CN116197660A - Automatic assembly line for transverse pull rod assembly - Google Patents
Automatic assembly line for transverse pull rod assembly Download PDFInfo
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- CN116197660A CN116197660A CN202310491885.9A CN202310491885A CN116197660A CN 116197660 A CN116197660 A CN 116197660A CN 202310491885 A CN202310491885 A CN 202310491885A CN 116197660 A CN116197660 A CN 116197660A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
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Abstract
The invention relates to the technical field of transverse pull rod assembly, and particularly discloses an automatic transverse pull rod assembly line which comprises a main conveying line, wherein a plurality of positioning trays are arranged on the main conveying line, an automatic clamping assembly is arranged on each positioning tray, a feeding device and a discharging device are respectively arranged at the initial end and the tail end of the main conveying line, a feeding robot, a code spraying mechanism, a wire passing mechanism, a burr blowing and sucking mechanism, a pipe hoop assembly mechanism, a ball head assembly mechanism and a discharging robot are sequentially arranged at two sides of the main conveying line, and a plurality of tray positioning devices are arranged on the main conveying line. According to the invention, the robot and the vision camera are used for replacing manual assembly of the tie rod assembly, so that a full-automatic process of the tie rod assembly is realized, the assembly efficiency of the tie rod assembly is improved, the safety of the assembly process is improved, the assembly production is controllable through the cooperation of the vision camera and the sensor, the production cost and the labor cost are saved, and the potential safety hazard in the operation process is eliminated.
Description
Technical Field
The invention relates to the technical field of transverse pull rod assembly, in particular to an automatic transverse pull rod assembly line.
Background
The automobile tie rod has the functions of connecting two rear wheels of an automobile, the tie rod is mainly connected with left and right steering arms, the two wheels can be synchronous, and the toe-in can be regulated, so that the tie rod is one of important parts for guaranteeing safe running of the automobile.
The utility model patent CN214868598U discloses an assembly device of an automobile front axle tie rod assembly, which comprises a conveying line, a straightness detection mechanism, a screwing mechanism, a positioning plate, a displacement probe and a detection clamping plate; the method is characterized in that: a straightness detection mechanism is arranged on the transmission line in a crossing way; a screwing mechanism is arranged on the transmission line on one side of the straightness detection mechanism in a crossing way; the side edge of the conveying line at one side of the straightness detection mechanism is provided with a positioning plate through a bracket; the other side edge of the conveying line is provided with a detection cylinder through a bracket; the end head of the detection cylinder is provided with a displacement probe; the displacement probe and the positioning plate are arranged in opposite directions; the detection cards are respectively arranged on the support below the positioning plate and the support below the displacement probe through the lifting cylinder, and the scheme realizes the detection work of mechanically completing the pull rod body and the screwing assembly work of mechanically completing the pull rod ball head, but in the whole working flow, a large amount of manual intervention is still needed, and the complete automatic production cannot be realized.
Therefore, there is a need for an automatic assembly line for tie rod assemblies that overcomes the shortcomings of the prior art.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides an automatic assembly line for a tie rod assembly.
The technical scheme of the invention is as follows:
the utility model provides a tie rod assembly automatic assembly line, including the main transfer chain, the circulation is provided with a plurality of positioning tray on the main transfer chain, be provided with the self-holding subassembly on the positioning tray, the top of main transfer chain is provided with loading attachment, the end of main transfer chain is provided with unloader, the both sides of main transfer chain have set gradually feeding robot along the direction of delivery of positioning tray, the ink jet numbering mechanism, cross the silk mechanism, blow and inhale burr mechanism, the ferrule assembly mechanism, bulb assembly mechanism and unloading robot, be provided with a plurality of respectively with feeding robot, the ink jet numbering mechanism, cross the silk mechanism, blow and inhale burr mechanism, ferrule assembly mechanism, the corresponding tray positioner of unloading robot on the main transfer chain, it still is provided with auxiliary clamping mechanism with crossing on the tray positioner that silk mechanism and bulb assembly mechanism correspond.
Preferably, the automatic clamping assembly sets up two sets of, two sets of automatic clamping assembly symmetries set up on the location tray, the automatic clamping assembly is including the clamping jaw piece that sets up relatively, clamping jaw piece slides and sets up on the guide bar, clamping jaw piece is provided with automatic clamping jaw towards one side upper portion at location tray center, and this side lower part is provided with the jacking gyro wheel, automatic clamping jaw cross-section is trapezium structure, the cover is equipped with compression spring on the guide bar of automatic clamping jaw dorsad, be provided with the kicking block between two jacking gyro wheels, the kicking block liftable setting is on the location tray, the kicking block cross-section is the toper, and with jacking gyro wheel rolling contact, tray positioner includes the locating support, be provided with on the locating support and block the cylinder, tray jacking cylinder and clamping jaw open the cylinder.
Preferably, the feeding robot and the discharging robot have the same structure and comprise a robot body and a gripper unit, the gripper unit is arranged at the free end of the robot body through a clamping jaw fixing plate, the gripper unit comprises a first vision camera and two pneumatic clamping jaws, the first vision camera is arranged on the clamping jaw fixing plate, the two pneumatic clamping jaws are symmetrically arranged on the clamping jaw fixing plate, and a material taking gripper is arranged on the pneumatic clamping jaws.
Preferably, the loading attachment includes material loading transfer chain and truss manipulator, is provided with on the material loading transfer chain to one side climbing mechanism and follows the mother tray of material loading transfer chain circulation, and the truss manipulator includes truss frame, horizontal module, vertical module and measures and presss from both sides and get the unit, and the truss frame strides the top of establishing the material loading transfer chain, and horizontal module sets up on truss frame, and vertical module sets up on the slider of horizontal module, measures and presss from both sides to get the unit setting on the slider of vertical module.
Preferably, the code spraying mechanism comprises a code spraying support, a transverse servo module, a longitudinal servo module and a code spraying machine, wherein the code spraying support is arranged above the main conveying line in a crossing mode, the transverse servo module is arranged on the code spraying support, the longitudinal servo module is arranged on a sliding block of the transverse servo module, the code spraying machine is arranged on the sliding block of the longitudinal servo module, and the code spraying machine is electrically connected with the code spraying controller.
Preferably, the wire passing mechanism is arranged as two pieces, the two wire passing mechanisms are respectively arranged at two sides of the main conveying line and are arranged in a staggered mode, the wire passing mechanism comprises a wire passing robot, a first thrust cylinder and a wire passing device, the free end of the wire passing robot is provided with a wire passing flange plate, the first thrust cylinder is arranged on the wire passing flange plate, the wire passing device is arranged on the wire passing flange plate in a sliding mode and is connected with the extending end of the first thrust cylinder, the wire passing device comprises an upper floating plate, a lower floating plate and a plurality of upper floating shafts and lower floating shafts, the upper floating plate and the lower floating plates are connected on the wire passing flange plate in a sliding mode, one ends of the upper floating shafts and the lower floating shafts are connected on the upper floating plates, the other end penetrates downwards and is connected with limit stop, all overlaps on the upper and lower floating axle of lower floating board both sides and is equipped with first floating spring, left and right sides floating device includes the floating support, the floating support sets up on the lower floating board, parallel arrangement has two left and right floating axles on the floating support, slide on the floating axle about being provided with the floating block, on the floating axle about and lie in the floating block both sides about all overlap and be equipped with the second floating spring, first screw up the axle setting on the floating block about, be provided with the screw tap on the output shaft of first screw up the axle, be provided with on the upper floating board and carry out the first positioning cylinder of location to upper and lower floating device and left and right floating device, be provided with the filigree vision camera on the filigree flange board.
