CN115055937A

CN115055937A - Intelligent equipment of many membrane shell units of robot combination

Info

Publication number: CN115055937A
Application number: CN202210549437.5A
Authority: CN
Inventors: 赵欣
Original assignee: Ganzhou Zhongke Toyoda Intelligent Equipment Technology Co Ltd
Current assignee: Ganzhou Zhongke Toyoda Intelligent Equipment Technology Co Ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2022-09-16

Abstract

The invention relates to the field of intelligent equipment, in particular to intelligent equipment with a robot combined with a plurality of membrane shell units. The technical problems are as follows: when the iron sheet is placed into the steel pipe, the position of the steel pipe is easy to move, the difficulty of placing the iron sheet is increased, the iron sheet is very easy to be placed partially, and the iron sheet is also easy to deform in the placing process. The technical scheme is as follows: an intelligent device of a robot combined multi-film shell unit comprises a positioner, a linkage unit and the like; the front part and the rear part of the two linkage units are respectively connected with a positioner. According to the invention, two ends of the steel pipe are fixed by every two adjacent protection parts, so that the displacement of the steel pipe is avoided, the steel pipe is prevented from being extruded and deformed in the process of combining the membrane shell, then the temperature of the iron sheet is reduced by the heat exchanger, then the position of the opening of the steel pipe is accurately positioned by the two positioners, and then the two cooled iron sheets are extruded into the two ends of the steel pipe by the two first electric actuators and the two electromagnets, so that the iron sheets and the steel pipe are effectively in tight fit.

Description

Intelligent equipment of many membrane shell units of robot combination

Technical Field

The invention relates to the field of intelligent equipment, in particular to intelligent equipment with a robot combined with a plurality of membrane shell units.

Background

At present, in the production and processing process of steel pipes, the steel pipes need to be cut, and the cut steel pipes need to be assembled with a film shell, namely, the two ends of the steel pipes are subjected to iron sheet sealing assembly.

But owing to reach the tight fit of iron sheet and steel pipe, the iron sheet can slightly be less than the internal diameter of steel pipe, and the iron sheet is when putting into the steel pipe, and the position of steel pipe moves, and the degree of difficulty increase that the iron sheet was put into, and the iron sheet is put partially very easily, and after putting partially, the iron sheet is difficult to take out, and machining efficiency descends, and the iron sheet is also putting the in-process into easily, takes place to warp for the iron sheet can't be with the mouth of pipe shutoff of steel pipe, makes the product defective rate increase, influences enterprise economic benefits.

In summary, it is necessary to develop a robot-combined multi-membrane shell unit intelligent device to solve the above problems.

Disclosure of Invention

The invention provides intelligent equipment of a robot combined multi-membrane shell unit, aiming at overcoming the defects that the position of a steel pipe is easy to move when an iron sheet is placed into the steel pipe due to tight fit of the iron sheet and the steel pipe, the difficulty of placing the iron sheet is increased, the iron sheet is extremely easy to be placed to be deviated, the iron sheet is difficult to take out, and the iron sheet is easy to deform in the placing process.

The technical scheme is as follows: an intelligent device of a robot combined multi-membrane shell unit comprises a first robot, an electric gripper, a second robot and an electromagnet; the upper part of the first robot is connected with an electric gripper; the left part and the right part of the first robot are respectively provided with a second robot; the upper parts of the opposite sides of the two second robots are respectively connected with an electromagnet; the first robot, the electric gripper, the second robot and the electromagnet are matched to assemble an iron sheet at each of two ends of the steel pipe; the device also comprises a positioner, a protection part, a linkage unit, an adaptation unit, a power unit and a cooling unit; the upper parts of the opposite sides of the two second robots are respectively connected with a linkage unit; the front part and the rear part of the two linkage units are respectively connected with a positioner; the left part and the right part of the electric gripper are connected with adaptation units for adapting to the cut steel pipes with different lengths; the left part and the right part of the adaptation unit are connected with a power unit; the left part and the right part of the power unit are respectively connected with two protection parts; the upper parts of the opposite sides of the two second robots are respectively connected with a cooling unit for cooling the iron sheet; the linkage unit is matched with the positioner to position the position of the steel pipe opening in a two-point limiting mode, and the power unit is matched with the protection piece to tightly hold the position of the steel pipe opening.

Further, the locators are arc-shaped plates and are used for locating the steel pipe openings in an opposite clamping mode, and the opening directions of two adjacent locators are opposite.

Further, the protection piece semi-annular rubber strip is used for holding the steel pipe mouth, and two adjacent protection pieces can be combined into a complete ring.

Further, the second robot comprises a mounting disc, a first electric actuator and a mechanical arm; the upper part of the mechanical arm is connected with a mounting disc; a first electric actuator is arranged on the right side of the mounting disc; the two first electric actuator telescopic parts are connected with the linkage unit; the first electric actuator telescopic part is connected with the electromagnet.

