CN111692453B

CN111692453B - Automatic plug system

Info

Publication number: CN111692453B
Application number: CN202010536232.4A
Authority: CN
Inventors: 朱张泉; 马为民; 赵能; 张佳蕲; 孙刚峰
Original assignee: Zhejiang Hailiang Co Ltd
Current assignee: Gansu Hailiang New Energy Materials Co ltd; Zhejiang Hailiang Co Ltd
Priority date: 2020-06-12
Filing date: 2020-06-12
Publication date: 2022-04-19
Anticipated expiration: 2040-06-12
Also published as: CN111692453A

Abstract

The invention discloses an automatic plug system, which comprises a plug gun module, a tube replacing mechanism and a gun replacing device, wherein the plug gun module comprises a plug gun module body and a tube replacing mechanism; the end cap rifle module includes the barrel, the pod pipe, the atmospheric pressure regulation head, put the material piece, support and telescopic cylinder, telescopic cylinder installs on the support, the pod pipe is installed on the support with putting the equal detachable of material piece, it remains the silo to set up on the material piece, the both ends of treating the silo are feed pushing opening and discharge gate respectively, the feed inlet has been seted up to the lateral wall of treating the silo, the discharge end of pod pipe is located feed inlet department, the one end of barrel is first gas pocket, the other end of barrel is the ejector pad hole, first gas pocket intercommunication is to the atmospheric pressure regulation head, telescopic cylinder drives the barrel and removes, so that the ejector pad hole reciprocates between feed pushing opening and discharge gate, trade a tub mechanism and be used for more trading the pod pipe, it is used for changing the barrel to trade the rifle device.

Description

Automatic plug system

[ technical field ] A method for producing a semiconductor device

The invention relates to an automatic plug system, and belongs to the field of pipe fitting post-processing.

[ background of the invention ]

Most pipe fittings need to use a plug to plug and seal the pipe opening before leaving a factory so as to prevent foreign matters from entering the pipe or prevent the inner wall of a product from being damaged. At present, the main plug mode is still carried out manually, time and labor are wasted, and the delivery speed of the pipe fitting is seriously influenced.

For the above reasons, some manufacturers try to perform the plugging operation by using an automated device, but the versatility of the device is poor because the specifications of the plugs required by different batches of pipes are different.

[ summary of the invention ]

The technical problem to be solved by the present invention is to provide an automatic plug system to overcome the shortcomings of the prior art.

The technical scheme adopted by the invention is as follows:

an automatic plug system comprises a plug gun module, a tube replacing mechanism and a gun replacing device; the end cap rifle module includes the barrel, the pod pipe, the atmospheric pressure regulation head, put the material piece, support and telescopic cylinder, telescopic cylinder installs on the support, the pod pipe is installed on the support with putting the equal detachable of material piece, it remains the silo to set up on the material piece, the both ends of treating the silo are feed pushing opening and discharge gate respectively, the feed inlet has been seted up to the lateral wall of treating the silo, the discharge end of pod pipe is located feed inlet department, the one end of barrel is first gas pocket, the other end of barrel is the ejector pad hole, first gas pocket intercommunication is to the atmospheric pressure regulation head, telescopic cylinder drives the barrel and removes, so that the ejector pad hole reciprocates between feed pushing opening and discharge gate, trade a tub mechanism and be used for more trading the pod pipe, it is used for changing the barrel to trade the rifle device.

The invention has the beneficial effects that:

the plug gun module carries out plug operation on the pipe fittings, once the batch of the pipe fittings is changed, the gun changing device changes the gun barrel and the material placing block, and the pipe changing mechanism changes the pod pipes. The pressure adjusting head controls the pressure state in the gun barrel, so that the gun barrel can suck or release the plug. The telescopic cylinder drives the gun barrel to move, the gun barrel drives the plug to move, and the gun barrel inserts the plug into the pipe orifice.

The plug gun module further comprises a matching connector, the gun barrel is communicated with the air pressure adjusting head through the matching connector, a second air hole and a third air hole which are communicated with each other are formed in the outer wall of the air pressure adjusting head, the outer wall, located at the second air hole, of the air pressure adjusting head is a first circular table surface, the inner wall, connected with the air pressure adjusting head, of the end portion of the matching connector is a second circular table surface matched with the first circular table surface in shape, and the first circular table surface is attached to the second circular table surface.

The end cap gun module further comprises a holding cylinder, a holding rod and a linkage rod, wherein the holding cylinder is installed on an output shaft of the telescopic cylinder, an air pressure adjusting head is installed on the output shaft of the holding cylinder, one end of the holding rod is rotatably arranged on the outer wall of the holding cylinder, the other end of the holding rod is clamped on a matching joint, two ends of the linkage rod are respectively rotatably installed in the middle of the holding rod and on the air pressure adjusting head, and the holding rod enables the first round table surface and the second round table surface to be mutually extruded.

The edge of the feeding hole extends to the outer side of the material waiting groove to form a guide surrounding edge, the end wall of the discharging end is extruded at the end part of the guide surrounding edge, the mounting seat is fixed on the support, the outer wall of the guide surrounding edge is provided with a positioning lug and a positioning pin, the mounting seat is provided with a positioning slot and a positioning hole, the positioning lug is inserted in the positioning slot, and the positioning pin is inserted in the positioning hole, so that the material placing block can be detachably mounted on the mounting seat.

The pipe replacing mechanism comprises a vibration tray, a feeding pipe and a filling manipulator, wherein a vibration outlet is formed in the outer wall of the vibration tray, the upper end of the feeding pipe is installed at the vibration outlet, a plug in the vibration tray enters the feeding pipe through the vibration outlet and the upper end of the feeding pipe, and the feeding pipe orients the plug.