Preferably, the burr blowing and sucking mechanism comprises a first fixed support and a second fixed support which are oppositely arranged on two sides of the main conveying line, a first motor screw pair is arranged on the first fixed support, a first movable support is arranged on the first motor screw pair in a sliding mode, a first blowing and sucking clamping tool is arranged on the first movable support, a second motor screw pair is arranged on the second fixed support, a second movable support is arranged on the second motor screw pair in a sliding mode, a second blowing and sucking clamping tool is arranged on the second movable support, the first blowing and sucking clamping tool and the second blowing and sucking clamping tool are of an internal hollow structure, and one end, far away from the first blowing and sucking clamping tool, of the second blowing and sucking clamping tool is provided with an electromagnetic pulse valve.
Preferably, the pipe hoop assembling mechanisms are arranged in two groups, the two groups of pipe hoop assembling mechanisms are respectively arranged on two sides of the main conveying line, each pipe hoop assembling mechanism comprises a pipe hoop material frame, a pipe hoop robot and a pipe hoop grabbing and screwing mechanism, the pipe hoop material frame and the pipe hoop robot are arranged on the same side of the main conveying line, the pipe hoop grabbing and screwing mechanism is arranged at the free end of the pipe hoop robot through a gripper fixing flange plate, and a pipe hoop vision camera is arranged on the gripper fixing flange plate;
The pipe hoop material rack comprises a material rack support, a horizontal rotating mechanism, a double-shaft servo motor and two material placing racks, wherein the horizontal rotating mechanism comprises a rotating shaft seat, a rotating turntable and a thrust cylinder, the rotating turntable is arranged on the top surface of the material rack support, the rotating shaft seat is rotatably arranged on the rotating turntable, the rotating shaft seat downwards penetrates through the rotating turntable to be connected with a driving gear, the thrust cylinder is arranged on the material rack support, the output end of the thrust cylinder is connected with a rack, the rack is slidably arranged on the material rack support and meshed with the driving gear, the double-shaft servo motor is arranged on the top of the rotating shaft seat, the two material placing racks are respectively connected with the output shafts of the double-shaft servo motor in a transmission manner;
the pipe hoop grabbing and screwing mechanism comprises a pneumatic handle, a pneumatic sliding table, a wind batch and a plurality of floating guide rods, wherein the pneumatic handle and the plurality of floating guide rods are arranged on a handle fixing flange plate, pipe hoop clamping jaws are arranged on the pneumatic handle, a sliding table fixing plate is arranged on the floating guide rods in a sliding mode, third floating springs are sleeved on the floating guide rods on two sides of the joint of the floating guide rods and the sliding table fixing plate, the pneumatic sliding table is arranged on the sliding table fixing plate, and the wind batch is arranged on the pneumatic sliding table.
Preferably, the ball head assembly mechanism is arranged into two groups, the ball head assembly mechanism comprises a ball head conveying line, a ball head twisting mechanism, a positive and negative wire identification device and a ball head NG material rack, the two groups of ball head twisting mechanisms, the two groups of positive and negative wire identification devices and the two groups of ball head NG material racks are respectively arranged at two sides of the main conveying line, the ball head conveying line is perpendicular to the main conveying line, and the two groups of ball head conveying lines are arranged at two sides of the two groups of ball head twisting mechanisms;
The bulb screwing mechanism comprises a bulb robot and a bulb grabbing screwing device arranged at the free end of the bulb robot, the bulb grabbing screwing device comprises a flange connecting plate, grabbing units and screwing units, the grabbing units and the screwing units are respectively arranged at two sides of the flange connecting plate, the grabbing units comprise bulb clamping jaws, the bulb clamping jaws are arranged on the flange connecting plate in a floating mode, a first profiling gripper is connected to the bulb clamping jaws, the screwing units comprise a second thrust cylinder, a second screwing shaft, a clamping rotary cylinder and a floating mechanism, the floating mechanism is connected with the second thrust cylinder and is slidably arranged on the flange connecting plate, the clamping rotary cylinder is arranged on the floating mechanism, the second screwing shaft is connected to the upper end of the clamping rotary cylinder, the lower end of the clamping rotary cylinder is connected with a second profiling gripper, and a bulb vision camera is arranged on the flange connecting plate;
the positive and negative silk recognition device includes three-jaw chuck, light source and discernment camera, and three-jaw chuck sets up on the chuck support, and three-jaw chuck top is provided with guider, and the light source passes through the regulation support setting on the chuck support, and discernment camera sets up on the camera support, and bulb NG material frame sets up in positive and negative silk recognition device one side.
Preferably, the blanking device comprises a blanking conveying line, an unstacking manipulator and a stacker, wherein the blanking conveying line comprises an empty frame upper line segment, a conveying segment, a rotary reversing segment and a finished product frame lower line segment, the empty frame upper line segment and the finished product frame lower line segment are arranged in parallel, the conveying segment is vertically arranged at one end of the empty frame upper line segment, and the rotary reversing segment is arranged at one end of the finished product lower line segment;
the unstacking manipulator comprises an unstacking frame, a front-back moving module, a lifting module and an unstacking gripper assembly, wherein the unstacking frame is arranged above the mutually perpendicular end parts of the upper line segment and the conveying segment of the empty frame in a crossing manner, the front-back moving module is arranged above the unstacking frame, the lifting module is arranged on the front-back moving module, and the unstacking gripper assembly is arranged on the lifting module;
the stacker crane comprises a stacker frame, a jacking transplanting conveying line and a material frame positioning device, wherein the stacker frame is arranged between the rotary reversing section and the lower line section of the finished material frame, the jacking transplanting conveying line is arranged in the stacker frame, and the material frame positioning device is arranged on the stacker frame.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the robot and the vision camera are used for replacing manual assembly of the tie rod assembly, so that a full-automatic process of the tie rod assembly is realized, the assembly efficiency of the tie rod assembly is improved, the safety of the assembly process is improved, the assembly production is controllable through the cooperation of the vision camera and the sensor, the production cost and the labor cost are saved, and the potential safety hazard in the operation process is eliminated.
Drawings
FIG. 1 is a schematic top view of the structure of the present invention;
FIG. 2 is a schematic view of a positioning tray, an automatic clamping assembly and a tray positioning device according to the present invention;
FIG. 3 is a schematic view of A-A cross-sectional structure of the present invention;
fig. 4 is a schematic perspective view of a loading device according to the present invention;
FIG. 5 is a schematic diagram of a front view of a feeding device according to the present invention;
FIG. 6 is a schematic diagram of a loading robot according to the present invention;
FIG. 7 is a schematic diagram of a code spraying mechanism according to the present invention;
FIG. 8 is a schematic view of the structure of the yarn feeding mechanism of the present invention;
FIG. 9 is a schematic view of the structure of the yarn feeding device of the present invention;
FIG. 10 is a schematic view of a B-B cross-sectional structure of the present invention;
FIG. 11 is a schematic view of a structure of a burr blowing and sucking mechanism according to the present invention;
FIG. 12 is a schematic view of a pipe clamp assembly mechanism according to the present invention;
FIG. 13 is a schematic view of a pipe clamp grabbing and tightening mechanism according to the present invention;
FIG. 14 is a schematic view of a pipe clamp material rack according to the present invention;
FIG. 15 is a schematic structural view of a ball head assembly mechanism according to the present invention;
FIG. 16 is a schematic view of a bulb twisting mechanism according to the present invention;
FIG. 17 is a schematic diagram of a positive and negative wire identification device according to the present invention;
fig. 18 is a schematic structural diagram of a blanking device of the present invention.