Furthermore, the linkage unit comprises a first support plate, a first U-shaped frame, an electric slide rail, a connecting block and a thin rope; the two first electric actuator telescopic parts are respectively fixedly connected with a first support plate; the rear parts of the front parts of the two first supporting plates are fixedly connected with a first U-shaped frame respectively; two electric slide rails are arranged on the opposite sides of the two first U-shaped frames on the left; two electric slide rails are arranged on the opposite sides of the two first U-shaped frames on the right; two adjacent electric slide rails are respectively connected with a connecting block in a sliding way through an electric slide block; a string is connected between each two adjacent connecting blocks; each first U-shaped frame is rotatably connected with a positioner; a torsion spring is arranged between each first U-shaped frame and the adjacent positioner; four strings are used for contact transmission with one positioner respectively.

Furthermore, the adaptation unit comprises a second support plate, a slide bar, a third support plate, a second electric actuator, a second U-shaped frame and a third U-shaped frame; the left part and the right part of the electric gripper are respectively fixedly connected with a second support plate; the front parts and the rear parts of the two second support plates are fixedly connected with a sliding rod respectively; the back sides of the two front sliding rods are fixedly connected with a third support plate respectively; the opposite sides of the two rear sliding rods are fixedly connected with a third support plate respectively; the left part and the right part of the electric gripper are respectively provided with a second electric actuator; the two second electric actuator telescopic parts are respectively fixedly connected with a second U-shaped frame; the back sides of the two second U-shaped frames are fixedly connected with a third U-shaped frame respectively; the front part and the rear part of each of the two third U-shaped frames are respectively connected with a sliding rod in a sliding manner; the lower parts of the two third U-shaped frames are connected with the power unit.

Furthermore, the cooling unit comprises a cooler, a disc, a connecting rod, a heat exchanger and a connecting piece; the opposite sides of the two mounting discs are fixedly connected with a cooler respectively; two discs are fixedly connected to the two first electric actuators respectively; the two discs are positioned between the two coolers; four connecting rods are fixedly connected to the opposite sides of the two disks in an annular array; the heat exchangers are fixedly connected to the opposite sides of the four left connecting rods and the four right connecting rods respectively; two connecting pieces are fixedly connected to the back sides of the two heat exchangers respectively; the connecting piece is a flexible pipe with elasticity; the two connecting pieces on the left side and the two connecting pieces on the right side are fixedly connected with a cooler respectively.

Further, each connector is a ceramic material with low thermal conductivity.

The device further comprises a first transmission assembly, a polishing assembly, a pipe cutting assembly, a positioning assembly, a chamfering assembly, a printing assembly, a second transmission assembly, a box opening assembly, a third transmission assembly, a box sealing assembly, a feeding assembly and a winding assembly; the left part of the first transmission assembly is connected with a polishing assembly for polishing the surface of the steel pipe; the right part of the first transmission assembly is connected with a pipe cutting assembly for cutting a steel pipe; the right part of the pipe cutting assembly is connected with a positioning assembly for cutting the fixed-length steel pipe; the rear part of the positioning component is connected with a chamfering component used for removing burrs at two ends of the cut steel pipe; the rear part of the chamfering component is connected with a printing component used for printing characters on the steel pipe material; the positioning assembly is connected with a second transmission assembly; the second transmission assembly is used for being matched with the first robot and the electric gripper to transfer and fix the steel pipe; the rear part of the first robot is provided with a box opening assembly for opening the paper box to accommodate the steel pipe; the right part of the box opening assembly is connected with a third transmission assembly; the right part of the third transmission assembly is connected with a box sealing assembly used for sealing a box filled with steel pipes; a feeding component for sequentially feeding the trays is arranged on the right side of the first robot; and a film winding component for wrapping the stacked steel pipes is arranged on the right of the feeding component.

Furthermore, the device also comprises a feeding unit; a feeding unit is arranged in front of the two second robots; the feeding unit comprises a support, an electric turntable, a U-shaped frame, a second elastic piece and a tray; a support is arranged in front of each of the two second robots; an electric turntable is respectively arranged on the two supports; the two electric turnplates are connected with four U-shaped frames through the adapter pieces; two second straight chutes are symmetrically arranged on each U-shaped frame; each U-shaped frame is symmetrically provided with two U-shaped grooves; the two second straight chutes and the two U-shaped grooves are positioned at the positions which are vertical to each other; a second elastic piece is fixedly connected to the inner bottom surface of each U-shaped frame; and the upper part of each second elastic part is fixedly connected with a tray.