The tube replacing mechanism also comprises a sliding plate and a truss, wherein the truss is provided with a sliding rail, a plurality of material vibrating plates are arranged on the truss, all the material vibrating plates are arranged on the sliding plate, and the sliding plate slides on the sliding rail so as to drive all the material vibrating plates to synchronously slide on the sliding rail.

The feeding pipe is internally provided with two bending plates extending along the central line of the feeding pipe, the cross sections of the bending plates are U-shaped, the edges of the bending plates are fixed on the inner wall of the feeding pipe, the two bending plates are oppositely arranged, the middle of the feeding pipe is divided into an end cap head positioning groove, an end cap rod positioning groove and an end cap tail positioning groove by the two bending plates, the end cap rod positioning groove is positioned between the end cap head positioning groove and the end cap tail positioning groove, the end cap head positioning groove and the end cap tail positioning groove are communicated through the end cap rod positioning groove, the end cap rod positioning groove is positioned between the two bending plates, the head of the end cap is positioned in the end cap head positioning groove, the tail of the end cap is positioned in the end cap tail positioning groove, the connecting rod of the end cap is positioned at the end cap rod positioning groove, and the bending plates simultaneously limit the head and the tail of the end cap.

The gun changing device comprises a gun barrel rotating support and a gun barrel taking device, wherein the gun barrel rotating support comprises a rotating gun rack and a gun rack motor, the rotating gun rack is arranged on a motor shaft of the gun rack motor, a plurality of buckles for clamping a gun barrel are arranged on the rotating gun rack along the circumferential direction of the motor shaft, the gun barrel taking device comprises a cantilever motor, a pipe taking cylinder and a gas claw, the cantilever motor is positioned beside the gun barrel rotating support, the motor shaft of the cantilever motor is parallel to the motor shaft of the gun rack motor, the pipe taking cylinder is arranged on the motor shaft of the cantilever motor, an output shaft of the pipe taking cylinder is obliquely arranged relative to the motor shaft of the cantilever motor, and the gas claw is arranged at the end part of the output shaft of the pipe taking cylinder.

The gun barrel rotating support further comprises a first motor base, a gun rack motor is installed on the first motor base, the first motor base is installed on the ground, the tube taking device further comprises a second motor base and a supporting table, the cantilever motor is installed on the second motor base, the second motor base is located above the supporting table, an adjusting bolt is arranged between the second motor base and the supporting table and used for adjusting the distance between the second motor base and the upper surface of the supporting table, the tube taking device further comprises a tube taking cylinder supporting plate, the tube taking cylinder is installed on the tube taking cylinder supporting plate, a supporting surface is arranged on the second motor base, the tube taking cylinder supporting plate is supported on the supporting surface, a motor shaft of the cantilever motor penetrates through the supporting surface to be fixed with the tube taking cylinder supporting plate, and the cantilever motor drives the tube taking cylinder to rotate through the tube taking cylinder supporting plate.

The pipe taking device further comprises a rotary cylinder, a gas claw connecting plate, a guide rod and a guide plate, wherein the rotary cylinder is installed on an output shaft of the pipe taking cylinder, the gas claw connecting plate is installed on the output shaft of the rotary cylinder, a gas claw is installed on the gas claw connecting plate, the guide rod is connected to the rotary cylinder, the guide rod is parallel to the output shaft of the pipe taking cylinder, the guide plate is fixed on a pipe taking cylinder supporting plate, and the guide rod penetrates through the guide plate.

Other features and advantages of the present invention will be disclosed in more detail in the following detailed description of the invention and the accompanying drawings.

[ description of the drawings ]

The invention is further described below with reference to the accompanying drawings:

fig. 1 is a schematic perspective view of a plug gun module according to an embodiment of the present invention (a fitting joint and an air pressure adjusting head are in a separated state);

FIG. 2 is a first schematic diagram illustrating a separation process of a barrel and a pneumatic adjustment head according to an embodiment of the present invention;

FIG. 3 is a second schematic diagram illustrating the separation of the barrel and the pneumatic adjustment head according to an embodiment of the present invention;

FIG. 4 is a third schematic diagram illustrating the separation of the barrel and the pneumatic fitting according to an embodiment of the present invention;

FIG. 5 is a schematic perspective view of the structure at X in FIG. 4;

FIG. 6 is a first schematic view illustrating an assembly relationship between a mounting seat and a material placing block according to an embodiment of the present invention;

FIG. 7 is a second schematic view of an assembly relationship between a mounting seat and a material placing block according to an embodiment of the present invention;

FIG. 8 is a schematic perspective view of a tube changing mechanism according to an embodiment of the present invention;

FIG. 9 is a cross-sectional view of a feed tube of an embodiment of the invention;

fig. 10 is a schematic perspective view of a gun changing device according to an embodiment of the present invention;

fig. 11 is a schematic perspective view illustrating a first usage state of the gun-changing device according to the embodiment of the present invention;

fig. 12 is a schematic perspective view of a second usage state of the gun-changing device according to the embodiment of the present invention;

fig. 13 is a schematic perspective view of a third usage state of the gun-changing device according to the embodiment of the present invention;

fig. 14 is a schematic perspective view of a gun changing device in a fourth use state according to an embodiment of the present invention.

[ detailed description ] embodiments

The technical solutions of the embodiments of the present invention are explained and illustrated below with reference to the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, and not all embodiments. Based on the embodiments in the implementation, other embodiments obtained by those skilled in the art without any creative effort belong to the protection scope of the present invention.

In the following description, the appearances of the indicating orientation or positional relationship such as the terms "inner", "outer", "upper", "lower", "left", "right", etc. are only for convenience in describing the embodiments and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the present invention.

