CN216607836U - Automatic installation device for elevator guide rail connecting piece - Google Patents

Abstract

The utility model discloses an automatic mounting device for an elevator guide rail connecting piece, which comprises a first frame, wherein the first frame is provided with a material tray feeding module, a material tray lifting module, a three-axis positioning grabbing and conveying module, an empty material tray pushing module, a workpiece conveying and positioning module, a bolt tightening module for connecting a workpiece, an automatic bolt feeding module and a fourth frame for supporting an elevator guide rail to be processed; the material tray loading module sends a material tray loaded with materials to the material tray lifting module, and the grabbing and conveying module is used for grabbing a connecting block or a connecting plate in the material tray and conveying the connecting block or the connecting plate to the workpiece conveying and positioning module; the empty tray pushing module is used for pushing out the empty trays in the tray lifting module.

Description

Automatic installation device for elevator guide rail connector

technical field

The utility model relates to the field of elevator guide rails, in particular to an automatic installation device of an elevator guide rail connecting piece.

Background technique

The guide rails of elevators usually require multiple guide rails to be connected in series. Most of the existing products use solid guide rails for series connection, which increases the weight of the guide rails. Therefore, in order to reduce the weight of the guide rail while ensuring the strength of the guide rail, hollow elevator guide rails are usually used. In order to reduce the workload when the guide rails are connected in series, during the production and processing of the guide rails, the connecting pieces required for the serial connection of the guide rails are often installed at one end of the guide rails and tightened by bolts.

However, due to the dimensional error in the length of the hollow elevator guide rail, it is difficult for general equipment to complete the functions of automatic loading and unloading of connecting parts and automatic screwing of bolts. In the prior art, a manual operation method is generally used to install the guide rail connector on one end of the guide rail, and then complete the process of screwing the bolts. The work intensity is high and the work efficiency is low. With the long-term operation, the fatigue of the workers leads to a decrease in attention, and there are often cases where the bolts are not tightened or the bolts are not tightened tightly; thus, the connection strength of the guide rail is reduced and the product quality is reduced.

At present, the newer elevator guide rail connector feeding device is described in patent CN109227114B, Automatic installation device for hollow elevator guide rail connector and its installation method, using an industrial camera and a three-axis adjustable sliding seat, and the parameter feedback obtained by the camera The position of the three-axis adjustable sliding seat, and the two sides of the workpiece positioning block body are respectively provided with support blocks for supporting the sides of the guide rail connecting plate to locate the distance between the guide rail connecting plate and the guide rail connecting block, so as to realize the elevator guide rail, The accurate positioning between the guide rail connecting plate and the guide rail connecting block improves the positioning accuracy. However, this device also has the following disadvantages:

(1) The feeding method of the elevator guide rail connector: after the connector tray is filled with the guide rail connector and placed neatly, it is placed on the fluent strip on the free slide, and the worker pushes it into the movable feeding platform. Then through the first tray lifting module and the second tray lifting module, the full guide rail connecting block is lifted, that is, the tray is manually pushed into the feeding platform, which has high labor intensity for workers and low degree of automation. shortcoming;

(2) There is a lack of limit/positioning devices around the feeding platform, that is, the feeding tray full of connectors cannot be well positioned, resulting in the manual pushing of the feeding tray to the movable feeding platform and the movable feeding platform. During the process of lifting the material tray, positional deviation and inaccurate positioning are prone to occur, which eventually leads to the inability of the material tray to be accurately positioned at the specified position; further, it is easy to cause the grasping module to grasp the connecting piece during the process of grasping the connecting piece, which cannot be accurately grasped. Take the connector, and then it is impossible to carry out the next action to accurately place the connector on the workpiece installation module;

(3) The automatic installation device and the installation method of the hollow elevator guide rail connector described in the patent CN109227114B use an industrial camera and a three-axis adjustable sliding seat to complete the feeding and screwing of the guide rail connector, but the control method The machining error of the threaded hole on the hollow elevator guide rail and the positional deviation during the movement of the elevator guide rail are not considered, resulting in poor reliability of the screwing action and low production efficiency.

Utility model content

The technical problem to be solved by the utility model is to provide an efficient and accurate automatic installation device for elevator guide rail connectors.