A, a main conveying line; B. a feeding device; C. a feeding robot; D. the code spraying mechanism; E. a yarn passing mechanism; F. a burr blowing and sucking mechanism; G. a pipe hoop assembly mechanism; H. a ball head assembly mechanism; J. a blanking device; K. a blanking robot;
A1, positioning a tray; a2, an automatic clamping assembly; a20, clamping jaw blocks; a21, a guide rod; a22, automatic clamping jaws; a23, lifting the idler wheels; a24, compressing a spring; a25, a top block; a3, a tray positioning device; a30, positioning a bracket; a31, blocking the air cylinder; a32, lifting the tray to the cylinder; a33, a clamping jaw opening cylinder; a4, an auxiliary clamping mechanism;
b1, a feeding conveying line; b10, a mother tray; b2, truss manipulator; b20, truss framework; b21, a transverse module; b22, a vertical module; b23, measuring and clamping units; b24, caching the station; b25, positive and negative silk visual identification;
c1, a robot body; c2, clamping jaw fixing plates; c3, a first vision camera; c4, pneumatic clamping jaws; c5, taking a material grip;
d1, code spraying support; d2, a transverse servo module; d3, a longitudinal servo module; d4, a code spraying machine; d5, a code spraying controller;
e1, a threading robot; e10, a wire passing flange plate; e2, a first thrust cylinder; e3, a threading device; e30, upper floating plate; e31, lower floating plate; e32, an upper floating shaft and a lower floating shaft; e33, limit stops; e34, a first floating spring; e35, left and right floating shafts; e36, left and right sliders; e37, a second floating spring; e38, a first tightening shaft; e39, tap; e4, a first positioning cylinder; e5, a silk-passing vision camera;
F1, a first fixing bracket; f2, a first motor lead screw pair; f3, a first movable bracket; f4, a first blowing and sucking clamping tool; f5, a second fixing bracket; f6, a second motor lead screw pair; f7, a second movable bracket; f8, a second blowing and sucking clamping tool; f9, electromagnetic pulse valve;
g1, a pipe hoop material rack; g10, a material rack support; g11, a rotating shaft seat; g12, rotating a turntable; g13, a thrust cylinder; g2, a double-shaft servo motor; g3, placing a material rack; g4, grabbing and screwing the pipe hoop; g40, pneumatic gripper; g41, a pneumatic sliding table; g42, wind batch; g43, floating guide rod; g44, a gripper fixing flange plate; g45, clamping jaws of the pipe clamp; g46, a slipway fixing plate; g47, a third floating spring; g5, a pipe hoop vision camera; g6, a pipe hoop robot;
h1, a ball head conveying line; h2, a bulb twisting mechanism; h20, a ball robot; h21, a flange connecting plate; h22, bulb clamping jaw; h23, a first profiling gripper; h24, a second thrust cylinder; h25, a second tightening shaft; h26, clamping a rotary cylinder; h27, a floating mechanism; h28, a second profiling gripper; h29, a bulb visual camera; h3, positive and negative silk identification device; h30, three-jaw chuck; h31, light source; h32, identifying a camera; h33, chuck support; h34, guiding device; h35, adjusting the bracket; h36, camera support; h4, a ball head NG material rack;
J1, a blanking conveying line; j10, line segments on the empty material frame; j11, a conveying section; j12, rotating the reversing section; j13, a finished product frame lower line segment; j2, unstacking mechanical arm; j20, unstacking the frame; j21, moving the module back and forth; j22, lifting module; j23, unstacking gripper assembly; j3, a stacker crane; j30, stacking the frames; j31, lifting the transplanting conveying line; and J32, a material rack positioning device.
Detailed Description
In order to make the technical means, technical features, objects and technical effects of the present invention easy to understand, the present invention will be further described with reference to the specific drawings.
Referring to fig. 1, an automatic assembly line for a tie rod assembly comprises a main conveyor line a, a plurality of positioning trays A1 are placed on the main conveyor line a, the positioning trays A1 are used for fixing tie rods and driving the tie rods to be conveyed among stations on the main conveyor line a, the main conveyor line a is of a double-layer structure, an upper layer is used for circulation of the tie rods among the stations, a lower layer is used for returning empty trays, in order to facilitate switching of the empty trays among the upper layer and the lower layer of the main conveyor line a, tray lifting mechanisms are respectively arranged at the front end and the rear end of the main conveyor line a, an automatic clamping assembly A2 used for positioning the tie rods is arranged on the positioning trays A1, a feeding device B is arranged at the beginning end of the main conveyor line a and used for feeding conveying a material frame of the tie rods, grabbing and shifting the tie rods from the material frame, measuring the length of the tie rods and the like, the automatic feeding and discharging device comprises a main conveying line A, a discharging device J, a tray positioning device A3, an auxiliary clamping mechanism A4 and a tray positioning device A3, wherein the discharging device J is arranged at the tail end of the main conveying line A and used for stacking and conveying the assembled tie rods, the feeding robot C, the code spraying mechanism D, the wire passing mechanism E, the blowing and sucking burr mechanism F, the pipe hoop assembling mechanism G, the ball head assembling mechanism H and the discharging robot K are sequentially arranged on the two sides of the main conveying line A according to the conveying direction of a positioning tray A1, the clamping stability of the tie rods is enhanced, and the tie rods are prevented from changing in position during wire passing and ball head assembling.
Referring to fig. 2 and 3, the number of the automatic clamping assemblies A2 on each positioning tray A1 is two, the two groups of the automatic clamping assemblies A2 are symmetrically arranged on the positioning tray A1 in the center of the positioning tray A1, the automatic clamping assemblies A2 comprise two clamping jaw blocks a20, the two clamping jaw blocks a20 are oppositely arranged and are respectively sleeved on a guide rod a21 in a sliding manner, an automatic clamping jaw a22 is arranged at the upper part of one side, facing the center of the positioning tray A1, of the clamping jaw blocks a20, a jacking roller a23 is arranged at the lower part of the side, the cross section of the automatic clamping jaw a22 is processed into a trapezoid groove structure, grooves of the two automatic clamping jaws a22 are oppositely arranged and are used for clamping a transverse pull rod, a compression spring a24 is sleeved on the guide rod a21 facing away from the automatic clamping jaw a22, the elasticity of the compression spring a24 pushes the two clamping jaw blocks a20 to be close to each other so as to clamp the transverse pull rod, a jacking block a25 is arranged on the positioning tray A1 in a liftable manner, the jacking block a25 is arranged between the two jacking rollers a23, the cross section of the jacking block a25 is processed into a conical shape, and the conical rolling jaw a23 contacts with the jacking roller a;
the tray positioning device A3 comprises a positioning support A30, the positioning support A30 is integrally arranged on a main conveying line A, a blocking cylinder A31, a tray jacking cylinder A32 and a clamping jaw opening cylinder A33 are arranged on the positioning support A30, the blocking cylinder A31 is used for limiting the movement of the positioning tray A1 on the main conveying line A, the positioning tray A1 can accurately stop at a corresponding position, relevant assembly operation is convenient to carry out, the extending end of the tray jacking cylinder A32 is connected with a jacking plate, after the positioning tray A1 is blocked by the blocking cylinder A31, the tray jacking cylinder A32 extends out, the jacking plate is lifted, the positioning tray A1 is positioned and jacked, the positioning tray A1 is separated from the main conveying line A, the assembly is convenient, the clamping jaw opening cylinder A33 corresponds to the position of a jacking block A25, when the tie rod is fed with the material and the tie rod is fed, the clamping jaw opening cylinder A33 extends out to push the jacking block A25 to move upwards, the rolling contact between the jacking roller A23 and the jacking roller A25, the jacking roller A23 is pushed to automatically separate the two clamping jaws A22, and the clamping jaw 22 are automatically pulled out between the two clamping jaws 22 and are conveniently placed between the two clamping jaws 20 and overcome.