Example (b):

referring to fig. 1-14, the present embodiment provides an automatic plug system, which includes a tube replacing mechanism, a gun replacing device, a main controller, a plug gun module, and a robot arm. The plug gun module comprises a gun tube A1, a pod tube A2, an air pressure adjusting head A3, a material placing block A4, a support A5 and a telescopic air cylinder A6.

The material placing block A4 is provided with a linear material waiting groove, the two ends of the material waiting groove are respectively provided with a material pushing opening A42 and a material discharging opening A41, and the side wall of the material waiting groove is provided with a material inlet. The material placing block A4 and the pod pipe A2 are both mounted on the support A5, so that the material discharging end of the pod pipe A2 is stably located at the material inlet, a plug is placed in the pod pipe A2, and the plug in the pod pipe A2 is fed into the material waiting tank through the material inlet. The material placing block A4 and the pod tube A2 can be detachably mounted on the bracket A5 in a clamping mode.

Telescopic cylinder a6 is mounted on bracket a5, and gun barrel a1 is mounted on the output shaft of telescopic cylinder a6, so that the output shaft of telescopic cylinder a6, gun barrel a1 and the material waiting tank are coaxially arranged. One end of the gun tube A1 is a first air hole, the other end of the gun tube A1 is a material pushing hole, the first air hole is communicated to an air pressure adjusting head A3, the internal pressure state of the gun tube A1 is controlled by the air pressure adjusting head A3, and the telescopic air cylinder A6 drives the gun tube A1 to move linearly, so that the material pushing hole reciprocates between the material pushing port A42 and the material outlet A41.

Firstly, the material pushing hole is positioned at the material pushing opening A42, a plug is arranged in the material waiting groove, at the moment, the air pressure adjusting head A3 controls the interior of the gun tube A1 to be negative pressure, and the material pushing hole can suck the head of the plug. And then, the telescopic cylinder A6 drives the gun barrel A1 to move, so that the material pushing hole moves towards the material outlet A41, the plug is finally taken out of the material waiting groove, the material pushing hole supports the suspended plug, and the plug is inserted into the pipe orifice of the stacked pipe fittings. In the process, the part of the gun tube A1 in the waiting tank blocks the feeding hole, so that the plug in the pod tube A2 cannot enter the waiting tank.

After the tail of the plug is inserted and connected at the position of the pipe opening, the air pressure adjusting head A3 controls the interior of the gun barrel A1 to be positive pressure, so that the material pushing hole and the plug are completely separated, and the plug and the material pushing hole are prevented from being adhered to cause the plug to fall off from the pipe opening. The telescopic cylinder A6 then moves the barrel A1, and the feed port returns to the feed port A42. During this process, the gun tube a1 gradually separates from the feed port, and the pod tube a2 may feed a plug into the holding tank when the feed port arrives again at the feed port a 42. The mechanical arm is connected with the support A5, then the mechanical arm controls the support A5 to move so as to drive the telescopic cylinder A6 and the material placing block A4 to move to the position of the next pipe fitting, and the steps are repeated, so that the operation of the plug of the next pipe fitting is carried out.

The plug gun module further comprises a laser scanner A53 and a vision system A54, wherein the laser scanner A53 and the vision system A54 are electrically connected to the main controller, and the laser scanner A53 and the vision system A54 are mounted on the support A5. Before the normal plugging operation is carried out, the pipe fittings are stacked on the ground side by side, the main controller controls the mechanical arm to move so as to drive the laser scanner A53 and the vision system A54 to carry out scanning identification on all pipe orifice positions once, therefore, the main controller plans the moving route of the support A5 when the normal plugging is carried out, the pipe orifice of each pipe fitting can be ensured to be blocked by the plug, and the omission is prevented.

The vertical setting of pod pipe A2, the discharge end is the lower extreme of pod pipe A2, and all end caps pile up the range in proper order along the axial of pod pipe A2 in pod pipe A2, and the end to end direction of end cap has been put up in order, and the feed inlet is located treats the top of silo, and the end cap can be followed the feed inlet automatically under the action of gravity and supply the end cap to treating the silo in the pod pipe A2. The pod tubes a2 can only be used to refill the holding tank with one plug at a time, given the size of the holding tank. After the plugs in the pod tubes a2 are used up, the empty pod tube a2 need only be replaced with a new pod tube a2 that fills the plugs.

Preferably, the edge of feed inlet is to waiting the top extension of silo to form direction surrounding edge A43, the end wall extrusion of discharge end is at the tip of direction surrounding edge A43, direction surrounding edge A43 carries out the restriction of certain degree to the whereabouts process of end cap, avoid end cap whereabouts in-process at will to move about, direction surrounding edge A43 compares end cap size slightly big simultaneously, thereby make the whereabouts process of end cap more smooth, also can avoid external environment to influence the process that the end cap falls to the feed inlet from the discharge end simultaneously.

The bulkhead gun module also includes a mating connector A7, and the barrel A1 and the pneumatic pressure regulator A3 are in communication through the mating connector A7.

Specifically, the outer wall of the air pressure regulating head A3 is provided with a second air hole a31 and a third air hole a32 which are communicated with each other. The third air hole A32 is located at the side of the air pressure adjusting head A3, the third air hole A32 is connected with one end of the air pipe, the other end of the air pipe is communicated with the air pump, the second air hole A31 is communicated with the first air hole of the gun barrel A1 through the matching joint A7, and therefore the air pump controls the pressure state in the gun barrel A1.

In order to increase the sealing performance between the air pressure adjusting head A3 and the matching joint A7, the outer wall of the air pressure adjusting head A3, which is positioned at the second air hole A31, is a first circular table surface A311, the inner wall of the end part, which is connected with the air pressure adjusting head A3, of the matching joint A7 is a second circular table surface matched with the first circular table surface A311 in shape, the first circular table surface A311 is attached to the second circular table surface, and the first circular table surface A311 is matched with the second circular table surface to prevent air leakage at the connecting position of the air pressure adjusting head A3 and the matching joint A7. The air pressure adjusting head A3 has a single specification, so the shape of the first circular table surface A311 is fixed, and the shape of the second circular table surface matched with the first circular table surface A311 is relatively fixed.