In order to solve the above-mentioned technical problems, the technical scheme adopted by the present utility model is as follows: an automatic installation device for elevator guide rail connectors, comprising a first frame, and the first frame is provided with a tray feeding module, a tray lifting module, and a three-axis positioning device. Grab and transfer module, empty tray push-out module, workpiece transfer and positioning module, bolt tightening module for connecting workpieces, automatic bolt feeding module, fourth frame for supporting the elevator guide rail to be processed; the tray feeding module will load The material tray is sent to the tray lifting module, and the grabbing and conveying module is used to grab the connecting block or connecting plate in the tray and transfer it to the workpiece transmission and positioning module; the empty tray ejection module is used to lift the tray. Empty trays in the module are pushed out;

The tray feeding module includes a tray placement rack. The tray placement rack is provided with two first roller conveying mechanisms arranged in parallel along its length direction. The tray placement rack is provided with a discharge end of the first roller conveying mechanism. Two second roller conveying mechanisms are arranged side by side along the width direction of the tray placement rack. The tray placement rack is provided with an empty tray at the discharge end of the first roller conveying mechanism arranged along the width direction of the tray placement rack. The third roller conveying mechanism of the material, the tray placement rack is provided with a first tray pushing mechanism that pushes the tray to move on the first roller conveying mechanism, and the tray placement rack is equipped with a second roller conveying mechanism that pushes the tray on the first roller conveying mechanism through the second The roller conveying mechanism moves to the second tray pushing mechanism on the tray lifting module; the second roller conveying mechanism is provided with a first travel switch on the side close to the third roller conveying mechanism, and the end position of the third roller conveying mechanism is provided with a For the baffle that limits the empty tray,

The feeding tray lifting module includes a second frame, and the second frame is movably provided with a feeding support that moves up and down and a feeding support for conveying the empty feeding tray. The empty tray conveying module on the unloading support; the second frame is provided with a lifting power device that drives the loading support and the unloading support to move up and down; The position of the tray pushed by the tray push mechanism and the second travel switch to detect whether the tray is in place, the feeding bracket is provided with a lift cylinder, and the end of the lift cylinder piston is provided with a positioning pin inserted into the positioning pin hole at the bottom of the tray ;

The material tray is provided with a number of chessboard-shaped troughs. The first trough in the first row is provided with a first positioning notch for positioning the first assembled workpiece, and the last trough in the last row is provided with a positioning slot. The second positioning notch for assembling the workpiece, and the remaining material troughs are simultaneously provided with a first positioning notch for positioning the workpiece before assembling and a second positioning notch for assembling the workpiece after positioning; the upper surface of the material tray is provided with at least two The positioning pin used for stacking the trays, the lower surface of the tray is provided with positioning holes that match the position of the positioning pins; the two sides of the tray are respectively provided with a pair of tray handling holes;

The workpiece transfer and positioning module includes a third frame arranged beside the first frame, the third frame is provided with a compensation module, the movable seat of the compensation module is provided with a pushing cylinder, and the piston rod end of the pushing cylinder is provided with a connection for placing Profile brackets for blocks and connecting plates;

The bolt tightening module includes a three-axis adjustable sliding seat fixed on the third frame, and the sliding seat is fixed with a bolt installation mechanism through the guide rail flange, and the bolt installation mechanism is used to take out the bolt from the bolt vibrating plate. Installed on the workpiece; an industrial camera for taking pictures of the bolt hole to detect the position of the bolt hole is installed on the outer side of the Z-axis of the sliding seat. After the picture, the three-axis adjustable sliding seat in the control position moves to control the bolt tightening module to reach the working coordinate position; the bolt installation mechanism includes a pneumatic wrench arranged on the flange of the guide rail, the lower end of the pneumatic wrench is connected with a universal sleeve, and the translation cylinder is fixed on the Below the guide rail flange, the end of the piston rod of the translation cylinder is provided with a second pneumatic gripper for grabbing the bolt.

As a preferred solution, the empty material tray transmission module is arranged on the top of the second frame, and the empty material tray transmission module includes a sliding rail slider mechanism and a transmission module set in parallel, and the sliding rail slider mechanism and the transmission module are on the Both are equipped with laterally moving cylinders. The two laterally moving cylinders are symmetrically arranged. The end of the piston rod of the laterally moving cylinder is provided with a tray positioning and clamping device. The tray positioning and clamping device is equipped with a tray handling hole set on the side of the tray pin head.

As a preferred solution, a free roller mechanism is provided on both the loading support and the unloading support.

As a preferred solution, the lifting power device includes two sprockets mounted on the second frame through the sprocket mounting bracket and located between the feeding bracket and the unloading bracket, the chain and the sprocket are meshed with each other, and the chain two The ends are respectively connected with the feeding support and the unloading support on both sides; the second frame is provided with a vertically arranged second rack, and the output shaft of the first servo motor set on the feeding support is provided with a second tooth Meshing gears.

As a preferred solution, the empty tray push-out module is arranged on the first frame on one side of the blanking support, and is at the same height as the lowest stroke position of the blanking support. The push cylinder on the frame, the end of the piston rod of the push cylinder is provided with a second push plate for pushing out the empty material tray from the unloading bracket.