The invention has the beneficial effects that: according to the invention, two ends of the steel pipe are fixed by every two adjacent protection parts, so that the displacement of the steel pipe is avoided, the steel pipe is prevented from being extruded and deformed in the process of combining the membrane shell, the temperature of the iron sheet is reduced after the steel pipe is contacted with the iron sheet through the heat exchanger, the iron sheet is contracted, the position of the opening of the steel pipe is accurately positioned through the two positioners, then the two first electric actuators and the two electromagnets extrude the two cooled iron sheets into the two ends of the steel pipe, and after the temperature of the iron sheet is raised, the iron sheet expands, so that the iron sheet and the steel pipe are effectively in tight fit.

Drawings

Fig. 1 is a schematic perspective view of a first three-dimensional structure of a robot combined multi-membrane shell unit intelligent device according to the present invention;

FIG. 2 is a schematic diagram of a second three-dimensional structure of the intelligent device of the robot combined with the multi-film shell unit;

FIG. 3 is a front view of the intelligent device of the robot combined with the multi-membrane shell unit of the invention;

fig. 4 is a schematic diagram of a first combined three-dimensional structure of a robot combined multi-membrane shell unit intelligent device according to the invention;

fig. 5 is a schematic diagram of a second combined three-dimensional structure of the intelligent device of the robot combined multi-film shell unit of the invention;

FIG. 6 is a schematic perspective view of a linkage unit part of the intelligent device with a robot combined with a multi-film shell unit according to the present invention;

FIG. 7 is a schematic diagram of a three-dimensional structure of an adaptive unit of the intelligent device with a robot combined with multiple membrane shell units;

FIG. 8 is a schematic diagram of a third combined three-dimensional structure of a robot combined multi-film shell unit intelligent device of the invention;

FIG. 9 is a schematic diagram of a three-dimensional structure of a power unit of an intelligent device of a robot combined multi-membrane shell unit according to the invention;

FIG. 10 is a schematic diagram of a fourth three-dimensional structure of the intelligent device of the robot combined with the multi-film shell unit;

FIG. 11 is a schematic perspective view of a cooling unit of the intelligent device with a robot combined with a multi-film shell unit according to the present invention;

fig. 12 is a schematic perspective view of a feeding unit part of the intelligent device with a robot combined with a multi-film shell unit according to the present invention.

Description of reference numerals: 1-a first transport assembly, 2-a polishing assembly, 3-a tube cutting assembly, 4-a positioning assembly, 5-a chamfering assembly, 6-a printing assembly, 7-a second transport assembly, 8-a first robot, 9-an electric gripper, 10-a second robot, 11-a box opening assembly, 12-a third transport assembly, 13-a box sealing assembly, 14-a feeding assembly, 15-a film winding assembly, 16-an electromagnet, 17-a positioner, 18-a protective piece, 101-a mounting plate, 102-a first electric actuator, 103-a mechanical arm, 201-a first support plate, 202-a first U-shaped frame, 203-an electric slide rail, 204-an engagement block, 205-a string, 301-a second support plate, 302-a slide bar, 303-a third support plate, 304-second electric actuator, 305-second U-shaped frame, 306-third U-shaped frame, 401-T-shaped plate, 402-sleeve, 403-screw rod, 404-first connecting plate, 405-first elastic element, 406-positioning rod, 407-rotating shaft, 408-gear, 409-double grooved wheel, 4010-driving wheel, 4011-sliding frame, 4012-rack, 4013-second connecting plate, 4014-connecting column, 40101-first straight chute, 501-cooler, 502-round disc, 503-connecting rod, 504-heat exchanger, 505-connecting piece, 601-support, 602-electric rotary disc, 603-U-shaped frame, 604-second elastic element, 605-tray, 60301-second straight chute and 60302-U-shaped groove.

Detailed Description

The invention is further described below with reference to the figures and examples.

Example 1

An intelligent device with a robot combined with a multi-film shell unit is shown in figures 1-3 and comprises a first robot 8, an electric gripper 9, a second robot 10 and an electromagnet 16; the upper part of the first robot 8 is connected with an electric gripper 9; the left part and the right part of the first robot 8 are respectively provided with a second robot 10; the upper parts of the opposite sides of the two second robots 10 are respectively connected with an electromagnet 16; the first robot 8, the electric gripper 9, the second robot 10 and the electromagnet 16 are matched to assemble an iron sheet at each of two ends of the steel pipe;

the device also comprises a positioner 17, a protection part 18, a linkage unit, an adaptation unit, a power unit and a cooling unit; the upper parts of the opposite sides of the two second robots 10 are respectively connected with a linkage unit; the front part and the rear part of the two linkage units are respectively connected with a positioner 17; the left part and the right part of the electric gripper 9 are connected with an adaptation unit; the left part and the right part of the adaptation unit are connected with a power unit; two guards 18 are connected to each of the left and right portions of the power unit; the upper parts of the opposite sides of the two second robots 10 are respectively connected with a cooling unit; the linkage unit and the positioner 17 are matched to position the position of the steel pipe opening in a two-point limiting mode, and the power unit and the protection part 18 are matched to tightly hold the position of the steel pipe opening.

