CN115648414A - Automatic drill rod changing system and method and aerated concrete production line - Google Patents

Abstract

The invention relates to an automatic drill rod changing system and method and an aerated concrete production line, wherein the automatic drill rod changing system comprises a drill rod storage line, a saddle seat conveying line and a drill rod changing manipulator, the drill rod storage line is suitable for storing and conveying drill rods, the saddle seat conveying line is provided with a drill rod changing position and is suitable for receiving and conveying saddle seats inserted with the drill rods; the drill rod changing manipulator is suitable for clamping steel rods on a saddle seat at a drill rod changing position and placing the steel rods on a steel rod storage line or clamping the steel rods on the steel rod storage line and placing the steel rods on the saddle seat at the drill rod changing position, and the drill rod changing manipulator can insert the clamped steel rods into the steel rod storage line and/or the saddle seat after adjusting the distance between the clamped steel rods. According to the automatic drill rod changing system provided by the invention, the drill rod changing manipulator can change and increase and decrease the drill rods between the saddle seat conveying line and the drill rod storage line, and can adjust the spacing of the drill rods, so that full-automatic drill rod changing can be realized, the number of the drill rods does not need to be increased and decreased manually or the spacing of the drill rods does not need to be adjusted, the efficiency is higher, and the labor cost is lower.

Description

Automatic drill rod changing system and method and aerated concrete production line

Technical Field

The invention relates to the technical field of automatic drill rod replacement, in particular to an automatic drill rod replacement system and method and an aerated concrete production line.

Background

In the production process of the autoclaved aerated concrete plate, in order to ensure the strength of the aerated plate, a steel bar mesh needs to be added in the autoclaved aerated concrete plate, the steel bar mesh is brought into a plate blank through a steel chisel provided with a plastic buckle in the processing process, the plastic buckle, the steel chisel, the steel bar mesh and the plate blank are autoclaved and molded together, the plastic buckle is melted in the process, the steel bar mesh is left in the plate, and then the steel chisel is pulled out for reuse.

Because the concrete panel that needs to produce has multiple thickness specification, and different specification products, the distance between the drill rod and the quantity of drill rod all are different, in order to adapt to the production demand of different product specifications, just need adjust the quantity and the drill rod interval of the drill rod on the saddle seat of following the saddle frame and tearing down. However, because the existing manipulator can not automatically change the pitch, the pitch is mostly manually adjusted or the number of steel chisels is increased or decreased according to the specification of a plate, so that the time and labor are wasted, the efficiency is low, and the full-automatic drill chisels changing without manual participation can not be completely realized.

Disclosure of Invention

Therefore, the invention aims to overcome the defects that in the production process of the autoclaved aerated concrete plate in the prior art, the space needs to be adjusted manually according to the plate specification or the number of steel brazes needs to be increased or decreased, the time and the labor are wasted, and the efficiency is low, so that the automatic distance-variable automatic drill rod changing system and method and the aerated concrete production line are provided.

In order to solve the above problem, in a first aspect, the present invention provides an automatic drill rod changing system, comprising: the drill rod storage line is suitable for storing and conveying drill rods, the saddle seat conveying line is arranged on one side of the drill rod storage line and is provided with a drill rod changing position, and the saddle seat conveying line is suitable for receiving and conveying the saddle seat inserted with the drill rods; the drill rod changing manipulator is arranged corresponding to the drill rod storage line and the saddle seat conveying line, is suitable for clamping the drill rods on the saddle seat at the drill rod changing position and placing the drill rods on the drill rod storage line or clamping the drill rods on the drill rod storage line and placing the drill rod on the saddle seat at the drill rod changing position, and can insert the clamped drill rods into the drill rod storage line and/or the saddle seat after adjusting the distance between the clamped drill rods.

Optionally, the drill rod changing manipulator comprises: a manipulator body, the manipulator body comprising: a fixed seat; the clamps are arranged on the fixed seat and are sequentially arranged along the length direction of the fixed seat, and the clamps are suitable for taking and placing steel rods; and the variable-pitch driving mechanism is arranged on the fixed seat and is used for adjusting the intervals of the plurality of clamps so as to adjust the intervals of the steel rods on the clamps.

Optionally, the drill rod changing manipulator further comprises: the equidistant connecting rod mechanism comprises a plurality of scissor units which are sequentially hinged, each scissor unit comprises two scissor rods, the middle parts of the two scissor rods are mutually crossed and hinged, the distances of the cross hinge points in the middle parts of the scissor units are equal, and the clamps are correspondingly connected with the cross hinge points one by one; the variable-pitch driving mechanism can drive the equidistant connecting rod mechanism to extend or retract so as to drive the two adjacent clamps to be away from or close to each other, so that the distance between the clamps is adjusted.

Optionally, the clamp comprises: the fixing clamps are one and are fixedly arranged on the fixing seats; the movable clamps are arranged on the fixed seat in a sliding manner along the length direction of the fixed seat; the variable-pitch driving mechanism is connected with one of the movable clamps and can drive the movable clamps to be close to or far away from the fixed clamps so as to drive the equidistant connecting rod mechanism to extend or furl.

Optionally, the fixing clamp is disposed at one end of the fixing seat, and the pitch drive mechanism includes: the power component is fixedly arranged at the other end of the fixed seat; and the transmission part is connected with the output end of the power part and is connected with the first movable clamp positioned at the other end of the fixed seat.

Optionally, the drill rod changing manipulator further comprises: the mounting bracket comprises a supporting beam positioned above the steel chisel storage line and the saddle seat conveying line; the manipulator body is movably arranged on the supporting cross beam along the length direction of the supporting cross beam, the manipulator body is transversely movably arranged on the supporting cross beam, and the manipulator body can move between a drill rod taking position for taking and placing the drill rod on the drill rod storage line and a drill rod changing position for taking and placing the drill rod on the saddle seat conveying line along the supporting cross beam.