Although the nozzles of the same batch are the same size, the nozzles of different batches may have different sizes, so that when the nozzles of different batches are plugged, the size and shape of the plugs may change, and the shape, size and specification of the corresponding barrel a1, pellet a4 and pod a2 may change.

In this regard, the inner wall of the end of the mating connector a7 that connects to the barrel a1 is provided with internal threads, and the outer wall of the barrel a1 at the first air port is provided with external threads, the internal and external threads mating to allow the barrel a1 to be connected to the mating connector a 7. Under the condition that barrel A1 pipe diameter changed, can keep the whole overall dimension of cooperation joint A7 unchangeable, only need cooperate the tip of joint A7 to set up the hole of equidimension in order to adapt to the pipe diameter of different barrel A1 can, be favorable to cooperation joint A7 to form a general part.

When switching pipe fitting batches, the matching joint A7 and the air pressure adjusting joint A3 are separated, and then the matching joint A7 and the gun barrel A1 are integrally replaced. However, during bulkhead operations, a tight connection between mating fitting A7 and pneumatic adjustment head A3 is required.

Therefore, the plug gun module further comprises a holding cylinder A8, a holding rod A81 and a linkage rod A82, wherein the holding cylinder A8 is installed on an output shaft of the telescopic cylinder A6, and the air pressure adjusting head A3 is installed on an output shaft of the holding cylinder A8. One end of the clasping rod A81 is rotatably arranged on the outer wall of the clasping cylinder A8, the other end of the clasping rod A81 is clamped on the matching joint A7, the two ends of the linkage rod A82 are respectively rotatably arranged in the middle of the clasping rod A81 and on the air pressure adjusting head A3, and the end of the clasping rod A81 compresses the matching joint A7 on the air pressure adjusting head A3, so that the first circular table surface A311 and the second circular table surface are mutually extruded.

The output shaft of telescopic cylinder A6 can drive and hug closely cylinder A8, atmospheric pressure regulating head A3, cooperation joint A7 and barrel A1 and move in step. The support A5 is provided with a sliding groove A51, the outer wall of the enclasping cylinder A8 is provided with a sliding block, the sliding block is in sliding connection with the sliding groove A51, and the sliding block is supported by the side wall of the sliding groove A51. The chute A51 can guide the movement of the hugging cylinder A8 and can also support the hugging cylinder A8, so that the influence of deflection torque generated by gravity on the service life of the hugging cylinder A8 is reduced.

The output shaft of the hugging cylinder A8, the linkage rod A82 and the hugging rod A81 form a triangular structure approximately, the output shaft of the hugging cylinder A8 drives the air pressure adjusting head A3 to move in the stretching process and simultaneously can control the rotation of the linkage rod A82 and the hugging rod A81, and therefore the end part of the hugging rod A81 and the matching joint A7 are driven to be close to and separated from each other.

The separation between the pneumatic regulator A3 and the mating connector A7 is as follows:

1. referring to fig. 2, the output shaft of the telescopic cylinder a6 is stretched to the shortest length, the output shaft of the clasping cylinder A8 is stretched to the longest length, and the end of the clasping rod a81 is clamped on the mating connector a7, so that the mating connector a7 and the pneumatic pressure adjusting head A3 are clasped;

2. referring to fig. 3, the output shaft of the telescopic cylinder a6 is extended and the barrel a1 is moved at the loading chute so that the center of gravity of the barrel a1 falls on the loading block a 4;

3. referring to fig. 4, the output shaft of the hugging cylinder A8 is shortened, the hugging rod a81 rotates to separate from the mating connector a7, and the air pressure adjusting head A3 and the mating connector a7 are unlocked, and since the barrel a1 is supported on the material placing block a4, the air pressure adjusting head A3 and the mating connector a7 are also gradually separated.

The specification and size of the gun tube A1 and the material placing block A4 are matched, and the material placing block A4 needs to be replaced when the gun tube A1 needs to be replaced, so that the material placing block A4 is detachably arranged on the bracket A5. After the gun tube A1 is supported on the material placing block A4, the gun tube A1 and the material placing block A4 are convenient to replace and disassemble integrally.

Specifically, a mounting seat a52 is fixed on the bracket A5, a positioning bump a431 and a positioning pin a432 are arranged on the outer wall of the guiding surrounding edge a43, a positioning slot a521 and a positioning hole a522 are arranged on the mounting seat a52, the positioning bump a431 is inserted into the positioning slot a521, and the positioning pin a432 is inserted into the positioning hole a522, so that the material placing block A4 can be detachably mounted on the mounting seat a52 in a plugging and unplugging manner. Since the guide surrounding edge A43 is larger than the size of any plug, the sizes, shapes and dimensions of the guide surrounding edge A43, the positioning bump A431 and the positioning pin A432 can be unchanged when the material placing block A4 with different sizes is replaced, so that the material placing block A4 with different sizes is assembled through the mounting seat A52, and the material placing block A4 is supported.

Preferably, an inductor preformed hole A433 is formed in the outer wall of the material placing block A4.

After each plugging, the number of plugs in the pod tube a2 is reduced, and when the pod tube a2 is empty, the pod tube a2 needs to be replenished accordingly. The tube replacement mechanism is used for replacing the pod tubes A2.

The tube replacing mechanism comprises a vibration tray B1, a feeding tube B2 and a filling manipulator B3.