The retainer 17 is an arc-shaped plate.

The guard 18 is a semi-annular rubber strip.

As shown in fig. 2 and 4, the second robot 10 includes a mounting plate 101, a first electric actuator 102, and a robot arm 103; the upper part of the mechanical arm 103 is connected with a mounting disc 101; a first electric actuator 102 is arranged on the right side of the mounting plate 101; the two first electric actuators 102 are connected with the linkage unit through the telescopic parts; the telescopic part of the first electric actuator 102 is connected to the electromagnet 16.

The first electric actuator 102 is an electric push rod.

According to fig. 2 and fig. 5-6, the linkage unit comprises a first support plate 201, a first U-shaped frame 202, an electric slide rail 203, a connecting block 204 and a string 205; the two first electric actuators 102 are respectively fixedly connected with a first supporting plate 201 on the telescopic parts; a first U-shaped frame 202 is welded at the rear part of each of the front parts of the two first support plates 201; two electric slide rails 203 are arranged on the opposite sides of the two first U-shaped frames 202 on the left; two electric slide rails 203 are arranged on the opposite sides of the two first U-shaped frames 202 on the right; two adjacent electric slide rails 203 are respectively connected with a connecting block 204 in a sliding way through an electric slide block; a string 205 is connected between each two adjacent connecting blocks 204; each first U-shaped frame 202 is rotatably connected with a positioner 17; a torsion spring is arranged between each first U-shaped frame 202 and the adjacent locator 17; four strings 205 are used to each drive contact with one of the retainers 17.

According to fig. 2 and 7, the adapting unit comprises a second support plate 301, a slide bar 302, a third support plate 303, a second electric actuator 304, a second U-shaped frame 305 and a third U-shaped frame 306; the left part and the right part of the electric gripper 9 are respectively connected with a second support plate 301 through bolts; the front part and the rear part of each of the two second support plates 301 are welded with a sliding rod 302; the opposite sides of the two front sliding rods 302 are respectively welded with a third support plate 303; the opposite sides of the two rear sliding rods 302 are respectively welded with a third support plate 303; the left part and the right part of the electric gripper 9 are respectively provided with a second electric actuator 304; two second U-shaped frames 305 are fixedly connected to the telescopic parts of the two second electric actuators 304 respectively; a third U-shaped frame 306 is welded on each of the back sides of the two second U-shaped frames 305; the front part and the rear part of the two third U-shaped frames 306 are respectively connected with a sliding rod 302 in a sliding way; the lower portions of the two third U-shaped brackets 306 are connected to the power unit.

The second electric actuator 304 is an electric push rod.

According to fig. 2 and fig. 8-9, the power unit comprises a T-shaped plate 401, a sleeve 402, a lead screw 403, a first engaging plate 404, a first elastic member 405, a positioning rod 406, a rotating shaft 407, a gear 408, a double sheave 409, a driving wheel 4010, a sliding rack 4011, a rack 4012, a second engaging plate 4013 and a connecting column 4014; the lower parts of the two third U-shaped frames 306 are respectively welded with a T-shaped plate 401; the left part and the right part of the two T-shaped plates 401 are respectively provided with a first I-shaped sliding groove 40101; the middle parts of the two T-shaped plates 401 are respectively connected with a sleeve 402 in a rotating way; two sleeves 402 are respectively screwed with a screw 403; the upper parts of the two screw rods 403 are respectively rotatably connected with a first connecting plate 404; the middle parts of the opposite sides of the two T-shaped plates 401 are respectively welded with a positioning rod 406; the two first connecting plates 404 are connected with a positioning rod 406 in a sliding way at the back sides; a first elastic member 405 is fixedly connected to the lower surfaces of the two first connecting plates 404; the lower parts of the two first elastic pieces 405 are fixedly connected with a T-shaped plate 401 respectively; two positioning rods 406 each pass through one first elastic member 405; the front part and the rear part of the two T-shaped plates 401 are respectively connected with a rotating shaft 407 in a rotating way; the upper parts of the four rotating shafts 407 are fixedly connected with a gear 408 respectively; the outer surfaces of the two sleeves 402 are fixedly connected with a double grooved pulley 409; the outer surfaces of the four rotating shafts 407 are fixedly connected with a driving wheel 4010 respectively; the outer ring surface of each double-grooved wheel 409 is in transmission connection with two adjacent transmission wheels 4010 through a belt; a sliding frame 4011 is connected to each of the four first horizontal sliding grooves 40101 in a sliding manner; the upper parts of the opposite sides of two adjacent sliding frames 4011 are fixedly connected with a rack 4012 respectively; four racks 4012 each engage with one gear 408; the lower parts of two adjacent sliding frames 4011 are respectively welded with a second connecting plate 4013; two adjacent gears 408 are welded with a connecting column 4014 on the opposite side; two adjacent connecting posts 4014 are fixedly connected to a guard member 18 on opposite sides.

