swing arm is provided with a left swing arm middle hole, the rear end of the left swing arm is provided with a right left swing arm clamping surface, the front end of the left swing arm is provided with a left swing arm front pin shaft, and the axis line of the left swing arm front pin shaft is arranged along the vertical direction; a hinge is formed by combining a middle hole of the left swing arm and a vertical pin shaft on the centering bracket; the left swing arm front pin shaft is in sliding fit with the centering left sliding hole; the middle part of the right swing arm is provided with a right swing arm middle hole, the rear end of the right swing arm is provided with a right swing arm clamping surface facing to the left, the front end of the right swing arm is provided with a right swing arm front pin shaft, and the axis line of the right swing arm front pin shaft is arranged along the vertical direction; a hinge is formed by combining a middle hole of the right swing arm and a vertical pin shaft on the centering bracket; the right swing arm front pin shaft is in sliding fit with the centering right sliding hole;
the centering cylinder drives the centering left translation assembly to translate leftwards along the centering left guide rail, and the centering left translation assembly drives the centering right translation assembly to translate rightwards at the same speed synchronously through the combination of the centering left rack, the centering gear and the centering right rack;
and the centering left sliding hole stirs the left swing arm front pin shaft to swing leftwards around the left swing arm middle hole, the left swing arm clamping surface swings rightwards, the centering right sliding hole stirs the right swing arm front pin shaft to swing rightwards around the right swing arm middle hole, and the right swing arm clamping surface swings leftwards.
3. The intelligent welding equipment underneath type sealing plate storing and automatic conveying device for building aluminum templates as claimed in claim 1 or 2, wherein the material warehouse assembly further comprises a three-position five-way electromagnetic valve, the three-position five-way electromagnetic valve is a middle exhaust type three-position five-way electromagnetic valve, and two working ports of the three-position five-way electromagnetic valve are respectively communicated with a rod cavity and a rodless cavity of the pressing cylinder.
4. The intelligent blanking plate storing and automatic conveying device for the building aluminum template welding equipment as claimed in claim 1 or 2, wherein a clamping jaw avoiding notch is arranged in the middle of the upper edge of the turnover groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010282566.3A CN111331288A (en) | 2020-04-12 | 2020-04-12 | Intelligent lower sealing plate storage and automatic conveying device for building aluminum template welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010282566.3A CN111331288A (en) | 2020-04-12 | 2020-04-12 | Intelligent lower sealing plate storage and automatic conveying device for building aluminum template welding equipment |
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| CN111331288A true CN111331288A (en) | 2020-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010282566.3A Withdrawn CN111331288A (en) | 2020-04-12 | 2020-04-12 | Intelligent lower sealing plate storage and automatic conveying device for building aluminum template welding equipment |
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| CN (1) | CN111331288A (en) |
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| CN112620998A (en) * | 2020-12-22 | 2021-04-09 | 长沙中创海通智能科技有限公司 | Building templates welding system |
| CN117226399A (en) * | 2023-10-30 | 2023-12-15 | 南京海高德新技术有限公司 | Railway vehicle head traction sleeper slow deformation-resistant welding tool |
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Application publication date: 20200626 |
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