The vibration tray B1 comprises a vibration shell and a spiral vibration track arranged in the vibration shell, and the outer wall of the top of the vibration shell is provided with a vibration outlet. The lower end of the spiral vibration track is located at the bottom of the vibration shell, and the upper end of the spiral vibration track is located at the vibration material outlet. The vibration mode of the vibration shell is the prior art and is not described in this embodiment. The bottom of vibrations casing lays the end cap of irregularly arranging, and the vibrations casing sends into the spiral helicine vibrations track with the end cap from spiral helicine orbital lower extreme that shakes through vibrations, and the end cap arrives from spiral helicine orbital upper end and shakes the material export to leave vibrations casing.

The upper end of the feeding pipe B2 is arranged at the material vibrating outlet, and the plug in the material vibrating disk B1 enters the feeding pipe B2 through the material vibrating outlet and the upper end of the feeding pipe B2 and then moves towards the lower end of the feeding pipe B2 under the action of gravity.

Wherein, the plug comprises a head C1, a connecting rod C3 and a tail C2. The head part C1 is a circular plate, the tail part C2 is a cylinder, and the head part C1 and the tail part C2 are connected through a connecting rod C3. The specific structure of the plug is the prior art, and is not further described in this embodiment.

Two bending plates B21 extending along the central line of the feeding pipe B2 are arranged in the feeding pipe B2, and the cross section of the bending plate B21 is U-shaped. The cross section of the feeding pipe B2 is rectangular, the openings of the two bending plates B21 are respectively arranged on the left and right inner walls of the feeding pipe B2, and the edges of the two bending plates B21 at the openings are respectively fixed on the left and right inner walls of the feeding pipe B2. The two bending plates B21 are arranged opposite to each other in the left-right direction.

The two bending plates B21 divide the middle of the feeding tube B2 into a plug head positioning groove B22, a plug rod positioning groove B24 and a plug tail positioning groove B23. The plug rod positioning groove B24 is located between the plug head positioning groove B22 and the plug tail positioning groove B23, and the plug head positioning groove B22 is communicated with the plug tail positioning groove B23 through a plug rod positioning groove B24.

The choke rod positioning slot B24 is located between the two bent plates B21, so the width of the choke rod positioning slot B24 is small and the cross-sectional width of the choke rod positioning slot B24 can only accommodate the connecting rod C3. The cross section of the plug head positioning groove B22 is wide, but is slender, and can accommodate the head C1 of plugs with different specifications, but cannot accommodate the tail C2 of any specification. The space of the plug tail positioning groove B23 is large, and the tail C2 of a plug of any specification can be accommodated. The head C1 and tail C2 cannot enter the stopper rod positioning slot B24 due to the blocking action of the bent plate B21.

Therefore, after the plug enters the feeding pipe B2 from the upper end of the feeding pipe B2, the head C1 of the plug is located in the plug head positioning groove B22, the tail C2 of the plug is located in the plug tail positioning groove B23, the connecting rod C3 of the plug is located in the plug rod positioning groove B24, and the head-tail direction of the plug in the feeding pipe B2 can be determined. All plugs in the feed pipe B2 sequentially fall in a stacked manner along the center line of the feed pipe B2.

In order to make the plug more easily enter the feeding pipe B2 and reduce the resistance of the plug when the plug falls in the feeding pipe B2, the plug is not clamped on the bent plate B21. For this purpose, the two ends of the connecting rod C3 can move into the plug head positioning slot B22 and the plug tail positioning slot B23 respectively to provide a certain movement margin of the head C1 and the tail C2 in the axial direction of the connecting rod C3, but the movement margins of the head C1 and the tail C2 of the plug are limited by the bending plate B21.

In addition, the width of the stopper rod positioning slot B24 is slightly larger than the diameter of the connecting rod C3 to provide a movement margin of the stopper in the left-right direction inside the feed tube B2, and the movement margin is also limited by the bending plate B21.

The feeding manipulator B3 picks up and puts down the pod tubes a2 on the support a 5. When the filling robot B3 grips the pod tube a2, the filling robot B3 moves the pod tube a 2. In addition, a sealing end plate is provided on the packing robot B3, and when the packing robot B3 clamps the pod tube a2, the sealing end plate is located at the discharge end of the pod tube a2, and the sealing end plate seals the discharge end of the pod tube a 2.

When no plug is arranged in the pod pipe A2, the feeding manipulator B3 clamps the empty pod pipe A2, the feeding end of the empty pod pipe A2 is controlled to be inserted into the feeding pipe B2 through the lower end of the feeding pipe B2, and the plug in the feeding pipe B2 is controlled to be fed into the pod pipe A2 from the feeding end of the pod pipe A2. Wherein the bending plate B21 in the feeding pipe B2 does not extend to the lower end of the feeding pipe B2, and a distance is reserved between the lower end of the bending plate B21 and the lower end of the feeding pipe B2 so that the feeding end of the feeding pod pipe A2 can be inserted without obstacles. Since the head-to-tail orientation of the plugs in the feed tube B2 has been determined by the adjustment of the bending plate B21 before reaching the feeding end of the pod tube a2, the plugs will maintain the head-to-tail orientation after entering the pod tube a2, and all the plugs in the pod tube a2 will be stacked one after another in the axial direction of the pod tube a 2.

In other embodiments, a bend plate B21 may be provided within the pod tube a2 to match the overall cross-sectional shape of the pod tube a2 at the center to the overall cross-sectional shape of the feeder tube B2 at the center.

When the plugs in the pod tubes A2 are about to be filled, the vibration tray B1 stops vibrating, the remaining plugs in the feeding tube B2 slide down into the pod tubes A2 under the action of gravity, and then the filling manipulator B3 drives the pod tubes A2 to leave the feeding tube B2 to be assembled on the bracket A5.