The first elastic member 405 is a spring.

Two adjacent first linear sliding grooves 40101 are staggered from each other in the front-back corresponding position.

According to fig. 2 and fig. 10-11, the cooling unit comprises a cooler 501, a disc 502, a connecting rod 503, a heat exchanger 504 and a connecting piece 505; the opposite sides of the two mounting discs 101 are respectively fixedly connected with a cooler 501; two first electric actuators 102 are respectively fixedly connected with a disc 502; two discs 502 are located between the two desuperheaters 501; four connecting rods 503 are welded on the opposite sides of the two disks 502 in an annular array manner; the heat exchangers 504 are fixedly connected to the opposite sides of the left four connecting rods 503 and the right four connecting rods 503 respectively; two connecting pieces 505 are fixedly connected to the back sides of the two heat exchangers 504; the connector 505 is a flexible hose; the two left connecting pieces 505 and the two right connecting pieces 505 are fixedly connected with a cooler 501 respectively on the opposite sides.

Each connector 505 is a low thermal conductivity ceramic material.

According to the figures 1-3, the automatic box opening and sealing device further comprises a first conveying assembly 1, a polishing assembly 2, a pipe cutting assembly 3, a positioning assembly 4, a chamfering assembly 5, a printing assembly 6, a second conveying assembly 7, a box opening assembly 11, a third conveying assembly 12, a box sealing assembly 13, a feeding assembly 14 and a winding assembly 15; the left part of the first transmission component 1 is connected with a polishing component 2; the right part of the first transmission assembly 1 is connected with a pipe cutting assembly 3; the right part of the pipe cutting assembly 3 is connected with a positioning assembly 4; the rear part of the positioning component 4 is connected with a chamfering component 5; the rear part of the chamfering component 5 is connected with a printing component 6; the positioning component 4 is connected with a second transmission component 7; the second transmission assembly 7 is used for transferring and fixing the steel pipe by matching with the first robot 8 and the electric gripper 9; the rear part of the first robot 8 is provided with a box opening assembly 11; the right part of the box opening assembly 11 is connected with a third transmission assembly 12; the right part of the third transmission assembly 12 is connected with a box sealing assembly 13; a feeding component 14 is arranged on the right side of the first robot 8; the right of the feeding component 14 is provided with a film winding component 15.

As shown in fig. 2 and 12, the device further comprises a feeding unit; a feeding unit is arranged in front of the two second robots 10; the feeding unit comprises a support 601, an electric turntable 602, a U-shaped frame 603, a second elastic piece 604 and a tray 605; a support 601 is respectively arranged in front of the two second robots 10; an electric rotating disc 602 is respectively arranged on the two supports 601; the two electric turntables 602 are connected with four U-shaped frames 603 through adapters; two second linear sliding grooves 60301 are symmetrically formed in each U-shaped frame 603; each U-shaped frame 603 is symmetrically provided with two U-shaped grooves 60302; the two second linear sliding grooves 60301 and the two U-shaped grooves 60302 are perpendicular to each other; a second elastic piece 604 is fixedly connected to the inner bottom surface of each U-shaped frame 603; a tray 605 is fixed on the upper part of each second elastic member 604.

The second elastic member 604 is a spring.

The intelligent equipment with the robot combined multi-membrane shell unit is installed in a steel pipe processing workshop, the intelligent equipment is called as the intelligent equipment for short, the intelligent equipment is placed stably at first, a power supply of the steel pipe processing workshop is connected, then an operator places the steel pipe in a first transmission assembly 1, the first transmission assembly 1 transmits the steel pipe to a polishing assembly 2, the polishing assembly 2 polishes the outer surface of the steel pipe, then the first transmission assembly 1 continuously transfers the polished steel pipe to a pipe cutting assembly 3, the steel pipe is cut into required length under the matching of the pipe cutting assembly 3 and a positioning assembly 4, the cut steel pipe falls on a second transmission assembly 7, the second transmission assembly 7 transfers the steel pipe, when the steel pipe reaches a working area of a chamfering assembly 5, the chamfering assembly 5 polishes burrs at two ends of the steel pipe, and chamfers two end ports, then the second transmission component 7 transfers the steel pipe to the working area of the printing component 6, the printing component 6 prints the left part of the steel pipe, after the steel pipe is printed, the second transmission component 7 transfers the steel pipe to the lower part of the electric gripper 9, then the first robot 8 drives the electric gripper 9 to move downwards, the middle part of the steel pipe is fixed by the electric gripper 9, meanwhile, two protection pieces 18 tightly hold the two ends of the steel pipe through power units, when the steel pipe is not tightly held, the tightly holding position is adjusted through an adaptation unit, the first robot 8 lifts the steel pipe through the electric gripper 9, then two second robots 10 respectively suck the iron pieces from a feeding unit through electromagnets 16, meanwhile, the cooling unit cools the two iron pieces, then the two second robots 10 transfer the two iron pieces to the vicinity of the steel pipe orifice, when the steel pipe orifice is close to, under the cooperation of the linkage unit and the four positioners 17, determining the position of a steel pipe opening, then pushing two iron sheets into two ends of a steel pipe through two second robots 10, cooling the iron sheets to enable the iron sheets to shrink so as to facilitate the tight fit of the iron sheets and the steel pipe, at the moment, an operator places a carton skin on an unpacking assembly 11, the unpacking assembly 11 opens the carton skin into complete cartons, then the cartons are transferred through a third transmission assembly 12, when the cartons are transferred out from the unpacking assembly 11 through the third transmission assembly 12, the steel pipes are sequentially transferred into the cartons through the cooperation of a first robot 8 and an electric gripper 9, then the cartons are transferred to a sealing assembly 13 through the third transmission assembly 12, the sealing assembly 13 seals the cartons containing the steel pipes, at the moment, a feeding assembly 14 sequentially sends out a tray 605 to a winding membrane assembly 15, and the sealing assembly 13 transfers the cartons subjected to sealing to the tray 605, after the paper boxes are stacked to a certain height, the film winding assembly 15 winds the paper boxes to avoid mess of goods and damp of the goods.