Referring to fig. 6, a feeding robot C is used for grabbing a tie rod from a feeding device B and placing the tie rod on a positioning tray A1, a discharging robot K is used for taking out an assembled tie rod assembly from the positioning tray A1 and placing the tie rod assembly on a discharging device J, the feeding robot C and the discharging robot K are identical in structure, the feeding robot C is described by taking the feeding robot C as an example, the feeding robot C comprises a robot body C1 and a gripper unit, the gripper unit is connected to the free end of the robot body C1 through a gripper fixing plate C2, the gripper unit comprises a first vision camera C3 and two pneumatic grippers C4, the first vision camera C3 is mounted on the gripper fixing plate C2 and used for recognizing the central position of the tie rod and recognizing the rod diameter of the tie rod, the two pneumatic grippers C4 are symmetrically connected to the gripper fixing plate C2, the two grippers C5 are mounted at the extending ends of the pneumatic grippers C4, and the two grippers C5 are mounted relatively, and the gripper unit is driven by the pneumatic grippers C4 to move relatively close to and far from each other to clamp the tie rod.
Referring to fig. 4 and 5, the feeding device B includes a feeding conveyor line B1 and a truss manipulator B2, the feeding conveyor line B1 includes a conveying mechanism, a steering transplanting mechanism and an inclined lifting mechanism, the truss manipulator B2 spans over the inclined lifting mechanism of the feeding conveyor line B1, a material frame loaded with a tie rod is placed on a mother tray B10 on the feeding conveyor line B1, and is conveyed to the inclined lifting mechanism through the conveying mechanism and the steering transplanting mechanism;
The truss manipulator B2 comprises a truss frame B20, a transverse module B21, a vertical module B22 and a measurement clamping unit B23, wherein the transverse module B21 is arranged on the truss frame B20 and can transversely move on the truss frame B20 to drive the vertical module B22 and the measurement clamping unit B23 to realize transverse displacement, the vertical module B22 is connected to a sliding block of the transverse module B21 and is used for driving the measurement clamping unit B23 to lift up and down, the measurement clamping unit B23 is connected to a sliding block of the vertical module B22 and is used for taking a transverse pull rod and measuring the length of the transverse pull rod, and the transverse pull rod is taken out from a material frame and placed at a buffer storage station B24 arranged on the truss frame B20 through the truss manipulator B2, so that the grabbing of the feeding robot C is facilitated;
and a positive and negative wire visual identification B25 is arranged on one side of the truss framework B20, which is close to the main conveying line A, the feeding robot C grabs the tie rod from the buffer storage station B24, positive and negative wires are judged according to the size of the chamfer at the necking position of the tie rod of the positive and negative wire visual identification B25, and after the positive and negative wires are confirmed to be correct, the feeding robot C places the tie rod on the main conveying line A.
Referring to fig. 7, the code spraying mechanism D includes a code spraying support D1, a transverse servo module D2, a longitudinal servo module D3 and a code spraying machine D4, the code spraying support D1 spans over the main conveying line a, the height of the code spraying support D1 can be determined according to the height of the tie rod after clamping, the transverse servo module D2 is mounted on the code spraying support D1, the longitudinal servo module D3 is mounted on a sliding block of the transverse servo module D2, the code spraying machine D4 is mounted on a sliding block of the longitudinal servo module D3, the longitudinal servo module D3 drives the code spraying machine D4 to lift and approach or separate from the tie rod, the transverse servo module D2 drives the code spraying machine D4 to move along the length direction of the tie rod, the code spraying machine D4 is electrically connected with the code spraying controller D5 in the surface of the tie rod in the moving process, and the code spraying controller D5 can be mounted on the code spraying support D1 according to the use requirement, and the size and code spraying speed of a code spraying body are set and adjusted.
Referring to fig. 8-10, the number of the wire passing mechanisms E is two, the two wire passing mechanisms E are respectively arranged at two sides of the main conveying line a, the two wire passing mechanisms E are arranged in a staggered manner, the two ends of the transverse pull rod are respectively subjected to wire passing treatment at two stations through the two wire passing mechanisms E, the wire passing mechanism E comprises a wire passing robot E1, a first thrust cylinder E2 and a wire passing device E3, the free end of the wire passing robot E1 is connected with a wire passing flange plate E10, the first thrust cylinder E2 and the wire passing device E3 are respectively arranged on the wire passing flange plate E10, the wire passing device E3 is connected with the extending end of the first thrust cylinder E2, the wire passing device E3 is driven by the first thrust cylinder E2 to slide on the wire passing flange plate E10, the wire passing device E3 comprises an up-down floating device, a left-right floating device and a first tightening shaft E38, the up-down floating device comprises an up-floating plate E30, a down floating plate E31 and a plurality of up-down floating shafts E32, the upper floating plate E30 is connected on the threading flange plate E10 in a sliding way through a linear guide rail, one end of an upper floating shaft E32 and a lower floating shaft E32 are connected on the upper floating plate E30, the other end penetrates through the lower floating plate E31 downwards and is connected with a limit stop E33, first floating springs E34 are sleeved on the upper floating shaft E32 and the lower floating shaft E32 positioned at two sides of the lower floating plate E31, a left floating device and a right floating device comprise floating brackets, the floating brackets are arranged on the lower floating plate E31, two left floating shafts E35 and two right floating shafts E35 are arranged on the floating brackets, the two left floating shafts E35 and the two left floating shafts E35 are parallel to each other, left floating blocks E36 and right floating blocks E36 are connected on the left floating shaft E35 and the right floating shafts E35 in a sliding way, second floating springs E37 are sleeved on two sides of the left floating blocks E36 and the right floating blocks E38, tap E39 is arranged on an output shaft of the first screwing shaft E38, a first positioning cylinder E4 is connected on the upper floating plate E30, the device is used for positioning an up-down floating device and a left-right floating device, and a wire passing visual camera E5 is also arranged on the wire passing flange plate E10;
When the positioning tray A1 moves to a first group of stations of the wire passing mechanism E, the tray positioning device A3 of the stations stops the movement of the positioning tray A1, the tray jacking cylinder A32 jacks up the tray, the auxiliary clamping mechanism A4 at the stations clamps the tie rod in an auxiliary mode, the wire passing robot E1 acts to drive the wire passing vision camera E5 to visually identify the center position of the end part of the tie rod, the wire passing robot E1 is controlled to drive the wire passing device E3 to approach the center of the end part of the tie rod, the tap E39 is adjusted to be aligned with the center of the end part of the tie rod, floating fine adjustment is carried out through the upper and lower floating devices and the left and right floating devices, the alignment accuracy is guaranteed, after the tap E39 is aligned, the first positioning cylinder E4 stretches out to position the upper and lower floating devices and the left and right floating devices, the tap E39 is prevented from being broken due to displacement in the wire passing process, the first thrust cylinder E2 stretches out to drive the wire passing device E3 to stretch out towards the end part of the tie rod, meanwhile, the first tightening shaft E38 is started to rotate, the wire passing operation at one end of the tie rod is completed, the wire passing device E3 is driven to drive the wire passing device E3 to move to the end part of the tie rod, the auxiliary clamping mechanism A is loosened by the upper and the positioning cylinder A4 is reset to move to the position of the auxiliary clamping device A32, and the positioning device A is reset to the opposite to the position of the tie rod A is repeatedly moved to the position at the opposite end of the position of the wire passing device A, and the position is reset to be clamped by the opposite to the opposite the position opposite to the position to the position A.