Optionally, the drill rod changing manipulator further comprises: the lifting driving mechanism is arranged on the mounting bracket and is suitable for driving the manipulator body to lift in the vertical direction; and the horizontal driving mechanism is arranged between the lifting driving mechanism and the manipulator body and is suitable for driving the manipulator body to move in the conveying direction of the saddle seat conveying line.

Optionally, the drill steel storage line and the saddle seat conveying line are arranged side by side, the head and the tail of the drill steel storage line and the head and the tail of the saddle seat conveying line are staggered, and the supporting cross beam spans above the drill steel storage line and the saddle seat conveying line.

Optionally, the automatic drill rod replacing system further comprises a jacking mechanism, a drill rod taking position of the drill rod storage line and a drill rod replacing position of the saddle seat conveying line are respectively provided with the jacking mechanism, and the jacking mechanism is suitable for jacking a drill rod to a preset height.

Optionally, the jacking mechanism includes a jacking plate and a jacking driving member, the jacking driving member is arranged on the drill steel storage line and the saddle seat conveying line, and the jacking driving member is connected with the jacking plate.

In a second aspect, the invention further provides a drill rod changing method applied to the automatic drill rod changing system, and the drill rod changing method includes the following steps: s10, receiving a specification switching signal of a pre-produced plate; s20, controlling the saddle seat conveying line to convey the saddle seat inserted with the steel drill to a drill rod changing position; and S30, controlling the drill rod replacing manipulator to clamp the steel drill rod on the saddle frame seat at the drill rod replacing position and place the steel drill rod on the steel drill rod storage line or clamp the steel drill rod on the steel drill rod storage line and place the steel drill rod on the saddle frame seat at the drill rod replacing position.

Optionally, the step S10 includes: receiving a signal that the specification of the pre-produced plate is switched from an original specification to a new specification; judging the parameter change information of the new specification, wherein the parameter change information comprises: whether the number of the steel rods required by the new specification is larger than that of the steel rods required by the original specification and/or whether the distance between the steel rods of the new specification is smaller than that of the steel rods of the original specification.

When it is determined that the number of the drill rods required by the new specification is greater than the number of the drill rods required by the original specification, and/or the pitch of the drill rods of the new specification is smaller than the pitch of the drill rods of the original specification, the step S30 specifically includes the following steps: s3011, controlling a clamp of the drill rod replacing manipulator to clamp all original steel drill rods on the saddle seat and adjusting the distance between the clamped steel drill rods; s3012, the drill rod changing manipulator reinserts the pitch-changed drill rod into the saddle seat; and S3013, the drill rod replacing manipulator clamps a set number of drill rods from the drill rod storage line and inserts the drill rods into the saddle seat.

When it is determined that the number of the steel rods required by the new specification is smaller than the number of the steel rods required by the original specification, and/or when the distance between the steel rods of the new specification is larger than the distance between the steel rods of the original specification, the step S30 specifically includes the following steps: s3021, controlling a clamp of the drill rod changing manipulator to clamp a set number of drill rods from the saddle seat and transferring the drill rods to the drill rod storage line so as to temporarily store redundant drill rods; s3022, the drill rod replacing manipulator grabs the rest drill rods on the saddle seat and adjusts the intervals of the grabbed drill rods; and S3023, the drill rod changing manipulator reinserts the pitch-changed drill rod into the saddle seat.

In a third aspect, the present invention also provides an aerated concrete production line, including: the automatic drill rod changing system is described above.

The invention has the following advantages:

1. according to the automatic drill rod changing system provided by the invention, the drill rod changing manipulator can change and increase and decrease the drill rods between the saddle seat conveying line and the drill rod storage line, and can adjust the spacing of the drill rods, so that full-automatic drill rod changing can be realized, the number of the drill rods does not need to be increased and decreased manually or the spacing of the drill rods does not need to be adjusted, the efficiency is higher, and the labor cost is lower.

2. According to the invention, the saddle seat conveying line is used for receiving a saddle seat detached from a saddle frame and conveying the saddle seat to a preset drill rod changing position or a preset flow position, the space between old drill rods inserted into the saddle seat is matched with the specifications of a plate in a previous batch, if the specifications of the plate in the next batch are not switched, the saddle seat can be directly transferred to the next procedure through a saddle seat manipulator after being conveyed to the preset flow position, if the specifications of the plate in the next batch are changed, the saddle seat is conveyed to the preset drill rod changing position, the drill rod changing manipulator increases and decreases the number of the drill rods and adjusts the space between the drill rods according to production requirements, so that the production requirements of the plate in the batch are met, and the full-automatic drill rod changing without manual participation is realized.

3. According to the invention, the drill rod changing manipulator clamps the steel drill rods in the air to adjust the spacing, so that other parts are not easy to interfere, the operation is convenient, the spacing adjustment of the steel drill rods can be realized without improving the saddle seat structure and the like, and the modification cost is lower. And the drill rod changing manipulator adjusts the distance of the steel drill rods by adopting the equidistant connecting rod mechanism to assist the variable-pitch driving mechanism, and after the distance of the steel drill rods is adjusted, the distance is consistent and good in consistency.

4. According to the invention, the drill rod changing manipulator further comprises an equidistant connecting rod mechanism, the equidistant connecting rod mechanism comprises a plurality of scissor units which are sequentially hinged, each scissor unit comprises two scissor rods, the middle parts of the scissor rods are mutually crossed and hinged, the distances of the crossed hinge points of the middle parts of the scissor units are equal, and the plurality of clamps are correspondingly connected with the crossed hinge points one by one, so that the equidistant connecting rod mechanism can be driven to extend or retract to drive the two adjacent clamps to be mutually far away or close, the distance between the clamps can be adjusted, and the distance between the drill rods on the clamps can be adjusted. Through the arrangement of the equidistant connecting rod mechanism, the clamps can be driven to synchronously move at equal intervals, the control is convenient, the distance between the steel rods can be effectively ensured to be equal, and the plate forming quality is ensured.