Steel pipe fixing stage: starting the first robot 8, the first robot 8 drives the electric gripper 9 to move downwards, the electric gripper 9 drives the two second electric actuators 304 to move downwards, the two first electric actuators 102 drive one third U-shaped frame 306 to move through the second U-shaped frame 305 respectively, the two third U-shaped frames 306 slide on the two sliding rods 302 respectively, the two third U-shaped frames 306 drive one T-shaped plate 401 to move synchronously, each T-shaped plate 401 drives the sleeve 402, the positioning rod 406, the two rotating shafts 407 and the two sliding frames 4011 to move downwards, the sleeve 402 drives the screw rod 403 and the two grooved wheels 409 to move downwards, the screw rod 403 drives the first connecting plate 404 to move downwards, each rotating shaft 407 drives one gear wheel 408 and the positioning rod 4010 to move downwards, each sliding frame 4011 drives one gear rack 4012 and the second connecting plate 4013 to move downwards, each second connecting plate 4013 drives one protecting piece 18 through the connecting post 4014 respectively, when the lower parts of two adjacent protecting pieces 18 pass through the front side and the rear side of the steel pipe and continue to descend, when the steel pipe contacts the screw 403, the two screw 403 are pushed upwards by the surface of the steel pipe, the two screw 403 respectively drive one sleeve 402 to rotate, the two sleeves 402 respectively drive one double sheave 409 to rotate, the outer annular surfaces of the two double sheaves 409 respectively drive two driving wheels 4010 to rotate through a belt, each driving wheel 4010 respectively drive one gear 408 to rotate through a rotating shaft 407, each gear 408 respectively drive one rack 4012 to move, each rack 4012 respectively drive a connecting column 4014 to move through a sliding frame 4011, each connecting column 4014 respectively drive one protecting piece 18 to move, so that the two adjacent protecting pieces 18 move towards the direction of approaching each other until the two adjacent protecting pieces 18 clasp the left part and the right part of the steel pipe, and the electric gripper 9 grasps the middle part of the steel pipe, wherein according to the length of the cut steel pipe, the expansion and contraction of the two second electric actuators 304 are controlled, so that the position adjustment of the holding of the two adjacent protection pieces 18 on the steel pipe is realized.

An iron sheet picking stage: firstly, an operator stacks combined iron sheets, places the combined iron sheets on each tray 605, as the number of the placed iron sheets increases, each second elastic part 604 is compressed, each tray 605 descends, each tray 605 is limited by two second straight chutes 60301, after a certain iron sheet is placed, each second robot 10 controls one electromagnet 16 to reach the upper part of the iron sheet, then starts the two electromagnets 16, the two electromagnets 16 move downwards and descend from the position of the U-shaped groove 60302 of each U-shaped frame 603, each electromagnet 16 sucks one iron sheet, as the iron sheets decrease, the second elastic part 604 below the corresponding tray 605 recovers part, the corresponding tray 605 synchronously moves upwards, feeding of the iron sheets at the fixed position of the uppermost layer is realized, contact abrasion of the electromagnets 16 is reduced, and after the iron sheets on each U-shaped frame 603 are used up, through starting electric turntable 602, realize adjusting the position of U-shaped frame 603, second robot 10 gets the operation of iron sheet in the same position, wherein when electro-magnet 16 absorbs the iron sheet, starts two desuperheaters 501, and two desuperheaters 501 are respectively through two connecting pieces 505, conduct low temperature to heat exchanger 504, and heat exchanger 504 exchanges with the iron sheet for the iron sheet temperature reduces.

