CN114537957B - Automatic loading system for spindle room - Google Patents
Automatic loading system for spindle room Download PDFInfo
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- CN114537957B CN114537957B CN202210314738.XA CN202210314738A CN114537957B CN 114537957 B CN114537957 B CN 114537957B CN 202210314738 A CN202210314738 A CN 202210314738A CN 114537957 B CN114537957 B CN 114537957B
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- spindle
- guide rail
- frame
- driving mechanism
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- 210000001672 ovary Anatomy 0.000 claims abstract description 11
- 239000003638 chemical reducing agent Substances 0.000 claims description 12
- 210000000078 claw Anatomy 0.000 claims description 9
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- 235000000396 iron Nutrition 0.000 claims description 6
- 230000002093 peripheral effect Effects 0.000 claims description 4
- 230000001681 protective effect Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 description 3
- 229910000746 Structural steel Inorganic materials 0.000 description 2
- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
Abstract
The invention discloses an automatic loading system for spindle houses, and relates to the technical field of spindle houses. The invention comprises a ground rail device and a loading device, wherein the loading device comprises a moving platform, a group of auxiliary frames, a lock hook member, a mechanical arm and a mechanical gripper which are oppositely arranged, the ground rail device comprises a transverse guide rail member, the transverse guide rail member is arranged at the outer sides of the end parts of a plurality of main spindle frames in an ingot ovary, longitudinal guide rail members which are vertically distributed with the transverse guide rail member are arranged at two sides of the plurality of main spindle frames, the moving platform translates along the transverse guide rail member through guide wheels and a first driving mechanism, and platform guide rail members which are parallel to the longitudinal guide rail members, have the same structure and are horizontal are fixed at two sides of the top of the moving platform. The invention can orderly and automatically load all the main spindle frames in the spindle ovary by designing the novel loading system, has high automation degree, higher loading efficiency and higher safety, and reduces the cost of manual loading.
Description
Technical Field
The invention belongs to the technical field of spindle houses, and particularly relates to an automatic loading system for spindle houses.
Background
For the spindle room of the tire factory, spindle frames with a large number and long length are arranged in the spindle room side by side, and spindle central shafts on the spindle frames are large in number and small in adjacent distance, so that the number of spindles to be loaded is large and the spindles are not easy to load.
At present, no automatic device or system is used for loading the spindles, but a manual loading mode is mostly adopted, and the loading efficiency is low due to the fact that the quantity of the spindles is large, the weight is relatively large, time and labor are consumed, meanwhile, the loading of workers is not facilitated for the high position of the spindle frame, and safety is insufficient.
Disclosure of Invention
The invention aims to provide an automatic loading system for spindle houses, which can orderly and automatically load all main spindle frames in an spindle ovary by designing a novel loading system, has high automation degree, higher loading efficiency and higher safety, and reduces the cost of manual loading.
In order to solve the technical problems, the invention is realized by the following technical scheme:
the invention relates to an automatic loading system for spindle room, comprising a ground rail device and a loading device, wherein the loading device comprises a moving platform, a group of oppositely arranged auxiliary frames, a latch hook member, a mechanical arm and a mechanical gripper;
the ground rail device comprises transverse guide rail pieces, wherein the transverse guide rail pieces are arranged at the outer sides of the end parts of a plurality of main spindle frames in the spindle ovary, and longitudinal guide rail pieces which are vertically distributed with the transverse guide rail pieces are arranged at two sides of the plurality of main spindle frames;
the movable platform translates along the transverse guide rail piece through the guide wheel and the first driving mechanism, and platform guide rail pieces which are parallel to the longitudinal guide rail piece, consistent in structure and horizontal are fixed on two sides of the top of the movable platform;
the auxiliary frame comprises a main frame and a push frame, and the main frame translates through a wheel body and a second driving mechanism respectively;
the front side of the main frame is fixedly provided with a plurality of vertical beams, the front side of the vertical beams is fixedly provided with a plurality of groups of supporting rods through a plurality of front side plates, the flat pushing frame is arranged on the front side of the main frame, a plurality of guide sleeves are fixedly arranged on the flat pushing frame, a plurality of pushing cylinders and outer guide rods are fixedly arranged in the main frame through transverse plates, the guide sleeves are in sliding connection with the outer guide rods, and the output ends of the pushing cylinders are fixedly connected with the flat pushing frame;
the mechanical arm is fixed at the top of the mobile platform, a loading area is arranged at the top of the mobile platform, the mechanical arm and the loading area are respectively positioned at the front side and the rear side between a group of auxiliary frames, and the mechanical gripper is fixed at the output end of the mechanical arm;
the lock hook component comprises a group of U-shaped seats and a plurality of U-shaped blocks;
a plurality of mounting seats are fixed on the top of the main spindle frame side by side at uniform intervals, and a plurality of U-shaped blocks are respectively fixed at two ends of the top of each mounting seat;
the U-shaped seat is fixed at the top of the main frame, the rear side in the U-shaped seat is rotationally connected with a locking cylinder, the output end of the locking cylinder is fixed with an L-shaped hook body matched with a U-shaped block, the front side in the U-shaped seat is fixed with a cushion wheel, the bottom of the L-shaped hook body is provided with a groove, the rear side of the groove is of a chute structure, and the cushion wheel rolls along the bottom of the groove.