5. According to the automatic drill rod changing system, the jacking mechanisms are respectively arranged on the drill rod taking position of the drill rod storage line and the drill rod changing position of the saddle seat conveying line, and the set jacking mechanisms can jack up a preset height of a drill rod, so that a drill rod changing manipulator can conveniently clamp the drill rod.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.

FIG. 1 shows a schematic structural diagram of the whole automatic drill rod changing system in the embodiment;

FIG. 2 is a schematic structural diagram of the drill-changing robot in FIG. 1;

FIG. 3 shows a partial enlarged view of FIG. 2;

FIG. 4 is a schematic structural diagram illustrating a clamping of a drill steel by the drill rod changing manipulator in the embodiment;

FIG. 5 is a schematic view showing the moving orientation of the drill-changing robot in the embodiment;

FIG. 6 is a schematic structural view showing a robot body and a horizontal driving mechanism in the embodiment;

figure 7 shows a top view of the robot body of figure 6;

FIG. 8 is a schematic diagram showing the construction of the jack mechanism in the embodiment;

FIG. 9 is a schematic structural view showing the saddle with a steel chisel inserted in the embodiment;

FIG. 10 is a flow chart showing one embodiment of the method of changing brazing filler metal in example III;

description of the reference numerals:

1. a drill steel storage line; 11. a cross beam with a drill rod;

2. a saddle seat conveyor line; 20. changing the drill rod position; 21. a saddle seat;

3. a drill rod changing manipulator;

31. a manipulator body; 311. a clamp; 3111. fixing the clamp; 3112. moving the clamp; 31101. a clamping jaw; 31102. the clamping jaw drives the cylinder;

312. a fixed seat; 3121. a limiting block;

313. equidistant link mechanisms; 3131. shearing a fork rod; 3132. a cross hinge point;

314. a variable pitch drive mechanism; 3141. a power component; 3142. a transmission member; 314211, a screw rod; 314212, a nut;

315. connecting blocks;

32. mounting a bracket; 321. a support beam; 3211. a linear guide rail;

33. a lifting drive mechanism;

34. a horizontal driving mechanism;

35. a lateral drive mechanism;

36. a movable base;

4. a jacking mechanism; 41. a jacking plate; 42. jacking a driving piece; 43. and (7) mounting a seat.

Detailed Description

The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but 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 thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

Example one

As shown in fig. 1 to 9, the present invention provides an automatic drill rod changing system, comprising: the device comprises a steel chisel storage line 1, a saddle seat conveying line 2 and a steel chisel replacing manipulator 3, wherein the steel chisel storage line 1 is suitable for storing and conveying steel chisels; the saddle conveying line 2 is arranged on one side of the steel chisel storage line 1, the saddle conveying line 2 is provided with a chisel replacing position, and the saddle conveying line 2 is suitable for receiving and conveying a saddle 21 inserted with a steel chisel; the drill rod replacing manipulator 3 corresponds to the drill rod storage line 1 and the saddle seat conveying line 2, the drill rod replacing manipulator 3 is suitable for clamping the drill rods on the saddle seat 21 at the drill rod replacing position and placing the drill rods on the drill rod storage line 1 or clamping the drill rods on the drill rod storage line 1 and placing the drill rod on the saddle seat 21 at the drill rod replacing position, and the drill rod replacing manipulator 3 can insert the drill rod storage line 1 and/or the saddle seat 21 after adjusting the distance between the clamped drill rods.

The automatic borer system that trades that this embodiment provided, the borer manipulator trades and can change the increase and decrease borer between saddle seat transfer chain and borer storage line to the interval of adjustable borer, thereby can realize full-automatic borer of trading, need not artifical increase and decrease borer quantity or adjustment borer interval, efficiency is higher, and the cost of labor is lower.

Further, the steel chisel storage line 1 is equidistantly provided with a steel chisel beam 11, the steel chisel beam 11 is provided with a drill hole, the steel chisel storage line 1 is provided with a steel chisel taking position for taking and placing the steel chisel, and the steel chisel replacing manipulator 3 takes the steel chisel from the steel chisel beam 11 at the preset steel chisel taking position or puts the redundant steel chisel back to the steel chisel beam 11 for temporary storage as required. The drill rod is stored on the drill rod storage line 1, after the drill rod is installed for one time, the subsequent drill rod replacing system automatically replaces the drill rod without manually adjusting the position of the drill rod. Saddle seat transfer chain 2 bears saddle seat 21 that a station manipulator detached from the saddle frame, and saddle seat transfer chain 2 carries saddle seat 21 to trading borer position 20 continuously, and when the production specification switches, when needing to correspond the borer of trading, the borer is traded at borer position 20 to the borer manipulator 3 that trades.

Specifically, the saddle seat conveying line 2 is configured to receive a saddle seat 21 detached from a saddle frame, and convey the saddle seat 21 to a preset drill rod changing position 20 or a preset flow position, where an interval between old drill rods inserted into the saddle seat 21 is adapted to a size of a plate in a previous batch, if a size of a plate to be produced in a next batch is not switched, the saddle seat 21 is conveyed to the preset flow position and then can be directly transferred to a next process through a saddle seat manipulator, if a size of a plate to be produced in a next batch is changed, the saddle seat 21 is conveyed to the preset drill rod changing position 20, and the drill rod changing manipulator 3 increases or decreases the number of the drill rods and adjusts the distance between the drill rods according to production needs, so as to meet production requirements of the batch of plates, thereby achieving full-automatic drill rod changing without manual participation.