Referring to fig. 11, the burr blowing and sucking mechanism F includes a first fixed bracket F1 and a second fixed bracket F5 which are relatively installed at two sides of the main conveying line a, a first motor screw pair F2 is installed on the first fixed bracket F1, a first moving bracket F3 is slidably connected to the first motor screw pair F2, a first blowing and sucking clamping tool F4 is installed on the first moving bracket F3, a second motor screw pair F6 is installed on the second fixed bracket F5, a second moving bracket F7 is slidably connected to the second motor screw pair F6, a second blowing and sucking clamping tool F8 is installed on the second moving bracket F7, the first blowing and sucking clamping tool F4 and the second blowing and sucking clamping tool F8 are both hollow structures, and an electromagnetic pulse valve F9 is arranged at one end of the second blowing and sucking clamping tool F8 far from the first blowing and sucking clamping tool F4;
after the two ends of the transverse pull rod are threaded, the positioning tray A1 is conveyed to a station of the blowing and sucking burr mechanism F, after the positioning tray A1 is blocked and jacked up, the first motor screw pair F2 and the second motor screw pair F6 are started simultaneously, the first movable support F3 and the second movable support F7 are driven to move relatively respectively, the two ends of the transverse pull rod are clamped by the first blowing and sucking clamping tool F4 and the second blowing and sucking clamping tool F8 of the hollow structure, and the electromagnetic pulse valve F9 is started to perform pulse blowing burr removal.
Referring to fig. 12 to 14, the pipe clamp assembling mechanisms G are provided in two groups, the two groups of pipe clamp assembling mechanisms G are respectively installed at two sides of the main conveying line a and are respectively used for assembling pipe clamps at two ends of the tie rod, each group of pipe clamp assembling mechanisms G comprises a pipe clamp material frame G1, a pipe clamp robot G6 and a pipe clamp grabbing and screwing mechanism G4, the pipe clamp material frame G1 and the pipe clamp robot G6 of the same group are installed at the same side of the main conveying line a, the pipe clamp grabbing and screwing mechanism G4 is installed at the free end of the pipe clamp robot G6 through a gripper fixing flange plate G44, and a pipe clamp vision camera G5 is further installed on the gripper fixing flange plate G44 and is used for identifying the central position of the tie rod and identifying the position of the pipe clamp on the pipe clamp material frame G1;
the pipe hoop material frame G1 is used for storing pipe hoops, the pipe hoop material frame G1 comprises a material frame support G10, a horizontal rotating mechanism, a double-shaft servo motor G2 and a material placing frame G3, the horizontal rotating mechanism comprises a rotating shaft seat G11, a rotating turntable G12 and a pushing cylinder G13, the rotating turntable G12 is arranged on the top surface of the material frame support G10, the rotating shaft seat G11 is rotatably connected to the rotating turntable G12, the rotating shaft seat G11 downwards passes through the rotating turntable G12 and is connected with a driving gear, the pushing cylinder G13 is arranged on the material frame support G10, the output end of the pushing cylinder G13 is connected with a rack, the rack is slidably connected to the material frame support G10 through a linear guide rail, the rack is meshed with the driving gear, the double-shaft servo motor G2 is arranged at the top of the rotating shaft seat G11, the material placing frames G3 are in two, the two material placing frames G3 are respectively in transmission connection with the output shaft of the double-shaft servo motor G2, the two material placing frames G3 can be placed on the rotating turntable G12 at one time so as to meet the use requirement, the pushing cylinder G13 pushes the rotating turntable G12 to pass through the driving gear to drive the rack, the rack is driven by the rotating table G12 to realize 180 DEG, the two material placing frames G3 can be conveniently grabbed by a machine, and the material frame G is positioned at the position of the machine to be convenient to grab;
The pipe clamp grabbing and screwing mechanism G4 comprises a pneumatic gripper G40, a pneumatic sliding table G41, a pneumatic screwdriver G42 and a plurality of floating guide rods G43, wherein the pneumatic gripper G40 and the plurality of floating guide rods G43 are respectively arranged on a gripper fixed flange plate G44, pipe clamp clamping jaws G45 are connected to the pneumatic gripper G40, the pipe clamp clamping jaws G45 are driven by the pneumatic gripper G40 to clamp the pipe clamp, a sliding table fixed plate G46 is connected to the floating guide rods G43 in a sliding manner, third floating springs G47 are respectively sleeved on two sides of a joint of the floating guide rods G43 and the sliding table fixed plate G46, the third floating springs G47 enable the sliding table fixed plate G46 to float up and down on the floating guide rods G43, the pneumatic screwdriver G42 is convenient to align with screws on the pipe clamp, the pneumatic screwdriver G41 is arranged on the sliding table fixed plate G46, the pneumatic screwdriver G42 is driven to move towards the pipe clamp clamping jaws G45, and a hole which is convenient for the screwdriver G42 to pass through is processed on the pipe clamp clamping jaws G45;
the position of the pipe clamp on the placing rack G3 is identified through the pipe clamp vision camera G5, the pipe clamp robot G6 drives the pipe clamp grabbing and screwing mechanism G4 to move close to the pipe clamp to be grabbed, the pneumatic grippers G40 drive the pipe clamp clamping jaws G45 to clamp the pipe clamp, the pipe clamp robot G6 sleeves the pipe clamp on the tie rod, the pneumatic sliding table G41 stretches out, the air batch G42 is driven to approach the pipe clamp, and the air batch G42 is started to screw the pipe clamp on the tie rod.