Further, the transverse guide rail piece comprises a group of guide rails and a rack, the rack is located in the middle of the group of guide rails, the structural characteristics of the longitudinal guide rail piece are consistent with those of the transverse guide rail piece, the guide rails and the rack are fixed on the ground of the spindle ovary through I-steel, and the guide rails and the rack on the longitudinal guide rail piece are fixed on the ground of the spindle ovary through a cushion girder.
Further, the first driving mechanism comprises a motor and a speed reducer which are connected with each other, the motor and the speed reducer are fixed on one side of the moving platform, a gear meshed with the rack on the transverse guide rail piece is fixed at the output end of the speed reducer, and a protecting cover is arranged on the outer sides of the motor and the speed reducer.
Further, the second driving mechanism is fixed on one side of the main frame, the structural characteristics of the second driving mechanism are consistent with those of the first driving mechanism, and the gear on the second driving mechanism is meshed with the rack on the platform guide rail piece or the longitudinal guide rail piece.
Further, the mechanical gripper comprises a base plate, a linkage plate and a plurality of clamping claws;
a gripper cylinder is fixed on one surface of the base plate, a base plate is fixed on the other surface of the base plate through a plurality of guide rods, the linkage plate is arranged between the base plate and slides along the plurality of guide rods, the output end of the gripper cylinder is fixed with the linkage plate, a plurality of clamping claws are uniformly fixed on the peripheral side surface of the base plate, and the adjusting ends of the clamping claws are connected with the outer side of the linkage plate through connecting rods;
a mounting plate is vertically fixed on the outer side of the base plate and is fixed at the output end of the mechanical arm;
a centering pin rod is fixed on the surface of the linkage plate, which is far away from the gripper cylinder, and a through hole is formed in the axis of the bottom plate;
the base plate is kept away from a surface of bottom plate and is fixed with the solid fixed ring through a set of erection column, gu fixed ring outside interval is even is fixed with a plurality of vacuum chuck.
Further, the flat pushing frame comprises a plurality of cross beams which are arranged side by side, the supporting rods are located at the lower portion of the cross beams, the guide sleeves on the flat pushing frame and the connecting ends of the pushing cylinders are all fixed at the top of the cross beams, angle irons are fixed at the top of the cross beams and located between a group of supporting rods, centering holes are formed in the angle irons, a plurality of reinforcing plates are fixed between every two adjacent cross beams, and reinforcing ribs are arranged between the reinforcing plates and the cross beams.
Further, the first photoelectric transmitters are arranged on the two sides of the main spindle frame and parallel to the mounting seat, a first photoelectric receiver matched with the first photoelectric receiver is fixed on the surface, close to the flat pushing frame, of the main spindle frame, a second photoelectric transmitter is arranged on one end, close to the transverse guide rail, of the main spindle frame, and a second photoelectric receiver matched with the second photoelectric transmitter is fixed on the surface, close to the main spindle frame, of the movable platform.
Further, still include the PLC controller, arm, second photoelectric receiver, first actuating mechanism, second actuating mechanism, locking cylinder, pushing away material cylinder, tongs cylinder and vacuum chuck's air feed end all with PLC controller electric connection.
Further, the side is fixed with the open outer protective case in front side around the body frame, body frame internal fixation has cable coiler and air supply, locking cylinder and pushing cylinder all are connected with the air supply, wire on air supply control end, second actuating mechanism, first photoelectric receiver, second photoelectric receiver, locking cylinder controller and the pushing cylinder controller is fixed as an organic wholely through the fastener and sets up on the cable coiler, horizontal guide spare is kept away from longitudinal guide spare one side and is equipped with the tow chain, tow chain one end is fixed with moving platform.