Alternatively, the flow indexing position of the saddle conveyor line 2 and the drill change position 20 thereof may be different positions or may be the same position. Preferably, the saddle seat 21 is flow equalized and transferred to the drill rod changing position 20, that is, the flow equalization position and the drill rod changing position 20 are the same position, when the drill rod needs to be changed, the drill rod changing manipulator 3 changes the drill rod at the position, and the drill rod does not need to be changed, and the drill rod is directly moved to the next working procedure by the saddle seat manipulator

Further, the drill-changing manipulator 3 includes a manipulator body 31, and the manipulator body 31 includes: the device comprises a fixed seat 312, a plurality of clamps 311 and a variable pitch driving mechanism 314, wherein the clamps 311 are arranged on the fixed seat 312 and are sequentially arranged along the length direction of the fixed seat 312, and the clamps 311 are suitable for picking and placing steel rods; the pitch-variable driving mechanism 314 is disposed on the fixing base 312 and is used for adjusting the pitch of the plurality of clamps 311, so as to adjust the pitch of the steel rods clamped by each clamp 311.

When the specification of the pre-produced plate is switched, the drill rod changing manipulator 3 can change the increased and decreased drill rods between the saddle seat conveying line 2 and the drill rod storage line 1, and can insert the steel rods on the adjusting clamp 311 into the saddle seat 21 again after the distance between the steel rods is adjusted, so that the full-automatic drill rod changing is realized, the number of the steel rods does not need to be increased or decreased manually or the distance between the steel rods is adjusted, the efficiency is higher, and the labor cost is lower.

In the above solution, as shown in fig. 4, 6 and 7, the clamp 311 includes two opposite clamping jaws 31101, and a clamping jaw driving cylinder 31102 for driving the two clamping jaws 31101 to move close to or away from each other to clamp or release the steel chisel. The fixing base 312 includes a long fixing plate, and the plurality of clamps 311 are sequentially arranged along a length direction of the fixing plate on a side surface of the fixing plate.

Optionally, as shown in fig. 2 to 4 and fig. 6 and 7, the drill-changing manipulator 3 further comprises an equidistant linkage mechanism 313, and the equidistant linkage mechanism 313 is adapted to link each clamp 311 to realize synchronous equidistant movement for driving each clamp 311.

Specifically, the equidistant linkage mechanism 313 includes a plurality of scissors units hinged in sequence, and the number of the scissors units is the same as that of the clamps 311, and the scissors units are arranged in a one-to-one correspondence manner. Further, the scissors unit includes two scissors rods 3131 whose middle portions are crossed and hinged to each other, the pitch of the crossing hinge points 3132 in the middle portions of the scissors unit is equal, and the plurality of clamps 311 are connected to the plurality of crossing hinge points 3132 in a one-to-one correspondence; the pitch-variable driving mechanism 314 can drive the equidistant linkage mechanism 313 to extend or retract so as to drive the two adjacent clamps 311 to move away from or close to each other, thereby adjusting the spacing between the clamps 311. Through the arrangement of the equidistant connecting rod mechanism 313, the clamps 311 can be driven to synchronously move at equal intervals, the control is convenient, the distances among all steel rods can be effectively ensured to be equal, and the plate forming quality is ensured.

Alternatively, as shown in fig. 6 and 7, along the length direction of the fixing base 312, one side end portions of two scissor rods 3131 of the middle scissor unit are respectively hinged to one side end portions of two scissor rods 3131 of the adjacent last scissor unit, and the other side end portions of two scissor rods 3131 of the adjacent next scissor unit are respectively hinged to one side end portions of two scissor rods 3131 of the adjacent next scissor unit, so as to realize connection between the respective scissor units.

Alternatively, in this embodiment, the length and the inclination angle of each scissor lever 3131 of the plurality of scissor units are the same.

Preferably, in order to avoid the ends of the fork bars 3131 of the fork units located at the two ends of the fixed base 312 from protruding out and interfering with or scraping other components when the equidistant linkage mechanism 313 is unfolded, as shown in fig. 6, in this embodiment, the lengths of the fork bars 3131 of the fork units located at the two ends are half of the length of the fork bar 3131 of the middle fork unit, and the ends of the two fork bars 3131 are hinged to ensure that the distances between the clamps 311 are the same, so that not only can the protrusion of the fork bars 3131 located at the two ends be avoided and the interference or scraping of other components be avoided, but also the occupied space of the whole manipulator can be reduced.

Further, as shown in fig. 6, in the above solution, two hinge points of two adjacent scissors units connected up and down and two hinge points of two adjacent scissors units connected with the corresponding clamp 311 form a parallelogram.

The drill rod changing manipulator 3 provided by the embodiment adjusts the distance between the drill rods by adopting the equidistant link mechanism 313 and the auxiliary variable-pitch driving mechanism 314, and after the distance is adjusted, the distance between the drill rods is consistent, so that the consistency is better. And trade borer manipulator 3 and press from both sides the borer and carry out interval adjustment aloft, be difficult for other parts to produce and interfere, convenient operation does not need to improve saddle seat 21 structure etc. moreover and can realize the interval adjustment of each borer, and the transformation cost is lower.

Optionally, in this embodiment, the clamp 311 includes a longitudinal base plate, the clamping jaw 31101 and the clamping jaw driving cylinder 31102 are both fixedly disposed on the longitudinal base plate, and the cross hinge 3132 of the plurality of scissors units is connected to the longitudinal base plate through a hinge shaft.

Optionally, as shown in fig. 6 and 7, the clamp 311 includes a fixed clamp 3111 and a movable clamp 3112, and the fixed clamps 3111 are one and fixedly disposed on the fixed seat 312; a plurality of movable jigs 3112 are provided, and the plurality of movable jigs 3112 are slidably disposed on the fixed base 312 along a length direction of the fixed base 312; the pitch-variable driving mechanism 314 is connected to one of the movable clamps 3112 and can drive the movable clamp 3112 to approach or separate from the fixed clamp 3111, so as to drive the equidistant link mechanism 313 to extend or retract.