Referring to fig. 15-17, the number of the ball head assembling mechanisms H is two, each ball head assembling mechanism H comprises a ball head conveying line H1, ball head twisting mechanisms H2, a positive and negative wire identifying device H3 and a ball head NG material rack H4, the two ball head twisting mechanisms H2, the two positive and negative wire identifying devices H3 and the two ball head NG material racks H4 are respectively arranged on two sides of a main conveying line a, ball head assembling is carried out on two ends of a tie rod respectively, the ball head conveying line H1 is vertically arranged with the main conveying line a, the two ball head conveying lines H1 are distributed on two sides of the two ball head twisting mechanisms H2, ball heads can be simultaneously supplied to the two ball head assembling mechanisms H, and the ball head twisting mechanisms H2 can take materials from different ball head conveying lines H1 according to working requirements;
the bulb screwing mechanism H2 comprises a bulb robot H20 and a bulb grabbing screwing device arranged at the free end of the bulb robot H20, the bulb grabbing screwing device comprises a flange connecting plate H21, a grabbing unit and a screwing unit, the grabbing unit and the screwing unit are respectively connected to two sides of the flange connecting plate H21, the grabbing unit comprises a bulb clamping jaw H22, the bulb clamping jaw H22 is connected to the flange connecting plate H21 and can realize position floating on the flange connecting plate H21, accuracy of bulb grabbing is improved, a first profiling gripper H23 is connected to the bulb clamping jaw H22, the screwing unit comprises a second thrust cylinder H24, a second screwing shaft H25, a clamping rotary cylinder H26 and a floating mechanism H27, the floating mechanism H27 is connected with the second thrust cylinder H24 and is connected to the flange connecting plate H21 in a sliding mode through a linear guide rail, the second screwing shaft H25 is connected to the upper end of the clamping rotary cylinder H26, the lower end of the clamping rotary cylinder H26 is connected with a second profiling gripper H28, the floating mechanism H27 is connected to the head clamping rotary cylinder H26 through a clamping screw, and the head clamping rod E3 is arranged at the same position as the head clamping head end of the head clamping wire H2, and the profiling gripper H is arranged at the right end of the head clamping head end of the head clamping device H1 when the head clamping device is in a position of the same as the head clamping head H2 and the head clamping head is used for clamping the head 1, and the profiling device is arranged at the position of the end of the profiling device and is firmly and is used for clamping the end of the profiling the head clamping the head H;
The positive and negative wire identification device H3 comprises a three-jaw chuck H30, a light source H31 and an identification camera H32, wherein the three-jaw chuck H30 is arranged on a chuck support H33, the chuck support H33 can be fixed on the ground within the working range of the ball head robot H20 through expansion bolts, a guide device H34 is arranged above the three-jaw chuck H30 and used for guiding a ball head, the coaxiality of the ball head and the chuck is ensured, the light source H31 is connected to the chuck support H33 through an adjusting support H35, the irradiation position and direction of the light source H31 can be adjusted through the adjusting support H35, the identification camera H32 is arranged on a camera support H36, the camera support H36 is also arranged beside the chuck support H33 through the expansion bolts, and a ball head NG material rack H4 is arranged on one side of the positive and negative wire identification device H3 and used for placing a ball head which is unqualified in positive and negative wire detection;
the ball head is conveyed to a grabbing range of a ball head robot H20 through a ball head conveying line H1, the ball head robot H20 drives a ball head vision camera H29 to identify the position of the ball head on the ball head conveying line H1, a ball head clamping jaw H22 drives a first profiling clamp H23 to grab a ball head and place the ball head on a positive and negative wire identification device H3, the first profiling clamp H23 loosens the clamping of the ball head, the ball head falls on a three-jaw chuck H30 after being guided by a guide device H34, the three-jaw chuck H30 fixes the ball head, the identification camera H32 is used for identifying the positive and negative wires of the ball head, the ball head unqualified in detection is grabbed and placed on a ball head NG material rack H4, the ball head qualified in detection is moved to be aligned with the center of the end part of the tie rod after being grabbed by a second profiling clamp H28, a second tightening shaft H25 is started to drive a clamping rotary cylinder H26 to rotate, meanwhile, the ball head is screwed on the tie rod is started, an auxiliary clamping mechanism A4 at the position clamps the tie rod in the ball head assembly process, and two groups of assembly mechanisms H realize the assembly of the ball heads at two ends.
Referring to fig. 18, a blanking device J includes a blanking conveying line J1, an unstacking manipulator J2 and a stacker J3, wherein the blanking conveying line J1 includes an empty frame upper line segment J10, a conveying segment J11, a rotary reversing segment J12 and a finished product frame lower line segment J13, the empty frame upper line segment J10 and the finished product frame lower line segment J13 are arranged in parallel, the conveying segment J11 is vertically arranged with the empty frame upper line segment J10, and the rotary reversing segment J12 is connected to one end of the finished product frame lower line segment J13;
the unstacking manipulator J2 comprises an unstacking frame J20, a front-back moving module J21, a lifting module J22 and an unstacking gripper assembly J23, wherein the unstacking frame J20 is arranged above the mutually perpendicular end parts of a line segment J10 and a conveying section J11 on an empty frame in a crossing mode, the front-back moving module J21 is arranged above the unstacking frame J20 and is used for realizing the front-back movement of the lifting module J22 and the unstacking gripper assembly J23, the lifting module J22 is connected to the front-back moving module J21 and is used for realizing the up-down lifting of the unstacking gripper assembly J23, and the unstacking gripper assembly J23 is connected to the lifting module J22 and is used for disassembling the empty frame and rotating by 90 degrees and then placing the empty frame on the conveying section J11;
the stacker crane J3 comprises a stacker frame J30, a jacking and transplanting conveying line J31 and a material frame positioning device J32, wherein the stacker frame J30 is arranged between the rotary reversing section J12 and a finished material frame lower line section J13, the jacking and transplanting conveying line J31 is arranged in the stacker frame J30 and is used for jacking a material frame filled with a transverse pull rod and transplanting the material frame with the finished stacking to the finished material frame lower line section J13, and the material frame positioning device J32 is arranged on the stacker frame J30 and is used for supporting the material frame jacked by the jacking and transplanting conveying line J31;
The empty frame upper line segment J10 conveys 5 layers of empty frames to the lower part of the unstacking manipulator J2, the lifting module J22 drives the unstacking gripper assembly J23 to descend, the unstacking gripper assembly J23 clamps and rotates the uppermost empty frame by 90 degrees, the empty frames are adjusted to be consistent with the direction of the conveying section J11, the clamping and the rotation of the unstacking gripper assembly J23 are realized by driving a cylinder, the front-back moving module J21 drives the empty frames to move to the conveying section J11, the unstacking gripper assembly J23 releases the clamping of the empty frames, the empty frames are placed on the conveying section J11, the conveying section J11 conveys the empty frames to a specified position, the conveying section J11 conveys the empty frames to the rotating reversing section J12 after the empty frames are fully discharged, the rotary reversing section J12 turns to 90 degrees and is in butt joint with the jacking transplanting conveying line J31, the material frames are conveyed to the jacking transplanting conveying line J31, the jacking transplanting conveying line J31 supports and positions the jacked material frames through the material frame positioning device J32 after jacking the material frames in sequence, the jacking transplanting conveying line J31 is convenient to receive other material frames, the material frames are piled up, after the 5 layers of material frames are fully filled and piled up, the material frame positioning device J32 places the 5 layers of material frames on the jacking transplanting conveying line J31, the jacking transplanting conveying line J31 conveys the material frames to the lower line segment J13 of the finished material frames to carry out blanking treatment, and in the process of unstacking, conveying and piling up, each action position is provided with a sensor so as to know the position and state of the product.
The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Equivalent changes and modifications of the invention are intended to fall within the scope of the present invention.