Further, a height difference is arranged between the rotating point of the locking cylinder and the center point of the pad wheel, and the height difference is consistent with the distance between the bottom surface of the notch and the axis of the cylinder.
The invention has the following beneficial effects:
1. the invention can orderly and automatically load all the main spindle frames in the spindle ovary by designing the novel loading system, has high automation degree, higher loading efficiency and higher safety, and reduces the cost of manual loading.
2. The novel lock hook component is designed, the structure is simple, the lock hook component can be used for positioning and locking between the auxiliary frame and the main spindle frame, and the problem that the auxiliary spindle frame is inclined due to reverse thrust in the process that a spindle is transferred into a spindle main frame central shaft from the auxiliary spindle frame is prevented.
3. According to the invention, the novel mechanical gripper is designed, the spindles can be gripped through the claws, the centering between the mechanical gripper and the spindles can be realized through the centering pin rods which are telescopic synchronously, stable and accurate gripping of the spindles is facilitated, the plastic partition plates among the spindles can be sucked and removed through the vacuum chuck arranged at the other end, and the normal gripping of the spindles is not influenced.
Of course, it is not necessary for any one product to practice the invention to achieve all of the advantages set forth above at the same time.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a loading device according to the present invention;
FIG. 2 is a top plan view of the overall structure of the present invention;
FIG. 3 is a schematic diagram of a mobile platform;
FIG. 4 is a schematic structural view of an auxiliary frame;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a structural elevation view of the auxiliary frame;
FIG. 7 is a schematic structural view of a latch hook member;
FIG. 8 is a schematic view of the latch hook member after one end thereof is disengaged;
FIG. 9 is a schematic view of a mechanical gripper;
FIG. 10 is a structural cross-sectional view of the mechanical gripper;
in the drawings, the list of components represented by the various numbers is as follows:
1-loading device, 2-moving platform, 3-auxiliary frame, 4-latch hook, 5-mechanical arm, 6-mechanical gripper, 7-transverse guide rail, 8-main spindle frame, 9-longitudinal guide rail, 201-guide wheel, 202-first driving mechanism, 203-platform guide rail, 204-loading area, 205-shield, 301-main frame, 302-thrust frame, 303-wheel, 304-second driving mechanism, 305-support bar, 306-outer guide bar, 307-guide sleeve, 308-cross plate, 309-pushing cylinder, 310-vertical beam, 311-front side plate, 312-cross beam, 313-angle iron, 314-centering hole, 315-reinforcement plate, 316-reinforcement bar, 317-outer cover, 401-U-shaped seat, 402-U-shaped block, 403-locking cylinder, 404-L-shaped hook, 405-cushion wheel, 406-notch groove, 601-base plate, 602-linkage plate, 603-pawl, 604-hand cylinder, 605-guide bar, 606-base plate, 607-609-side plate, 608-mounting plate, 312-centering plate, 313-guide plate, 314-centering pin, mounting plate, 613-guide plate, mounting plate, 702-guide rail, mounting plate, mounting frame, and mounting frame, 801-guide rail, mounting frame, and mounting frame, 801-guide frame, mounting frame, and mounting frame.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-8, the invention discloses an automatic loading system for spindle room, which comprises a ground rail device and a loading device 1, wherein the loading device 1 comprises a movable platform 2, a group of oppositely arranged auxiliary frames 3, a latch hook member 4, a mechanical arm 5 and a mechanical gripper 6;
the ground rail device comprises a transverse guide rail piece 7, wherein the transverse guide rail piece 7 is arranged at the outer side of the end parts of a plurality of main spindle frames 8 in an ingot ovary, and longitudinal guide rail pieces 9 which are vertically distributed with the transverse guide rail piece 7 are arranged at two sides of the plurality of main spindle frames 8;
the movable platform 2 translates along the transverse guide rail member 7 through the guide wheel 201 and the first driving mechanism 202, and platform guide rail members 203 which are parallel to the longitudinal guide rail members 9, have the same structure and are horizontal are fixed on two sides of the top of the movable platform 2;