In the above embodiment, the variable-pitch driving mechanism 314 may be connected to any one of the plurality of movable jigs 3112, and the variable-pitch driving mechanism 314 drives the movable jig 3112 to approach or separate from the fixed jig 3111. Alternatively, the fixing jig 3111 is provided in the middle, and the pitch drive mechanism 314 is connected to one movable jig 3112 located on one side of the fixing jig 3111 so that the movable jig 3112 located on both sides of the fixing jig 3111 can be stored in the middle fixing jig 3111. In this embodiment, the position of the fixing jig 3111 is not limited, and the fixing jig 3111 may be disposed at an end position or at any position between both ends.

Alternatively, as shown in fig. 7, the fixing clamp 3111 is disposed at one end of the fixing seat 312, the variable pitch driving mechanism 314 includes a power component 3141 and a transmission component 3142, and the power component 3141 is fixedly disposed at the other end of the fixing seat 312; the transmission part 3142 is connected with the output end of the power part 3141 and connected with the first movable clamp 3112 at the other end of the fixed seat 312. By adopting the above design, the equidistant synchronous motion of each clamp 311 can be ensured, and the cost can be saved.

Further, the fixed clamp 3111 is connected and fixed on the fixed seat 312 through a connecting block 315, two linear guide rails extending along the length direction of the fixed seat 312 are arranged on one side surface of the fixed seat 312 close to the clamp 311 at intervals, the two linear guide rails are arranged at intervals up and down, and the movable clamp 3112 is connected on the linear guide rails through a sliding block and is suitable for moving along the length direction of the linear guide rails.

Optionally, the clamping jaw 31101 and the clamping jaw driving cylinder 31102 are both fixedly arranged on one side surface of the longitudinal base plate, a slider is respectively arranged on the upper side and the lower side of the other side surface of the longitudinal base plate, the two sliders slide on the two linear guide rails in parallel, and parallel equidistant movement between the groups of clamps 311 is effectively ensured through the matching of the two groups of slider guide rails.

Further, the transmission member 3142 includes a screw 314211 and a nut 314212, the screw 314211 is connected to an output end of the power member 3141 and extends along a length direction of the fixing plate, and the nut 314212 is connected to a first movable clamp 3112 at the other end of the fixing plate. The power part 3141 drives the screw rod 314211 to rotate to drive the nut 314212 to move along the screw rod 314211, and further drives the movable clamp 3112 connected with the nut 314212 to move, so that the equidistant link mechanism 313 is folded or unfolded, and further the rest movable clamps 3112 are driven to move, and therefore the distance between the clamps 311 is adjusted.

Further, as shown in fig. 7, a limit block 3121 is further fixedly disposed at a position corresponding to an end of the lead screw 314211 in the middle of the fixing base 312, and one end of the lead screw 314211 is connected with the power component 3141, and the other end is rotatably limited and connected in the limit block 3121.

Alternatively, in this embodiment, the power component 3141 is a variable pitch drive motor fixedly disposed on the fixing base 312.

In this embodiment, the equidistant linkage mechanism 313 includes a plurality of links having the same distance from the hinge points connected between the respective sets of clamps 311, and forming an X-shaped structure with each other, and when one of the clamps 311 moves, the angles of the respective links are changed equally, and the intervals between the clamps 311 are changed equally accordingly. The mode of realizing equidistance regulation does: the clamp 311 at one end is fixed with the fixed seat 312 through the connecting block 315, the clamp 311 at the other end is connected with the nut 314212, the clamps 311 are hinged by adopting a connecting rod structure with equal hinge point spacing, when the variable-pitch driving motor drives the screw rod to rotate, the clamp 311 connected with the nut 314212 moves to drive the equidistant connecting rod mechanism 313 to extend or retract, and the middle clamp 311 is driven to move at equal spacing.

In other alternative embodiments, the equidistant pitch of the clamps 311 may be achieved by camshaft guidance or the like. The camshaft guide means that guide grooves are machined in guide shafts, the guide shafts rotate to different angles, and the contact positions of the guide grooves and guide rods on the clamps 311 are different, so that the distance between the clamps 311 is adjusted.

Optionally, as shown in fig. 1 and fig. 2, the drill rod changing manipulator 3 further includes a mounting bracket 32, and the mounting bracket 32 includes a supporting beam 321 located above the drill rod storage line 1 and the saddle seat conveying line 2; the manipulator body 31 is transversely movably arranged on the supporting cross beam 321, and the manipulator body 31 can move between a drill rod taking position for taking and placing the drill rod on the drill rod storage line 1 and a drill rod changing position for taking and placing the drill rod on the saddle seat conveying line 2 along the supporting cross beam 321. The drill-changing manipulator 3 further comprises a transverse driving mechanism 35 arranged on the supporting cross beam 321, and the transverse driving mechanism 35 is suitable for driving the manipulator body 31 to move transversely along the supporting cross beam 321.

In this embodiment, as shown in fig. 1, the drill steel storage line 1 and the saddle conveyor line 2 are arranged side by side, the head and the tail of the drill steel storage line 1 and the head and the tail of the saddle conveyor line 2 are arranged in a staggered manner, and the support cross beam 321 spans over the drill steel storage line 1 and the saddle conveyor line 2. The drill rod taking position of the drill rod storage line 1 and the drill rod changing position 20 of the saddle seat conveying line 2 are both located below the supporting cross beam 321, so that a manipulator body 31 on the supporting cross beam 321 can conveniently change the drill rod between the drill rod storage line 1 and the saddle seat conveying line 2.

Optionally, the mounting bracket 32 further includes two upright posts fixedly disposed at two ends of the supporting beam 321, and the supporting beam 321 is supported above the drill steel storage line 1 and the saddle seat conveying line 2 by a set height.

Optionally, the drill-changing manipulator 3 further comprises a lifting driving mechanism 33, and the lifting driving mechanism 33 is arranged on the mounting bracket 32 and is adapted to drive the manipulator body 31 to lift in the vertical direction. When the manipulator body 31 grasps the drill steel from the drill steel storage line 1 and the saddle conveyor line 2 or inserts the drill steel into the same, the manipulator body 31 is controlled to descend, and after grasping or inserting the drill steel, the manipulator body 31 is controlled to ascend.