Claims (10)
1. An automatic assembly line of tie rod assembly, its characterized in that: including main transfer chain (A), the circulation is provided with a plurality of positioning tray (A1) on main transfer chain (A), be provided with self-holding subassembly (A2) on positioning tray (A1), the top of main transfer chain (A) is provided with loading attachment (B), the end of main transfer chain (A) is provided with unloader (J), loading attachment (C) has been set gradually along the direction of delivery of positioning tray (A1) in the both sides of main transfer chain (A), ink jet numbering mechanism (D), cross wire mechanism (E), blow and inhale burr mechanism (F), ferrule assembly mechanism (G), bulb assembly mechanism (H) and unloading robot (K), be provided with a plurality of respectively with loading attachment (C), ink jet numbering mechanism (D), cross wire mechanism (E), blow and inhale burr mechanism (F), ferrule assembly mechanism (G), bulb assembly mechanism (H), the corresponding tray positioner (A3) of unloading robot (K), it is used for still setting up clamping lever (4) to supplementary clamping and stabilizing on the tray positioner (A) corresponding with wire-passing mechanism (E).
2. The automatic tie rod assembly line of claim 1, wherein: the automatic clamping components (A2) are arranged in two groups, the two groups of automatic clamping components (A2) are symmetrically arranged on the positioning tray (A1), the automatic clamping components (A2) comprise clamping jaw blocks (A20) which are oppositely arranged, the clamping jaw blocks (A20) are slidably arranged on a guide rod (A21), an automatic clamping jaw (A22) is arranged at the upper part of one side of the clamping jaw blocks (A20) towards the center of the positioning tray (A1), a jacking roller (A23) is arranged at the lower part of one side, the section of the automatic clamping jaw (A22) is of a trapezoid structure, the guide rod (A21) of the automatic clamping jaw (A22) is sleeved with a compression spring (A24), a jacking block (A25) is arranged between two jacking rollers (A23), the jacking block (A25) is arranged on a positioning tray (A1) in a lifting mode, the section of the jacking block (A25) is conical, the jacking block is in rolling contact with the jacking rollers (A23), a tray positioning device (A3) comprises a positioning support (A30), and a blocking cylinder (A31), a tray jacking cylinder (A32) and a clamping jaw opening cylinder (A33) are arranged on the positioning support (A30).
3. The automatic tie rod assembly line of claim 1, wherein: the feeding robot (C) and the discharging robot (K) are identical in structure and comprise a robot body (C1) and a gripper unit, the gripper unit is arranged at the free end of the robot body (C1) through a gripper fixing plate (C2), the gripper unit comprises a first vision camera (C3) and two pneumatic grippers (C4), the first vision camera (C3) is arranged on the gripper fixing plate (C2), the two pneumatic grippers (C4) are symmetrically arranged on the gripper fixing plate (C2), and a material taking gripper (C5) is arranged on the pneumatic grippers (C4).
4. The automatic tie rod assembly line of claim 1, wherein: the feeding device comprises a feeding conveying line (B1) and a truss manipulator (B2), wherein an inclined jacking mechanism and a mother tray (B10) which flows along with the feeding conveying line (B1) are arranged on the feeding conveying line (B1), the truss manipulator (B2) comprises a truss frame (B20), a transverse module (B21), a vertical module (B22) and a measurement clamping unit (B23), the truss frame (B20) is arranged above the feeding conveying line (B1) in a straddling mode, the transverse module (B21) is arranged on the truss frame (B20) and used for driving the vertical module (B22) and the measurement clamping unit (B23) to transversely move, a transverse pull rod is grabbed from the mother tray (B10) and placed at a buffer storage station (B24), the vertical module (B22) is arranged on a sliding block of the transverse module (B21) and used for driving the measurement clamping unit (B23) to lift up and down, the transverse module (B23) is clamped on the mother tray (B10), and the measurement unit (B23) is arranged on the transverse length of the transverse pull rod (B22).
5. The automatic tie rod assembly line of claim 1, wherein: the utility model provides a jet numbering mechanism (D) is including spouting a yard support (D1), horizontal servo module (D2), vertical servo module (D3) and ink jet numbering machine (D4), spout a yard support (D1) and stride to establish in main transfer chain (A) top, horizontal servo module (D2) set up on spouting a yard support (D1), vertical servo module (D3) set up on the slider of horizontal servo module (D2), ink jet numbering machine (D4) set up on the slider of vertical servo module (D3), ink jet numbering machine (D4) are connected with spouting a yard controller (D5) electricity.
6. The automatic tie rod assembly line of claim 1, wherein: the wire passing mechanism (E) is arranged into two pieces, the two wire passing mechanisms (E) are respectively arranged on two sides of the main conveying line (A) and are arranged in a staggered mode, the wire passing mechanism (E) comprises a wire passing robot (E1), a first thrust cylinder (E2) and a wire passing device (E3), the free end of the wire passing robot (E1) is provided with a wire passing flange plate (E10), the first thrust cylinder (E2) is arranged on the wire passing flange plate (E10), the wire passing device (E3) is arranged on the wire passing flange plate (E10) in a sliding mode and is connected with the extending ends of the first thrust cylinder (E2), the wire passing device (E3) comprises an upper floating plate (E30), a lower floating plate (E31) and a plurality of upper floating shafts (E32), the upper floating plate (E30) is connected with the wire passing flange plate (E10) in a sliding mode, the lower floating plate (E31) is connected with the upper floating plate (E32), the lower floating plate (E32) is connected with the upper floating plate (E) through the left floating plate (E) and the lower floating plate (E) through the left floating plate (E) and the right floating plate (E) is arranged on the left floating plate (E32), the upper floating plate (E32) is connected with the lower floating plate (E32) through the left floating plate (E32), the left floating shaft and the right floating shaft (E35) are provided with left floating blocks and right floating blocks (E36) in a sliding mode, the left floating shaft and the right floating shaft (E35) are provided with second floating springs (E37) in a sleeved mode and located on two sides of the left floating blocks and the right floating blocks (E36), the first tightening shaft (E38) is arranged on the left floating blocks and the right floating blocks (E36), a tap (E39) is arranged on an output shaft of the first tightening shaft (E38), a first positioning cylinder (E4) for positioning an upper floating device, a lower floating device and the left floating device and the right floating device is arranged on an upper floating plate (E30), and a wire passing vision camera (E5) is arranged on the wire passing flange plate (E10).
7. The automatic tie rod assembly line of claim 1, wherein: the utility model provides a blow-suction burr mechanism (F) is including relative first fixed bolster (F1) and second fixed bolster (F5) that set up in main transfer chain (A) both sides, be provided with first motor lead screw pair (F2) on first fixed bolster (F1), sliding on first motor lead screw pair (F2) is provided with first movable support (F3), be provided with first blow-suction clamp fixture (F4) on first movable support (F3), be provided with second motor lead screw pair (F6) on second fixed bolster (F5), sliding on second motor lead screw pair (F6) is provided with second movable support (F7), be provided with second blow-suction clamp fixture (F8) on second movable support (F7), first blow-suction clamp fixture (F4) and second blow-suction clamp fixture (F8) are inside hollow structure, and second blow-suction clamp fixture (F8) keep away from one end that first blow-suction clamp fixture (F4) is provided with electromagnetic pulse valve (F9).