the auxiliary frame 3 comprises a main frame 301 and a push frame 302, wherein the main frame 301 translates through a wheel body 303 and a second driving mechanism 304 respectively to the platform guide rail member 203;
a plurality of vertical beams 310 are fixed on the front side of the main frame 301, a plurality of groups of supporting rods 305 are fixed on the front side of the vertical beams 310 through a plurality of front side plates 311, a flat pushing frame 302 is arranged on the front side of the main frame 301, a plurality of guide sleeves 307 are fixed on the flat pushing frame 302, a plurality of pushing cylinders 309 and outer guide rods 306 are fixed in the main frame 301 through transverse plates 308, the guide sleeves 307 are in sliding connection with the outer guide rods 306, and the output ends of the pushing cylinders 309 are fixed with the flat pushing frame 302;
the mechanical arm 5 is fixed at the top of the mobile platform 2, a loading area 204 is arranged at the top of the mobile platform 2, the mechanical arm 5 and the loading area 204 are respectively positioned at the front side and the rear side between a group of auxiliary frames 3, and the mechanical gripper 6 is fixed at the output end of the mechanical arm 5;
the latch hook member 4 comprises a group of U-shaped seats 401 and a plurality of U-shaped blocks 402;
a plurality of mounting seats 801 are fixed on the top of the main spindle frame 8 side by side at uniform intervals, and a plurality of U-shaped blocks 402 are respectively fixed at two ends of the top of the plurality of mounting seats 801;
the U-shaped seat 401 is fixed at the top of the main frame 301, the back side in the U-shaped seat 401 is rotationally connected with a locking cylinder 403, the output end of the locking cylinder 403 is fixed with an L-shaped hook body 404 matched with the U-shaped block 402, the front side in the U-shaped seat 401 is fixed with a cushion wheel 405, the bottom of the L-shaped hook body 404 is provided with a notch 406, the back side of the notch 406 is of a chute structure, and the cushion wheel 405 rolls along the bottom surface of the notch 406.
As shown in fig. 2, the transverse rail member 7 includes a set of rails 701 and a rack 702, the rack 702 is located in the middle of the set of rails 701, the structural features of the longitudinal rail member 9 are identical to those of the transverse rail member 7, the rails 701 and the rack 702 are all fixed on the ground of the spindle ovary by i-beams, and the rails 701 and the rack 702 on the longitudinal rail member 9 are fixed on the ground of the spindle ovary by the tie beams.
As shown in fig. 1 and 3, the first driving mechanism 202 includes a motor and a speed reducer which are connected with each other, the motor and the speed reducer are fixed on one side of the mobile platform 2, a gear meshed with the rack 702 on the transverse guide rail member 7 is fixed at an output end of the speed reducer, and a protecting cover 205 is arranged on the outer side of the motor and the speed reducer.
Wherein, the second driving mechanism 304 is fixed on one side of the main frame 301, the structural characteristics of the second driving mechanism 304 are consistent with those of the first driving mechanism 202, and the gear on the second driving mechanism 304 is meshed with the rack 702 on the platform guide rail member 203 or the longitudinal guide rail member 9.
9-10, the mechanical gripper 6 comprises a base plate 601, a linkage plate 602 and a plurality of claws 603;
a grip cylinder 604 is fixed on one surface of the base plate 601, a base plate 606 is fixed on the other surface of the base plate 601 through a plurality of guide rods 605, a linkage plate 602 is arranged between the base plate 606 and the base plate 601 and slides along the plurality of guide rods 605, the output end of the grip cylinder 604 is fixed with the linkage plate 602, a plurality of clamping claws 603 are uniformly fixed on the peripheral side surface of the base plate 606, and the adjusting end of the clamping claws 603 is connected with the outer side of the linkage plate 602 through a connecting rod 607;
a mounting plate 608 is vertically fixed on the outer side of the base plate 601, and the mounting plate 608 is fixed at the output end of the mechanical arm 5;
a centering pin rod 609 is fixed on the surface of the linkage plate 602, which is far away from the gripper cylinder 604, a through hole 610 is formed in the axis of the bottom plate 606, and the centering pin rod 609 penetrates through the through hole 610;
a surface of the base plate 601 far from the bottom plate 606 is fixed with a fixed ring 612 through a group of mounting posts 611, and a plurality of vacuum chucks 613 are uniformly fixed on the outer side of the fixed ring 612 at intervals.