Optionally, the drill-changing manipulator 3 further comprises a horizontal driving mechanism 34, which is arranged between the lifting driving mechanism 33 and the manipulator body 31 and is adapted to drive the manipulator body 31 to move in the conveying direction of the saddle conveyor line 2. The relative position of the manipulator body 31 and the saddle seat 21 to be replaced can be finely adjusted through the arranged horizontal driving mechanism 34, so that the manipulator body 31 and the saddle seat 21 can be accurately butted to pick and place steel rods.

With reference to fig. 1 to 6, the drill-changing robot 3 in the present embodiment can realize the following four-directional movements, specifically referring to fig. 3 to 5:

the first direction is as follows: a transverse movement (X direction), the transverse drive mechanism 35 comprising: the transverse driving motor and the gear rack transmission assembly are driven by the transverse driving motor, the transverse driving motor is fixed on the movable base 36, a linear guide rail 3211 in sliding limit fit with the movable base 36 is arranged on the supporting cross beam 321, the movable base 36 is used for achieving connection of the manipulator body 31 and the supporting cross beam 321, a gear is installed on a motor shaft of the transverse driving motor, a rack is installed on the supporting cross beam 321, transverse movement of the manipulator body 31 is achieved through gear rack cooperation, and the manipulator body 31 can walk back and forth at the butt joint position of the drill steel storage line 1 and the saddle seat conveying line 2.

The second direction is as follows: vertical motion (Z direction), the lifting driving mechanism 33 includes a vertical driving motor and a vertical moving module, the fixed part of the vertical moving module is connected with the moving base 36, the moving part is connected with the manipulator body 31, and the vertical driving motor drives the manipulator body 31 to move up and down in the vertical direction by driving the moving part to move.

The third direction is as follows: the horizontal driving mechanism 34 comprises a horizontal driving motor and a horizontal moving module, a fixed part of the horizontal moving module is installed at the lower end of a moving part of the vertical moving module, the moving part of the horizontal moving module is connected with a fixed seat 312 of the manipulator body 31, and the horizontal driving motor drives the moving part to move to drive the whole manipulator body 31 to move in the Y direction so as to walk to a position for picking and placing the drill rod.

The fourth direction: and in the variable-pitch movement direction (delta x direction), the variable-pitch driving motor controls the clamps 311 to move delta x distance at the same time, so that the steel chisel intervals are adjusted at equal intervals.

But the 3 each anchor clamps 311 interval automatically regulated of borer manipulator of trading that this embodiment provided uses this borer manipulator 3 of trading to realize the many back-up and the position adjustment of drill rod when trading the borer, and cooperation drill rod storage line 1 can realize full-automatic borer of trading simultaneously.

Optionally, as shown in fig. 1 and 8, the automatic drill rod changing system further comprises a jacking mechanism 4, the jacking mechanism 4 is respectively arranged on the drill rod taking position of the drill rod storage line 1 and the drill rod changing position of the saddle seat conveying line 2, and the jacking mechanism 4 is suitable for jacking the drill rod to a preset height. The jacking mechanisms 4 are respectively arranged in a group at a drill rod taking position of the drill rod storage line 1 and a drill rod changing position 20 of the saddle seat conveying line 2. The device has the function of jacking the steel chisel to a certain height, so that the steel chisel is convenient to clamp by the steel chisel replacing manipulator 3.

Further, the jacking mechanism 4 specifically comprises a jacking plate 41 and a jacking driving piece 42, the jacking driving piece is arranged on the steel chisel storage line 1 and the saddle seat conveying line 2, and the jacking driving piece is connected with the jacking plate 41 and is suitable for driving the jacking plate 41 to move upwards. Climbing mechanism 4 still includes mount pad 43, a jacking driving piece 42 is respectively connected at jacking board 41 both ends, mount pad 43 is two, two jacking driving piece 42 is installed two one-to-one on the mount pad 43.

Preferably, the jacking driving member 42 is an air cylinder, the jacking driving member 42 is located above the jacking plate 41, the lower end of a piston rod of the jacking driving member 42 is connected with the jacking plate 41, when a drill rod needs to be taken out and replaced from the position, the jacking driving member 42 controls the piston rod to contract, the jacking plate 41 is lifted upwards, the jacking plate 41 is made to ascend, the upper surface of the jacking plate 41 is abutted against the lower end of a row of drill rods, the drill rods are jacked up, and the clamping of the drill rod replacing manipulator 3 is facilitated.

Of course, in other embodiments, the jacking actuator 42 may be disposed below the jacking plate 41 to push the jacking plate 41 upward from below the jacking plate 41.

The automatic borer system that trades that this embodiment provided, this manipulator snatch after the drill rod as required automatically regulated good drill rod distance get the drill rod of putting after, cooperation drill rod storehouse and saddle seat transfer chain 2 and relevant auxiliary device realize full-automatic borer of trading. The problems that the existing drill rod replacing manipulator 3 cannot automatically change the distance, the distance is manually adjusted according to the specification of a plate, the incoming steel rods of a steel rod warehouse need to be manually placed, and the efficiency is low and the labor intensity of workers is high are effectively solved.

Example two

Referring to fig. 1 to 10, the present embodiment further provides a drill rod changing method, which is applied to the automatic drill rod changing system of the second embodiment, and the drill rod changing method includes the following steps:

s10, receiving a specification switching signal of a pre-produced plate;

s20, controlling the saddle seat conveying line 2 to convey the saddle seat 21 inserted with the steel chisel to a preset chisel changing position 20;

and S30, controlling the drill rod changing manipulator 3 to clamp the drill rods on the saddle seat 21 at the drill rod changing position and place the drill rods on the drill rod storage line 1 or clamp the drill rods on the drill rod storage line 1 and place the drill rods on the saddle seat 21 at the drill rod changing position.