Different batches of pipes have different plug specification requirements, so that the quantity of the vibration material discs B1 is multiple, plugs with different specifications are placed in different vibration material discs B1, and the plugs in the same vibration material disc B1 are uniform in specification. Each seismic tray B1 has its corresponding feed tube B2.

The motion range of the stuffing robot B3 is limited, so the vibrating tray B1 needs to move close to the stuffing robot B3 to enable the stuffing robot B3 to insert the feeding end of the pod tube a2 into the corresponding feed tube B2. The tube replacing mechanism further comprises a truss B4, a slide rail is arranged on the truss B4, all material vibrating discs B1 are arranged on the slide rail, and the material vibrating discs B1 slide on the slide rail to be close to or far away from the material filling manipulator B3.

If the moving processes of the different vibrating trays B1 are independent, the different vibrating trays B1 may collide with each other during the moving process. In order to solve the problems, the tube replacing mechanism further comprises a sliding plate B5, all the material vibrating plates B1 are installed on the sliding plate B5, and the sliding plate B5 slides on the sliding rail to drive all the material vibrating plates B1 to synchronously slide on the sliding rail.

Further, the number of the stuffing manipulators B3 is two. For the sake of distinction, the two stuffing robots B3 are named a first stuffing robot and a second stuffing robot, respectively.

The filling robot B3 operates in such a way that the first filling robot removes the empty pod tubes a2 from the rack a5 and the pod tubes a2 held by the second filling robot perform a filling and plugging operation at the feeder tube B2. When the pod tubes A2 on the second filling manipulator are completely filled, the pod tubes A2 are separated from the feeding tube B2 and are mounted on the bracket A5, and the first filling manipulator can directly insert the empty pod tubes A2 clamped by the first filling manipulator into the same feeding tube B2 for filling. The vibration tray B1 can stop working for a short time in the switching process of the pod pipe A2 at the feeding pipe B2, so that the plug can start to feed the pod pipe A2 only after the pod pipe A2 is inserted in place at the feeding pipe B2.

After the batch of pipes is replaced, the gun changing device replaces the gun barrel A1 on the bracket A5. The gun changing device comprises a gun barrel rotating support, a tube taking device, a first tube changing mechanical arm and a second tube changing mechanical arm.

The barrel rotation mount includes a first motor mount D7, a rotary rack D1 and a rack motor D2. The gun rack motor D2 is installed on first motor base D7, first motor base D7 is installed subaerial, rotatory gun rack D1 is installed on the motor shaft of gun rack motor D2, be provided with a plurality of buckles D3 that are used for centre gripping barrel A1 along the motor shaft circumference of gun rack motor D2 on the rotatory gun rack D1, the centre gripping has the barrel A1 of different specifications on the different buckle D3, buckle D3 carries out the centre gripping to barrel A1 through elastic deformation. The opening of the catch D3 is radially outward of the motor shaft of the frame motor D2 and the axis of the barrel a1 is parallel to the motor shaft axis of the frame motor D2 when the barrel a1 is in catch D3.

Specifically, the clamping part of the buckle D3 is a positioning lug a431, two positioning lugs a431 are provided on the same guiding surrounding edge a43, two positioning lugs a431 on the same guiding surrounding edge a43 on the rotary gun rack D1 are vertically arranged, and two buckles D3 clamped on the two positioning lugs a431 are vertically limited to the guiding surrounding edge a 43. The matching joint A7 on the rotating gun rack D1 is supported on the end wall of the material placing block A4 at the material pushing opening A42 under the action of gravity.

The pipe taking device comprises a pipe taking cylinder supporting plate, a second motor base D8, a supporting table D9, a cantilever motor D4, a pipe taking cylinder D5 and an air claw D6. The support table D9 is arranged beside the first motor base D7 and is installed on the ground, the second motor base D8 is located above the support table D9, the cantilever motor D4 is installed on the second motor base D8, the pipe taking cylinder D5 is installed on the motor shaft of the cantilever motor D4, and the air claw D6 is installed at the end part of the output shaft of the pipe taking cylinder D5.

The motor shaft of the cantilever motor D4 is parallel to the motor shaft of the gun rack motor D2 and is vertically arranged. The output shaft of the tube taking cylinder D5 is disposed obliquely relative to the motor shaft of the cantilever motor D4, for example, the output shaft of the tube taking cylinder D5 is perpendicular to the motor shaft of the cantilever motor D4 in this embodiment, so that the tube taking cylinder D5 is disposed horizontally.

The rack motor D2 controls the rotating rack D1 to rotate in the horizontal plane, so as to drive the barrel a1 of the target specification on the rotating rack D1 to rotate around the motor shaft axis of the rack motor D2. The cantilever motor D4 drives the tube taking cylinder D5 to rotate in the horizontal plane, so that the direction of the output shaft of the tube taking cylinder D5 in the horizontal plane is changed. Simultaneously, an output shaft of the matched tube taking cylinder D5 extends and contracts to control the air claw D6 to approach or move away from the rotary gun rack D1.

Preferably, the tube taking device in the embodiment further comprises a rotary cylinder D13, an air claw connecting plate D10, a guide rod D11 and a guide plate D12.

The revolving cylinder D13 is installed on the output shaft of getting tub cylinder D5, and gas claw connecting plate D10 is installed on the output shaft of revolving cylinder D13, and gas claw D6 is installed on gas claw connecting plate D10, and gas claw D6 is installed on revolving cylinder D13 through gas claw connecting plate D10, and then installs on the output shaft of getting tub cylinder D5. An output shaft of the rotary cylinder D13 is horizontally arranged, and the rotary cylinder D13 drives the air claw connecting plate D10 and the air claw D6 to rotate in a vertical plane. The pipe taking cylinder D5 drives the rotary cylinder D13, the air claw connecting plate D10 and the air claw D6 to move linearly in the horizontal plane, wherein the output shaft of the pipe taking cylinder D5 and the output shaft of the rotary cylinder D13 are coaxially arranged.