And (3) a membrane shell combination stage: then two second robots 10 transfer iron sheets to the vicinity of the steel pipe opening, then each string 205 moves on one electric slide rail 203 through two electric slide blocks, each string 205 moves towards the direction close to the positioner 17, each positioner 17 rotates, the two positioners 17 on the left and the two positioners 17 on the right are folded towards the side and the middle in opposite directions, the openings of the two adjacent positioners 17 face opposite directions, the two adjacent positioners 17 approach the position of the steel pipe opening in an opposite clamping manner, and simultaneously through the adjustment of the two second robots 10, until the two adjacent positioners 17 lean against the edge of the steel pipe, after the position is determined, the two second robots 10 stop, then each string 205 moves on the two electric slide rails 203 through the electric slide blocks, then each string 205 resets, and simultaneously each positioner 17 resets through a torsion spring, each positioner 17 leaves the steel pipe opening, then two first electric actuators 102 are started, the two first electric actuators 102 extend to respectively drive one electromagnet 16 to move towards the direction close to each other, the two electromagnets 16 respectively drive one iron sheet to push into the steel pipe opening, meanwhile, the nearby part of the steel pipe opening is protected by every two adjacent protection parts 18, the situation that when the first electric actuators 102 plug the iron sheets into the steel pipe opening, the position of a steel pipe is touched is avoided, after the iron sheets enter the steel pipe opening to be tightly matched, the two electromagnets 16 are controlled not to attract the iron sheets, meanwhile, the cooler 501 is closed, then, the two second robots 10 respectively control one electromagnet 16 to exit from the position of the film shell combination, the first robot 8 rotates, and the steel pipe is transferred to the third transmission assembly 12 with the opened paper box.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims

1. An intelligent device of a robot combined multi-membrane shell unit comprises a first robot (8), an electric gripper (9), a second robot (10) and an electromagnet (16); the upper part of the first robot (8) is connected with an electric gripper (9); the left part and the right part of the first robot (8) are respectively provided with a second robot (10); the upper parts of the opposite sides of the two second robots (10) are respectively connected with an electromagnet (16); the first robot (8), the electric gripper (9), the second robot (10) and the electromagnet (16) are matched to assemble an iron sheet at each end of the steel pipe; the device is characterized by also comprising a positioner (17), a protection piece (18), a linkage unit, an adaptation unit, a power unit and a cooling unit; the upper parts of the opposite sides of the two second robots (10) are respectively connected with a linkage unit; the front part and the rear part of the two linkage units are respectively connected with a positioner (17); the left part and the right part of the electric gripper (9) are connected with adaptation units for adapting to the cut steel pipes with different lengths; the left part and the right part of the adaptation unit are connected with a power unit; two protection pieces (18) are connected to the left part and the right part of the power unit respectively; the upper parts of the opposite sides of the two second robots (10) are respectively connected with a cooling unit for cooling the iron sheet; the linkage unit is matched with the positioner (17) to position the position of the steel pipe opening in a two-point limiting mode, and the power unit is matched with the protection piece (18) to tightly hold the position of the steel pipe opening.

2. The intelligent device of a robot combined multi-membrane shell unit as claimed in claim 1, wherein the locators (17) are arc-shaped plates for locating the steel pipe openings in an opposite clamping manner, and the openings of two adjacent locators (17) face in opposite directions.

3. The intelligent device of a robot combined multi-membrane shell unit as claimed in claim 1, wherein the protection pieces (18) are semi-annular rubber strips used for holding the steel pipe mouth nearby, and two adjacent protection pieces (18) can be combined into a complete ring.

4. The intelligent equipment of a robot combined multi-membrane shell unit according to claim 1, characterized in that the second robot (10) comprises a mounting plate (101), a first electric actuator (102) and a mechanical arm (103); the upper part of the mechanical arm (103) is connected with a mounting disc (101); a first electric actuator (102) is arranged on the right side of the mounting disc (101); the two first electric actuators (102) are connected with the linkage unit through telescopic parts; the telescopic part of the first electric actuator (102) is connected with the electromagnet (16).

5. The intelligent equipment of a robot combined multi-membrane shell unit as claimed in claim 4, wherein the linkage unit comprises a first support plate (201), a first U-shaped frame (202), an electric slide rail (203), a connecting block (204) and a string (205); the telescopic parts of the two first electric actuators (102) are respectively fixedly connected with a first support plate (201); the rear parts of the front parts of the two first support plates (201) are respectively fixedly connected with a first U-shaped frame (202); two electric slide rails (203) are arranged on the opposite sides of the two first U-shaped frames (202) on the left; two electric slide rails (203) are arranged on the opposite sides of the two first U-shaped frames (202) on the right; two adjacent electric slide rails (203) are respectively connected with a connecting block (204) in a sliding way through an electric slide block; a string (205) is connected between each two adjacent connecting blocks (204); each first U-shaped frame (202) is rotatably connected with a positioner (17); a torsion spring is arranged between each first U-shaped frame (202) and the adjacent positioner (17); four strings (205) are used for contacting and driving with one locator (17) respectively.