According to the method for changing the drill rod provided by the embodiment, the distance between the clamps 311 on the drill rod changing manipulator 3 can be automatically adjusted by adopting the automatic drill rod changing system provided by the embodiment, and the automatic drill rod changing method for performing more and less compensation and position adjustment on the drill rod by using the drill rod changing manipulator 3 is provided.

Optionally, the step S10 includes:

receiving a signal that the specification of the pre-produced plate is switched from an original specification to a new specification;

judging the parameter change information of the new specification, wherein the parameter change information comprises: whether the number of the steel rods required by the new specification is larger than that of the steel rods required by the original specification or not, and/or whether the distance between the steel rods of the new specification is smaller than that of the steel rods of the original specification or not.

When it is determined that the number of the steel rods required by the new specification is greater than the number of the steel rods required by the original specification, and/or the distance between the steel rods of the new specification is smaller than the distance between the steel rods of the original specification, the step S30 specifically includes the following steps:

s3011, controlling the clamp 311 of the drill rod changing manipulator 3 to clamp all the original steel drill rods on the saddle seat 21 and adjusting the distance between the clamped steel drill rods;

s3012, the drill rod changing manipulator 3 reinserts the pitch-changed drill rod into the saddle seat 21;

s3013, the drill rod replacing manipulator 3 clamps a set number of drill rods from the drill rod storage line 1 and inserts the drill rods into the saddle seat 21.

In the step S3012, the drill-changing manipulator 3 controls the clamps 311 to maintain the distance after the distance change, and then picks up a new drill steel on the drill steel storage line 1 at the distance, which effectively ensures that the distance between the drill steel picked up from the drill steel storage line 1 by the drill-changing manipulator 3 in the step S3013 is the same as the distance between the drill steel after the distance change in the step S3011, and does not need to change the distance many times, thereby simplifying the control steps.

Alternatively, in another alternative embodiment, in step S3013, it is determined whether the pitch of the clamped drill steel on the drill steel storage line 1 meets the new-specification drill steel pitch, if yes, the drill steel changing manipulator 3 directly clamps the set number of drill steel from the drill steel storage line 1 and directly inserts the clamped drill steel into the saddle seat 21 without changing the pitch, and if not, the drill steel changing manipulator 3 clamps the set number of drill steel from the drill steel storage line 1 and then inserts the clamped drill steel into the saddle seat 21 after changing the pitch.

When it is determined that the number of the steel rods required by the new specification is smaller than the number of the steel rods required by the original specification, and/or when the distance between the steel rods of the new specification is larger than the distance between the steel rods of the original specification, the step S30 specifically includes the following steps:

s3021, controlling the clamp 311 of the drill rod changing manipulator 3 to clamp a set number of drill rods from the saddle seat 21 and transferring the drill rods to the drill rod storage line 1 to temporarily store redundant drill rods;

s3022, the drill rod replacing manipulator 3 catches the residual drill rods on the saddle frame seat 21 and adjusts the distance between the caught drill rods;

and S3023, the drill rod changing manipulator 3 reinserts the pitch-changed drill rod into the saddle seat 21.

After the drill replacement is completed, the saddle seat robot conveys the saddle seat 21 after the drill replacement to the next step. And then the saddle seat conveying line 2 continues to move to the drill rod changing position 20, and the saddle seat 21 to be subjected to next drill rod changing is conveyed to the drill rod changing position 20.

The invention provided by the embodiment can realize full-automatic drill rod replacement after the drill rod is put in storage at one time, does not need manual participation in the whole process, and has higher automation degree.

For convenience of understanding, the present embodiment exemplifies the above-mentioned brazing method by the following embodiments:

when the specification of a plate produced in the next batch is reduced, for example, when the plate is switched from 200 plates to 100 plates, the required number of steel rods is increased by 12 from 6, the distance between the steel rods is reduced from 200 to 100, the steel rod replacing manipulator 3 firstly picks up all the original 6 steel rods on the saddle seat 21 of the pre-replaced steel rods, the picked steel rods are changed from 200 to 100 through the self distance changing function, and the original 6 steel rods are inserted after the steel rods are moved to a new corresponding position; subsequently, the drill rod changing manipulator 3 walks to the drill rod storage line 1 or the drill rod taking position of the drill rod warehouse, and picks 6 new drill rods from the drill rod storage line 1 at a distance of 100, or after the 6 new drill rods are picked and the distance is adjusted to 100, the new drill rods are transferred to the upper part of the saddle seat 21, and the newly taken 6 drill rods are inserted.

When the specification of the plate produced in the next batch becomes large, such as switching from 100 plates to 200 plates, the required number of steel rods is reduced from 12 to 6, and the distance between the steel rods is increased from 100 to 200. The drill rod changing manipulator 3 picks up redundant 6 drill rods and walks to the position above the drill rod storage line 1 to store the redundant drill rods. Empty again and get back to saddle seat 21 top, snatch remaining 6 drill rods, become 200 intervals by 100 intervals through the pitch change function of self with the drill rod of snatching, then insert these 6 drill rods into saddle seat 21.

In the embodiment, the "plate" refers to an autoclaved aerated concrete plate to which the present drill rod replacement system is applied, and 200/100 refers to different width dimensions of the aerated plate. In the production of aerated concrete plates, the plates with different specifications are produced according to different steel chisel intervals and steel chisel quantities, and have set standards in the industry.

EXAMPLE III

This embodiment provides an aerated concrete production line, includes: the automatic drill rod changing system of the first embodiment.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications therefrom are intended to be within the scope of the invention.