Get a tub cylinder D5 and install in getting a tub cylinder backup pad, the top of second motor base D8 is provided with the holding surface, gets tub cylinder backup pad and supports on the holding surface. The motor shaft of cantilever motor D4 passes the holding surface and gets a tub cylinder backup pad fixed, and cantilever motor D4 gets a tub cylinder D5 through getting tub cylinder backup pad drive and rotates. The support surface supports the tube taking cylinder support plate, so that the rotation of the tube taking cylinder D5 in the horizontal plane is more stable.

The guide rod D11 is parallel to the output shaft of the tube taking cylinder D5, and the end of the guide rod D11 is fixed on the rotary cylinder D13. In the process of extending and contracting of the output shaft of the pipe taking cylinder D5, the rotating cylinder D13 is driven to move horizontally, so that the guide rod D11 moves in the axial direction of the output shaft of the pipe taking cylinder D5. The guide plate D12 is fixed on the tube taking cylinder support plate, and the guide rod D11 penetrates through the guide plate D12. The guide bar D11 will pass over the guide plate D12 during the movement. The guide plate D12 supports the rotating cylinder D13 through the supporting and positioning effect on the guide rod D11, and the shaking of the rotating cylinder D13 in the vertical direction in the telescopic process of the output shaft of the pipe taking cylinder D5 is reduced.

The second motor mount D8 and support mount D9 determine the vertical position of the air gripper D6 and the first motor mount D7 determines the position of the catch D3. In order to enable the air gripper D6 to smoothly pull the target barrel A1 out of the buckle D3, an adjusting bolt is arranged between the second motor base D8 and the supporting table D9, and the adjusting bolt adjusts the distance between the second motor base D8 and the upper surface of the supporting table D9, so that the vertical position of the air gripper D6 is changed.

The tube-taking process is as follows:

the method comprises the following steps: the number of the air claws D6 is two, the rotary air cylinder D13 controls the two air claws D6 to be in a horizontal state, the two air claws D6 are distributed vertically, the air claws D6 keep a loose state, the cantilever motor D4 controls the tube taking air cylinder D5 to rotate, so that the axis of the output shaft of the tube taking air cylinder D5 is intersected with the axis of the motor shaft of the gun frame motor D2, the air claws D6 are arranged along the radial direction of the motor shaft of the gun frame motor D2, the air claws D6 are positioned on one side, close to the rotary gun frame D1, of the tube taking air cylinder D5, the gun frame motor D2 controls the rotary gun frame D1 to rotate, so that the target A1 and the air claws D6 are opposite to the radial direction of the motor shaft of the gun frame motor D2, the output shaft of the tube taking air cylinder D5 extends out, so that the air claws D6 is controlled to move to the target gun barrel A1 and clamp two ends of the material placing block A4;

step two: the output shaft of the tube taking cylinder D5 contracts to drive the air claw D6 to move outwards along the radial direction of the motor shaft of the gun rack motor D2, and the barrel A1 is pulled out of the buckle D3 by using the material placing block A4;

step three: the cantilever motor D4 controls the tube taking cylinder D5 to rotate horizontally, so that the air claw D6 drives the gun tube A1 to be far away from the first motor base D7;

step IV: the rotating air cylinder D13 controls the air claw D6 to rotate in a vertical plane, so that the gun tube A1 on the air claw D6 is horizontal, and the gun tube A1 on the air claw D6 is supported on the material placing block A4;

step five: a first tube changing manipulator takes down a material placing block A4 from a mounting seat A52 to make a mounting seat A52 vacant, a material placing block A4 on the first tube changing manipulator is horizontal, a gun tube A1 is supported on the material placing block A4, a second tube changing manipulator clamps a material placing block A4 from an air claw D6, a target gun tube A1 is also supported on the material placing block A4, the air claw D6 is loosened, the second tube changing manipulator takes down the material placing block A4 from the air claw D6 to be mounted on a vacant mounting seat A52, replacement of the material placing block A4 and the gun tube A1 on a support A5 is completed, and then a holding cylinder A8 controls a holding rod A81 to tightly fit with a joint A7;

step (c): the first tube replacing manipulator horizontally moves the replaced material placing block A4 to the air claw D6 to be clamped by the air claw D6, and the tube taking air cylinder D5, the cantilever motor D4 and the rotating air cylinder D13 are controlled in a reverse direction, so that the idle gun tube A1 and the material placing block A4 can be mounted on the rotating gun rack D1 to wait for next use.

While the invention has been described with reference to specific embodiments thereof, it will be understood by those skilled in the art that the invention is not limited thereto, and may be embodied in many different forms without departing from the spirit and scope of the invention as set forth in the following claims. Any modification which does not depart from the functional and structural principles of the present invention is intended to be included within the scope of the claims.