As shown in fig. 4-6, the flat pushing frame 302 includes a plurality of beams 312 arranged side by side, the supporting rods 305 are located at the lower portion of the beams 312, the connecting ends of the guide sleeves 307 and the pushing cylinders 309 on the flat pushing frame 302 are all fixed at the top of the beams 312, angle irons 313 are fixed at the top of the beams 312 and between a group of supporting rods 305, centering holes 314 are formed in the angle irons 313, a plurality of reinforcing plates 315 are fixed between two adjacent beams 312, and reinforcing ribs 316 are arranged between the reinforcing plates 315 and the beams 312.
The two sides of the main spindle frame 8 and the positions parallel to the mounting seat 801 are respectively provided with a first photoelectric emitter, a first photoelectric receiver matched with the first photoelectric receiver is fixed on one surface of the main frame 301, which is close to the flat pushing frame 302, a second photoelectric emitter is arranged on one end of the main spindle frame 8, which is close to the transverse guide rail member 7, and a second photoelectric receiver matched with the second photoelectric emitter is fixed on one surface of the movable platform 2, which is close to the main spindle frame 8.
The device further comprises a PLC controller, and the air supply ends of the mechanical arm 5, the second photoelectric receiver, the first driving mechanism 202, the second driving mechanism 304, the locking cylinder 403, the pushing cylinder 309, the grip cylinder 604 and the vacuum chuck 613 are electrically connected with the PLC controller.
Wherein, the open outer protecting shell 317 in front side is fixed with in the side of body frame 301 week, the body frame 301 internal fixation has cable coiler and air supply, locking cylinder 403 and pushing cylinder 309 all are connected with the air supply, air supply control end, second actuating mechanism 304, first photoelectric receiver, second photoelectric receiver, locking cylinder 403 controller and pushing cylinder 309 are last wire fixed as an organic wholely and set up on the cable coiler through the fastener, transverse guide spare 7 is kept away from longitudinal guide spare 9 one side and is equipped with the tow chain, tow chain one end is fixed with mobile platform 2.
As shown, a height difference is provided between the rotation point of the lock cylinder 403 and the axial center point of the cushion wheel 405, and the height difference is consistent with the distance between the bottom surface of the notch 406 and the axial center line of the cylinder.
The number of the auxiliary frames 3 can be 36, the auxiliary frames are distributed in six layers and six rows, the layer heights and the row distances respectively correspond to the corresponding sizes of the central shaft on the main spindle frame 8, each spindle is supported by a group of support rods 305, and a small height difference exists between each spindle and the center of the main spindle frame 8, namely, after the auxiliary frames 3 support the spindle, the center is slightly lower than the height of the central shaft of the main spindle frame 8, and the effect is to improve the central fault tolerance of spindle installation.
The working principle of the invention is as follows:
the first step: selecting a main spindle frame 8 to be loaded, and driving the integral loading device 1 to move to the end part of the main spindle frame 8 through a first driving mechanism 202 and a guide wheel 201 (the position of the integral loading device is precisely determined through the cooperation of a second photoelectric receiver and a second photoelectric emitter);
and a second step of: the spindles on the loading area 204 (the trays on which the spindles are stacked are placed on the loading area 204) are grabbed by the cooperation of the mechanical arm 5 and the mechanical gripper 6, and transferred to each group of support rods 305 on the auxiliary frame 3, and the auxiliary frame 3 is completely assembled and cut in the same manner;
and a third step of: the auxiliary frame 3 after loading the spindle is driven by the second driving mechanism 304 to translate along the platform guide rail member 203, and after the auxiliary frame is separated from the moving platform 2, the auxiliary frame continues to move along the longitudinal guide rail member 9 on one side of the main spindle frame 8 to a loading area (the position of the auxiliary frame is accurately determined by the cooperation of the first photoelectric receiver and the first photoelectric emitter);
fourth step: at this time, the U-shaped seat 401 on the auxiliary frame 3 is opposite to the mounting seat 801 on the main spindle frame 8, at this time, the control locking cylinder 403 is contracted, the notch 406 on the L-shaped hook 404 slides along the cushion wheel 405, the inclined state is changed into the horizontal state, at this time, the end part of the L-shaped hook 404 is clamped in the U-shaped block 402 on the mounting seat 801, and positioning locking between the auxiliary frame 3 and the main spindle frame 8 is performed;