Claims (10)

1. An automatic drill rod changing system is characterized by comprising:

a drill steel storage line (1) adapted to store and transport drill steel;

the saddle seat conveying line (2) is arranged on one side of the steel chisel storage line (1), the saddle seat conveying line (2) is provided with a chisel replacing position, and the saddle seat conveying line (2) is suitable for receiving and conveying a saddle seat (21) inserted with a steel chisel;

the drill rod replacing manipulator (3) is correspondingly arranged with the drill rod storage line (1) and the saddle seat conveying line (2), the drill rod replacing manipulator (3) is suitable for clamping the drill rods on the saddle seat (21) at the drill rod replacing position and placing the drill rods on the drill rod storage line (1) or clamping the drill rods on the drill rod storage line (1) and placing the drill rods on the saddle seat (21) at the drill rod replacing position, and the drill rod replacing manipulator (3) can insert the clamped drill rods into the drill rod storage line (1) and/or the saddle seat (21) after adjusting the distance between the clamped drill rods.

2. The automatic drill rod changing system of claim 1, wherein the drill rod changing manipulator comprises: a manipulator body (31), the manipulator body (31) comprising:

a fixed seat (312);

the clamps (311) are arranged on the fixed seat (312) and are sequentially arranged along the length direction of the fixed seat (312), and the clamps (311) are suitable for taking and placing steel rods;

and the variable-pitch driving mechanism (314) is arranged on the fixed seat (312) and is used for adjusting the distance between the plurality of clamps (311) so as to adjust the distance between the steel rods clamped on the clamps (311).

3. The automatic drill rod changing system according to claim 2, wherein the drill rod changing manipulator (3) further comprises:

the mounting bracket (32) comprises a supporting cross beam (321) positioned above the steel chisel storage line (1) and the saddle seat conveying line (2);

the manipulator body (31) is movably arranged on the supporting cross beam (321) along the length direction of the supporting cross beam (321), and the manipulator body (31) can move between a drill rod taking position for taking and placing the drill rod on the drill rod storage line (1) and a drill rod changing position for taking and placing the drill rod on the saddle seat conveying line (2) along the supporting cross beam (321).

4. The automatic drill rod changing system according to claim 3, wherein the drill rod changing manipulator (3) further comprises:

the lifting driving mechanism (33) is arranged on the mounting bracket (32) and is suitable for driving the manipulator body (31) to lift in the vertical direction;

and the horizontal driving mechanism (34) is arranged between the lifting driving mechanism (33) and the manipulator body (31) and is suitable for driving the manipulator body (31) to move in the conveying direction of the saddle seat conveying line (2).

5. The automatic drill rod changing system of claim 3, characterized in that the drill rod storage line (1) and the saddle seat conveying line (2) are arranged side by side, the head and the tail of the drill rod storage line (1) and the head and the tail of the saddle seat conveying line (2) are arranged in a staggered manner, and the supporting cross beam (321) spans above the drill rod storage line (1) and the saddle seat conveying line (2).

6. The automatic drill rod changing system according to any one of claims 1 to 5, further comprising a jacking mechanism (4), wherein the jacking mechanism (4) is respectively arranged on the drill rod taking position of the drill rod storage line (1) and the drill rod changing position of the saddle seat conveying line (2), and the jacking mechanism (4) is suitable for jacking a drill rod to a preset height.

7. The automatic drill rod changing system according to claim 6, wherein the jacking mechanism (4) comprises a jacking plate (41) and a jacking driving member, the jacking driving member is arranged on the drill rod storage line (1) and the saddle seat conveying line (2), and the jacking driving member is connected with the jacking plate (41).

8. The automatic drill rod changing system of any one of the claims 1 to 7, which is applied to the drill rod changing method, and is characterized by comprising the following steps:

s10, receiving a specification switching signal of a pre-produced plate;

s20, controlling the saddle seat conveying line (2) to convey the saddle seat (21) inserted with the steel chisel to a chisel changing position (20) of the saddle seat;

and S30, controlling the drill rod changing manipulator (3) to clamp the drill rods on the saddle seat (21) at the drill rod changing position and place the drill rods on the drill rod storage line (1) or clamping the drill rods on the drill rod storage line (1) and place the drill rods on the saddle seat (21) at the drill rod changing position.

9. The method of claim 8, wherein the drill rod is replaced,

the step S10 includes:

receiving a signal that the specification of the pre-produced plate is switched from an original specification to a new specification;

judging the parameter change information of the new specification, wherein the parameter change information comprises: whether the number of the steel rods required by the new specification is larger than that of the steel rods required by the original specification and/or whether the distance between the steel rods of the new specification is smaller than that of the steel rods of the original specification;

when the number of the steel rods required by the new specification is judged to be larger than the number of the steel rods required by the original specification, and/or the distance between the steel rods of the new specification is smaller than the distance between the steel rods of the original specification, the step S30 specifically includes the following steps:

s3011, controlling a clamp (311) of the drill rod replacing manipulator (3) to clamp all the original steel drill rods on the saddle seat (21), and adjusting the distance between the clamped steel drill rods;

s3012, the drill rod changing manipulator (3) reinserts the distance-changed drill rods into the saddle seat (21);

s3013, the drill rod replacing manipulator (3) clamps a set number of drill rods from the drill rod storage line (1) and inserts the drill rods into the saddle seat (21);

when it is determined that the number of the steel rods required by the new specification is smaller than the number of the steel rods required by the original specification, and/or when the distance between the steel rods of the new specification is larger than the distance between the steel rods of the original specification, the step S30 specifically includes the following steps:

s3021, controlling a clamp (311) of the drill rod changing manipulator (3) to clamp a set number of steel rods from the saddle seat (21) and transferring the steel rods to the steel rod storage line (1) to temporarily store redundant steel rods;

s3022, the drill rod replacing manipulator (3) grabs the residual drill rods on the saddle seat (21) and adjusts the intervals of the grabbed drill rods;

and S3023, reinserting the pitch-changed steel chisel into the saddle seat (21) by the chisel changing manipulator (3).

10. An aerated concrete production line, comprising: the automatic drill rod changing system of any one of claims 1 to 7.

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