8. The automatic tie rod assembly line of claim 1, wherein: the pipe hoop assembling mechanisms (G) are arranged in two groups, the two groups of pipe hoop assembling mechanisms (G) are respectively arranged at two sides of the main conveying line (A), each pipe hoop assembling mechanism (G) comprises a pipe hoop material frame (G1), a pipe hoop robot (G6) and a pipe hoop grabbing and screwing mechanism (G4), the pipe hoop material frame (G1) and the pipe hoop robot (G6) are arranged at the same side of the main conveying line (A), each pipe hoop grabbing and screwing mechanism (G4) is arranged at the free end of the pipe hoop robot (G6) through a gripper fixing flange plate (G44), and a pipe hoop vision camera (G5) is arranged on the gripper fixing flange plate (G44);
The pipe hoop material rack (G1) comprises a material rack support (G10), a horizontal rotating mechanism, a double-shaft servo motor (G2) and a material placing rack (G3), wherein the horizontal rotating mechanism comprises a rotating shaft seat (G11), a rotating turntable (G12) and a pushing cylinder (G13), the rotating turntable (G12) is arranged on the top surface of the material rack support (G10), the rotating shaft seat (G11) is rotatably arranged on the rotating turntable (G12), the rotating shaft seat (G11) downwards penetrates through the rotating turntable (G12) to be connected with a driving gear, the pushing cylinder (G13) is arranged on the material rack support (G10), the output end of the pushing cylinder (G13) is connected with a rack, the rack is slidably arranged on the material rack support (G10) and meshed with the driving gear, the double-shaft servo motor (G2) is arranged at the top of the rotating shaft seat (G11), the material placing rack (G3) is arranged into two, and the two material placing racks (G3) are respectively connected with an output shaft of the double-shaft servo motor (G2) in a transmission manner.
The utility model provides a pipe strap snatchs tightening mechanism (G4) includes pneumatic tongs (G40), pneumatic slip table (G41), wind is criticized (G42) and a plurality of floating guide arm (G43), pneumatic tongs (G40) and a plurality of floating guide arm (G43) all set up on tongs mounting flange board (G44), be provided with pipe strap clamping jaw (G45) on pneumatic tongs (G40), it is provided with slip table fixed plate (G46) to slide on floating guide arm (G43), all the cover is equipped with third floating spring (G47) on the both sides of slip table fixed plate (G46) junction on floating guide arm (G43), pneumatic slip table (G41) set up on slip table fixed plate (G46), wind is criticized (G42) and is set up on pneumatic slip table (G41), and pneumatic slip table (G41) drive wind and criticize (G42) to pipe strap clamping jaw (G45) direction removal.
9. The automatic tie rod assembly line of claim 1, wherein: the ball head assembling mechanism (H) comprises two groups of ball head conveying lines (H1), ball head twisting mechanisms (H2), positive and negative wire identifying devices (H3) and ball head NG material racks (H4), the two groups of ball head twisting mechanisms (H2), the two groups of positive and negative wire identifying devices (H3) and the two groups of ball head NG material racks (H4) are respectively arranged on two sides of the main conveying line (A), the ball head conveying lines (H1) are perpendicular to the main conveying line (A), and the two groups of ball head conveying lines (H1) are arranged on two sides of the two groups of ball head twisting mechanisms (H2);
the bulb screwing mechanism (H2) comprises a bulb robot (H20) and a bulb screwing device arranged at the free end of the bulb robot (H20), the bulb screwing device comprises a flange connecting plate (H21), a grabbing unit and a screwing unit, the grabbing unit and the screwing unit are respectively arranged on two sides of the flange connecting plate (H21), the grabbing unit comprises a bulb clamping jaw (H22), the bulb clamping jaw (H22) is floatably arranged on the flange connecting plate (H21), a first profiling gripper (H23) is connected to the bulb clamping jaw (H22), the screwing unit comprises a second thrust cylinder (H24), a second screwing shaft (H25), a clamping rotary cylinder (H26) and a floating mechanism (H27), the floating mechanism (H27) is connected with the second thrust cylinder (H24) and is slidably arranged on the flange connecting plate (H21), the second screwing shaft (H25) is connected to the clamping rotary cylinder (H26) on the upper end of the flange connecting plate (H21), and a second profiling gripper (H29) is arranged at the lower end of the clamping rotary cylinder (H26);
Positive and negative silk recognition device (H3) include three-jaw chuck (H30), light source (H31) and discernment camera (H32), three-jaw chuck (H30) set up on chuck support (H33), three-jaw chuck (H30) top is provided with guider (H34), light source (H31) set up on chuck support (H33) through adjusting support (H35), discernment camera (H32) set up on camera support (H36), bulb NG work or material rest (H4) set up in positive and negative silk recognition device (H3) one side.
10. The automatic tie rod assembly line of claim 1, wherein: the blanking device (J) comprises a blanking conveying line (J1), an unstacking manipulator (J2) and a stacker crane (J3), wherein the blanking conveying line (J1) comprises an empty frame upper line segment (J10), a conveying segment (J11), a rotary reversing segment (J12) and a finished product frame lower line segment (J13), the empty frame upper line segment (J10) and the finished product frame lower line segment (J13) are arranged in parallel, the conveying segment (J11) is vertically arranged at one end of the empty frame upper line segment (J10), and the rotary reversing segment (J12) is arranged at one end of the finished product lower line segment;
the unstacking manipulator (J2) comprises an unstacking frame (J20), a front-back moving module (J21), a lifting module (J22) and an unstacking gripper assembly (J23), wherein the unstacking frame (J20) is arranged above mutually perpendicular end parts of an empty frame upper line segment (J10) and a conveying section (J11) in a straddling mode, the front-back moving module (J21) is arranged above the unstacking frame (J20) and is used for realizing front-back movement of the lifting module (J22) and the unstacking gripper assembly (J23), the lifting module (J22) is arranged on the front-back moving module (J21) and is used for realizing up-down lifting of the unstacking gripper assembly (J23), and the unstacking gripper assembly (J23) is arranged on the lifting module (J22) and is arranged on the conveying section (J11) after the empty frame is detached and rotated by 90 degrees;
The stacker crane (J3) comprises a stacking frame (J30), a jacking transplanting conveying line (J31) and a material frame positioning device (J32), wherein the stacking frame (J30) is arranged between a rotary reversing section (J12) and a finished material frame lower line section (J13), the jacking transplanting conveying line (J31) is arranged in the stacking frame (J30) and used for jacking up a material frame filled with a tie rod and transplanting the stacked material frame to the finished material frame lower line section (J13), and the material frame positioning device (J32) is arranged on the stacking frame (J30) and used for supporting the material frame jacked up by the jacking transplanting conveying line (J31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310491885.9A CN116197660B (en) | 2023-05-05 | 2023-05-05 | Automatic assembly line for transverse pull rod assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310491885.9A CN116197660B (en) | 2023-05-05 | 2023-05-05 | Automatic assembly line for transverse pull rod assembly |
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| Publication Number | Publication Date |
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| CN116197660A true CN116197660A (en) | 2023-06-02 |
| CN116197660B CN116197660B (en) | 2023-08-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310491885.9A Active CN116197660B (en) | 2023-05-05 | 2023-05-05 | Automatic assembly line for transverse pull rod assembly |
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| CN (1) | CN116197660B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117124046A (en) * | 2023-10-26 | 2023-11-28 | 中电建(西安)港航船舶科技有限公司 | Heliostat assembly line |
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| Publication number | Publication date |
|---|---|
| CN116197660B (en) | 2023-08-15 |
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