fifth step: pushing the flat pushing frame 302 to slide outwards along the outer guide rod 306 through the pushing cylinder 309, and pushing all spindles on the auxiliary frame 3 to the central shaft on the main spindle frame 8 integrally at the moment, wherein the centering hole 314 on the angle iron 313 provides a penetrating space for the central shaft on the main spindle frame 8;
sixth step: after the spindle is completely guided to the main spindle frame 8, the horizontal pushing frame 302 is driven to reset by the pushing cylinder 309, and the auxiliary frame 3 is driven to reset to the movable platform 2 by the second driving mechanism 304 and the wheel body 303;
seventh step: the same cyclic operation is performed according to the operations of the second to sixth steps, and the two auxiliary frames 3 are used to perform orderly loading operations on both sides of the main spindle frame 8;
eighth step: when the loading of the sub-main spindle frame 8 is completed, the next main spindle frame 8 is replaced by the cooperation of the first driving mechanism 202 and the guide wheel 201, and the main spindle frame 8 is loaded according to the operations of the second to seventh steps.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. The preferred embodiments are not exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (10)
1. An automatic loading system for spindle houses, characterized in that: the device comprises a ground rail device and a loading device (1), wherein the loading device (1) comprises a movable platform (2), a group of auxiliary frames (3), a lock hook component (4), a mechanical arm (5) and a mechanical gripper (6), wherein the auxiliary frames are oppositely arranged;
the ground rail device comprises transverse guide rail pieces (7), wherein the transverse guide rail pieces (7) are arranged outside the end parts of a plurality of main spindle frames (8) in an spindle ovary, and longitudinal guide rail pieces (9) which are vertically distributed with the transverse guide rail pieces (7) are arranged on two sides of the plurality of main spindle frames (8);
the movable platform (2) translates along the transverse guide rail member (7) through the guide wheel (201) and the first driving mechanism (202), and platform guide rail members (203) which are parallel to the longitudinal guide rail members (9) and have the same structure and are horizontal are fixed on two sides of the top of the movable platform (2);
the auxiliary frame (3) comprises a main frame (301) and a thrust frame (302), and the main frame (301) translates through a wheel body (303) and a second driving mechanism (304) respectively to the platform guide rail piece (203);
a plurality of vertical beams (310) are fixed on the front side of the main frame (301), a plurality of groups of supporting rods (305) are fixed on the front side of the vertical beams (310) through a plurality of front side plates (311), ping Tuijia (302) are arranged on the front side of the main frame (301), a plurality of guide sleeves (307) are fixed on the Ping Tuijia (302), a plurality of pushing cylinders (309) and outer guide rods (306) are fixed in the main frame (301) through transverse plates (308), the guide sleeves (307) are in sliding connection with the outer guide rods (306), and the output ends of the pushing cylinders (309) are fixed with the horizontal pushing frames (302);
the mechanical arm (5) is fixed at the top of the mobile platform (2), a loading area (204) is arranged at the top of the mobile platform (2), the mechanical arm (5) and the loading area (204) are respectively positioned at the front side and the rear side between a group of auxiliary frames (3), and the mechanical gripper (6) is fixed at the output end of the mechanical arm (5);
the latch hook component (4) comprises a group of U-shaped seats (401) and a plurality of U-shaped blocks (402);
a plurality of mounting seats (801) are fixed on the top of the main spindle frame (8) side by side at uniform intervals, and a plurality of U-shaped blocks (402) are respectively fixed at two ends of the top of the mounting seats (801);
the U-shaped seat (401) is fixed at the top of the main frame (301), the rear side is rotationally connected with a locking cylinder (403) in the U-shaped seat (401), an L-shaped hook body (404) matched with a U-shaped block (402) is fixed at the output end of the locking cylinder (403), a cushion wheel (405) is fixed at the inner front side of the U-shaped seat (401), a notch groove (406) is formed in the bottom of the L-shaped hook body (404), the rear side of the notch groove (406) is of a chute structure, and the cushion wheel (405) rolls along the bottom surface of the notch groove (406).
2. An automatic loading system for spindle houses according to claim 1, characterized in that the transverse rail member (7) comprises a set of rails (701) and a rack (702), the rack (702) is located in the middle of the set of rails (701), the structural features of the longitudinal rail member (9) are consistent with those of the transverse rail member (7), the rails (701) and the rack (702) are fixed on the ground of the spindle house by i-beams, and the rails (701) and the rack (702) on the longitudinal rail member (9) are fixed on the ground of the spindle house by means of tie beams.