Claims

1. An automatic plug system is characterized by comprising a plug gun module, a tube replacing mechanism and a gun replacing device; the plug gun module comprises a gun barrel, a material pod pipe, an air pressure adjusting head, a material placing block, a support and a telescopic air cylinder, wherein the telescopic air cylinder is installed on the support, the material pod pipe and the material placing block are both detachably installed on the support, the material placing block is provided with a material waiting groove, two ends of the material waiting groove are respectively provided with a material pushing port and a material discharging port, the side wall of the material waiting groove is provided with a material feeding port, a material discharging end of the material pod pipe is positioned at the material feeding port, one end of the gun barrel is provided with a first air hole, the other end of the gun barrel is provided with a material pushing hole, the first air hole is communicated with the air pressure adjusting head, the telescopic air cylinder drives the gun barrel to move so that the material pushing hole reciprocates between the material pushing port and the material discharging port, a pipe replacing mechanism is used for replacing the material pod pipe, the gun replacing device is used for replacing the gun barrel, the pipe replacing mechanism comprises a material vibrating plate, a material vibrating outlet and a material vibrating manipulator, the outer wall of the vibrating plate is provided with a material vibrating outlet, the upper end plug in the vibrating plate enters the material feeding pipe via the upper end of the vibrating outlet and the feeding pipe, the feeding pipe orients the plug, the pipe replacing mechanism further comprises a sliding plate and a truss, a sliding rail is arranged on the truss, a plurality of vibration material discs are arranged on the sliding plate, all the vibration material discs are mounted on the sliding plate, the sliding plate slides on the sliding rail to drive all the vibration material discs to synchronously slide on the sliding rail, the gun replacing device comprises a gun barrel rotating support and a pipe taking device, the gun barrel rotating support comprises a rotating gun rack and a gun rack motor, the rotating gun rack is mounted on a motor shaft of the gun rack motor, a plurality of buckles for clamping a gun barrel are arranged on the rotating gun rack along the circumferential direction of the motor shaft, the pipe taking device comprises a cantilever motor, a pipe taking cylinder and a gas claw, the cantilever motor is positioned beside the gun barrel rotating support, the motor shaft of the cantilever motor is parallel to the motor shaft of the gun rack motor, the pipe taking cylinder is mounted on the motor shaft of the cantilever motor, and the output shaft of the pipe taking cylinder is obliquely arranged relative to the motor shaft of the cantilever motor, the gas claw is arranged at the end part of an output shaft of the pipe taking cylinder.

2. The automatic plug system according to claim 1, wherein the plug gun module further comprises a fitting joint, the barrel and the air pressure adjusting head are communicated through the fitting joint, a second air hole and a third air hole which are communicated with each other are formed in the outer wall of the air pressure adjusting head, the outer wall of the air pressure adjusting head located at the second air hole is a first circular table surface, the inner wall of the end portion of the fitting joint connected with the air pressure adjusting head is a second circular table surface matched with the first circular table surface in shape, and the first circular table surface is attached to the second circular table surface.

3. The automatic plug system according to claim 2, wherein the plug gun module further comprises a clasping cylinder, a clasping rod and a linkage rod, the clasping cylinder is mounted on an output shaft of the telescopic cylinder, the air pressure adjusting head is mounted on the output shaft of the clasping cylinder, one end of the clasping rod is rotatably arranged on an outer wall of the clasping cylinder, the other end of the clasping rod is clamped on the matching joint, two ends of the linkage rod are rotatably mounted in the middle of the clasping rod and the air pressure adjusting head respectively, and the clasping rod enables the first circular table surface and the second circular table surface to be mutually extruded.

4. The automatic plug system according to claim 3, wherein the edge of the feeding hole extends to the outside of the material receiving groove to form a guiding surrounding edge, the end wall of the discharging end is extruded at the end part of the guiding surrounding edge, a mounting seat is fixed on the bracket, the outer wall of the guiding surrounding edge is provided with a positioning lug and a positioning pin, the mounting seat is provided with a positioning slot and a positioning hole, the positioning lug is inserted in the positioning slot, and the positioning pin is inserted in the positioning hole, so that the material receiving block can be detachably mounted on the mounting seat.

5. The automatic plug system according to claim 1, wherein the feeding tube is provided with two bending plates extending along the central line of the feeding tube, the bending plates have a U-shaped cross section, the edges of the bending plates are fixed on the inner wall of the feeding tube, the two bending plates are oppositely arranged, the middle of the feeding tube is divided into a plug head positioning groove, a plug rod positioning groove and a plug tail positioning groove by the two bending plates, the plug rod positioning groove is located between the plug head positioning groove and the plug tail positioning groove, the plug head positioning groove and the plug tail positioning groove are communicated through the plug rod positioning groove, the plug rod positioning groove is located between the two bending plates, the head of the plug is located in the plug head positioning groove, the tail of the plug is located in the plug tail positioning groove, the connecting rod of the plug is located in the plug rod positioning groove, and the bending plate is used for limiting the head and the tail of the plug simultaneously.

6. The automatic plug system according to claim 1, wherein the barrel rotating bracket further comprises a first motor base, the gun rack motor is mounted on the first motor base, the first motor base is mounted on the ground, the tube taking device further comprises a second motor base and a supporting table, the cantilever motor is mounted on the second motor base, the second motor base is located above the supporting table, an adjusting bolt is arranged between the second motor base and the supporting table and used for adjusting the distance between the second motor base and the upper surface of the supporting table, the tube taking device further comprises a tube taking cylinder supporting plate, the tube taking cylinder is mounted on the tube taking cylinder supporting plate, a supporting surface is arranged on the second motor base, the tube taking cylinder supporting plate is supported on the supporting surface, a motor shaft of the cantilever motor penetrates through the supporting surface to be fixed with the tube taking cylinder supporting plate, and the cantilever motor drives the tube taking cylinder to rotate through the tube taking cylinder supporting plate.

7. The automatic plug system according to claim 6, wherein the tube taking device further comprises a rotary cylinder, a pneumatic claw connecting plate, a guide rod and a guide plate, the rotary cylinder is mounted on an output shaft of the tube taking cylinder, the pneumatic claw connecting plate is mounted on the output shaft of the rotary cylinder, the pneumatic claw is mounted on the pneumatic claw connecting plate, the guide rod is connected to the rotary cylinder, the guide rod is parallel to the output shaft of the tube taking cylinder, the guide plate is fixed on the tube taking cylinder supporting plate, and the guide rod penetrates through the guide plate.