6. The intelligent device of a robot combined multi-membrane shell unit as claimed in claim 5, wherein the adaptive unit comprises a second support plate (301), a slide bar (302), a third support plate (303), a second electric actuator (304), a second U-shaped frame (305) and a third U-shaped frame (306); the left part and the right part of the electric gripper (9) are respectively fixedly connected with a second support plate (301); the front part and the rear part of each of the two second support plates (301) are fixedly connected with a sliding rod (302); the back sides of the two front sliding rods (302) are fixedly connected with a third support plate (303) respectively; the back sides of the two rear sliding rods (302) are fixedly connected with a third support plate (303) respectively; the left part and the right part of the electric gripper (9) are respectively provided with a second electric actuator (304); two second U-shaped frames (305) are respectively fixedly connected with the telescopic parts of the two second electric actuators (304); a third U-shaped frame (306) is fixedly connected to the back sides of the two second U-shaped frames (305) respectively; the front part and the rear part of each of the two third U-shaped frames (306) are respectively connected with a sliding rod (302) in a sliding way; the lower parts of the two third U-shaped frames (306) are connected with the power unit.

7. The intelligent device of the robot combined multi-membrane shell unit as claimed in claim 6, wherein the cooling unit comprises a cooler (501), a disc (502), a connecting rod (503), a heat exchanger (504) and a connecting piece (505); the opposite sides of the two mounting discs (101) are respectively fixedly connected with a cooler (501); two first electric actuators (102) are respectively fixedly connected with a disc (502); the two discs (502) are positioned between the two coolers (501); four connecting rods (503) are fixedly connected to the opposite sides of the two disks (502) in an annular array; the heat exchangers (504) are fixedly connected to the opposite sides of the left four connecting rods (503) and the right four connecting rods (503); two connecting pieces (505) are fixedly connected to the back sides of the two heat exchangers (504) respectively; the connecting piece (505) is a flexible hose with elasticity; the two connecting pieces (505) on the left side and the two connecting pieces (505) on the right side are fixedly connected with a cooler (501) respectively on the opposite back sides.

8. The smart device of claim 7, wherein each connector (505) is a ceramic material with low thermal conductivity.

9. The intelligent device of the robot combined multi-membrane shell unit as claimed in claim 7, further comprising a first conveying assembly (1), a polishing assembly (2), a pipe cutting assembly (3), a positioning assembly (4), a chamfering assembly (5), a printing assembly (6), a second conveying assembly (7), a box opening assembly (11), a third conveying assembly (12), a box sealing assembly (13), a feeding assembly (14) and a membrane winding assembly (15); the left part of the first transmission assembly (1) is connected with a polishing assembly (2) for polishing the surface of the steel pipe; the right part of the first transmission assembly (1) is connected with a pipe cutting assembly (3) for cutting a steel pipe; the right part of the pipe cutting component (3) is connected with a positioning component (4) for cutting the fixed-length steel pipe; the rear part of the positioning component (4) is connected with a chamfering component (5) used for removing burrs at two ends of the cut steel pipe; the rear part of the chamfering component (5) is connected with a printing component (6) for printing characters on the steel pipe material; the positioning component (4) is connected with a second transmission component (7); the second transmission assembly (7) is used for being matched with the first robot (8) and the electric gripper (9) to transfer and fix the steel pipe; the rear part of the first robot (8) is provided with a box opening assembly (11) for opening the paper box to accommodate the steel pipe; the right part of the box opening assembly (11) is connected with a third transmission assembly (12); the right part of the third transmission assembly (12) is connected with a box sealing assembly (13) for sealing the box filled with the steel pipe; a feeding component (14) for sequentially feeding the trays (605) is arranged on the right side of the first robot (8); and a film winding component (15) for coating the steel pipes which are piled up is arranged on the right of the feeding component (14).

10. The intelligent device of the robot combined multi-membrane shell unit according to claim 9, further comprising a feeding unit; a feeding unit is arranged in front of the two second robots (10); the feeding unit comprises a support (601), an electric rotating disc (602), a U-shaped frame (603), a second elastic piece (604) and a tray (605); a support (601) is respectively arranged in front of the two second robots (10); an electric rotating disc (602) is respectively arranged on the two supports (601); four U-shaped frames (603) are connected to the two electric turntables (602) through adapters; two second straight chutes (60301) are symmetrically formed in each U-shaped frame (603); each U-shaped frame (603) is symmetrically provided with two U-shaped grooves (60302); the two second straight chutes (60301) and the two U-shaped grooves (60302) are positioned at the positions vertical to each other; a second elastic piece (604) is fixedly connected to the inner bottom surface of each U-shaped frame (603); a tray (605) is fixedly connected to the upper part of each second elastic element (604).