3. An automatic loading system for spindle houses according to claim 2, characterized in that said first driving mechanism (202) comprises a motor and a speed reducer connected to each other, said motor and speed reducer being fixed on one side of the mobile platform (2), said speed reducer output being fixed with a gear meshing with a rack (702) on the transversal rail member (7), said motor and speed reducer being provided with a shield (205) outside.
4. An automatic spindle house loading system according to claim 3, characterized in that said second driving mechanism (304) is fixed on one side of the main frame (301), the structural features of said second driving mechanism (304) are identical to those of the first driving mechanism (202), and the gears on said second driving mechanism (304) are engaged with the racks (702) on the platform rail member (203) or the longitudinal rail member (9).
5. The automatic loading system for spindle room according to claim 1, characterized in that the mechanical gripper (6) comprises a base plate (601), a linkage plate (602) and several jaws (603);
a gripper cylinder (604) is fixed on one surface of the base plate (601), a base plate (606) is fixed on the other surface of the base plate (601) through a plurality of guide rods (605), the linkage plate (602) is arranged between the base plate (606) and the base plate (601) and slides along a plurality of guide rods (605), the output end of the gripper cylinder (604) is fixed with the linkage plate (602), a plurality of clamping claws (603) are uniformly fixed on the peripheral side surface of the base plate (606), and the adjusting ends of the clamping claws (603) are connected with the outer side of the linkage plate (602) through connecting rods (607);
a mounting plate (608) is vertically fixed on the outer side of the base plate (601), and the mounting plate (608) is fixed at the output end of the mechanical arm (5);
a centering pin rod (609) is fixed on one surface of the linkage plate (602) far away from the gripper cylinder (604), a through hole (610) is formed in the axis of the bottom plate (606), and the centering pin rod (609) penetrates through the through hole (610);
a fixed ring (612) is fixed on one surface of the base plate (601) far away from the bottom plate (606) through a group of mounting columns (611), and a plurality of vacuum chucks (613) are uniformly fixed on the outer side of the fixed ring (612) at intervals.
6. The automatic loading system for spindle houses according to claim 1, wherein the Ping Tuijia (302) comprises a plurality of cross beams (312) which are arranged side by side, the supporting rods (305) are positioned at the lower part of the cross beams (312), the connecting ends of the guide sleeve (307) and the pushing cylinder (309) on the Ping Tuijia (302) are fixed at the top of the cross beams (312), angle irons (313) are fixed at the top of the cross beams (312) and positioned between a group of supporting rods (305), centering holes (314) are formed in the angle irons (313), a plurality of reinforcing plates (315) are fixed between two adjacent cross beams (312), and reinforcing ribs (316) are arranged between the reinforcing plates (315) and the cross beams (312).
7. The automatic loading system for spindle houses according to claim 5, wherein the first photoelectric transmitters are arranged on two sides of the main spindle frame (8) and parallel to the mounting seat (801), a surface of the main frame (301) close to the push frame (302) is fixedly provided with a first photoelectric receiver matched with the first photoelectric receiver, one end of the main spindle frame (8) close to the transverse guide rail (7) is provided with a second photoelectric transmitter, and a surface of the movable platform (2) close to the main spindle frame (8) is fixedly provided with a second photoelectric receiver matched with the second photoelectric transmitter.
8. The automatic loading system for spindle room according to claim 7, further comprising a PLC controller, wherein the air supply ends of the mechanical arm (5), the second photoelectric receiver, the first driving mechanism (202), the second driving mechanism (304), the locking cylinder (403), the pushing cylinder (309), the gripping cylinder (604) and the vacuum chuck (613) are electrically connected with the PLC controller.
9. The automatic loading system for spindle room according to claim 8, characterized in that an outer protective case (317) with an open front side is fixed on the peripheral side of the main frame (301), a cable retractor and a gas source are fixed in the main frame (301), the locking cylinder (403) and the pushing cylinder (309) are connected with the gas source, the second driving mechanism (304), the first photoelectric receiver, the second photoelectric receiver, the locking cylinder (403) and the pushing cylinder (309) are integrally fixed through wire clamps and are arranged on the cable retractor, a drag chain is arranged on one side of the transverse guide rail piece (7) far from the longitudinal guide rail piece (9), and one end of the drag chain is fixed with the moving platform (2).
10. The automatic loading system for spindle room according to claim 1, wherein a height difference is provided between a rotation point of the locking cylinder (403) and an axial center point of the cushion wheel (405), and the height difference is identical to a distance between a bottom surface of the notch (406) and an axial center line of the cylinder.
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