As a preferred solution, the automatic bolt feeding module is arranged below the sliding seat whose position is adjustable in three axes, and the automatic bolt feeding module includes a bolt vibrating plate and a mounting bracket for the bolt vibrating plate. There is a bolt guide groove at the material port to keep the bolt in a vertical position; the fourth frame is arranged on the side of the automatic bolt feeding module close to the bolt tightening module, and the fourth frame is provided with a bolt to push up the cylinder, and the bolt pushes up the piston of the cylinder A first pneumatic gripper is arranged at the end of the rod, and the bolt pushes up the cylinder to drive the first pneumatic gripper to move up and down.

The beneficial effects of this device are:

Due to the setting of the compensation module, when the guide rail reaches the processing station of the automatic installation device for the hollow elevator guide rail connector, first obtain the position of the bolt hole on the hollow elevator guide rail through the industrial camera; after the pusher cylinder transports the connector to the designated position , obtain the position of the threaded hole on the connector through the industrial camera again, and calculate the distance between the bolt hole and the threaded hole through the PLC, and control the movement of the compensation module to perform distance compensation; after the compensation module moves in place, pass The industrial camera obtains the position of the threaded hole in the bolt hole of the guide rail, which is used to guide the screwing action. By taking three pictures, not only the machining error of the threaded hole on the hollow elevator guide rail and the machining error of the connecting piece are overcome, but also the positional deviation during the movement of the elevator guide rail. At the same time, through the third identification, the threaded hole in the guide rail bolt is obtained. The precise position in the hole guides the screwing action and improves the reliability and work efficiency of the screwing action.

Since there are several chessboard-shaped hoppers on the material tray, the first hopper in the first row is provided with a first positioning notch for locating the workpiece to be assembled first, and the last hopper in the last row is provided with a first positioning notch for positioning the first assembled workpiece. There is a second positioning notch for assembling the workpiece after positioning, and the remaining material troughs are also provided with a first positioning notch for positioning the first assembling workpiece and a second positioning notch for assembling the workpiece after positioning; the upper surface of the material tray is provided with at least two positioning slots. A positioning pin for stacking with the rest of the trays, the lower surface of the tray is provided with positioning holes that match the position of the positioning pins; a pair of tray handling holes are respectively provided on both sides of the tray; so that one tray can meet the requirements of two materials Feeding and feeding makes the material grabbing and feeding operation more efficient, and at the same time, the structure of the entire feeding mechanism is simpler and more compact, which reduces the production cost and reduces the space occupied by the equipment;

The feeding support and the unloading support are connected to each other by a chain. When the loading support is loaded, the unloading support is just unloading, that is, while the loading support is raised to a certain height, the unloading support connected by the chain is lowered by the same height. , that is, loading and unloading are carried out at the same time, which greatly improves the efficiency of loading and unloading;

Since a second travel switch is provided on the same side of the feeding bracket on the end of the free roller mechanism on the feeding bracket, when the feeding tray is sent along the free roller mechanism to the end position of the free roller mechanism on the feeding tray lifting module, Trigger the second travel switch, and then the second travel switch sends a signal to the second material tray push mechanism, the servo motor stops working after receiving the signal, the second material tray push mechanism stops moving, and finally makes the material tray stop at the designated position. The longitudinal positioning of the feeding tray can effectively overcome the technical defects of the prior art that the positional deviation easily occurs during the feeding process of the feeding tray, and the positioning is not accurate, which eventually leads to the technical defect that the feeding tray cannot be accurately positioned at the designated position;

Since there are blocks installed on both sides of the feeding support and the unloading support for the positioning of the feeding tray, it can effectively prevent the positional deviation of the feeding tray during the transmission process, solve the problem of inaccurate positioning of the feeding tray, and solve the problem at the same time. This solves the problem of inaccurate grasping of the grasping module and inability to grasp the connecting piece accurately.

Description of drawings

FIG. 1 is a schematic three-dimensional structural diagram of an automatic installation device for an elevator guide rail connector in an embodiment of the present invention.

Fig. 2 is another three-dimensional structural schematic diagram of the automatic installation device of the elevator guide rail connector in the embodiment of the present invention.

Fig. 3 is a front view of an automatic installation device for an elevator guide rail connector in an embodiment of the present invention.

4 is a top view of an automatic installation device for an elevator guide rail connector in an embodiment of the present invention.

Fig. 5 is a side view of the automatic installation device of the elevator guide rail connector in the embodiment of the present invention.

FIG. 6 is a schematic three-dimensional structure diagram of an automatic feeding part of a connector in an embodiment of the present invention.

FIG. 7 is a front view of the automatic feeding part of the connector in the embodiment of the present application.

FIG. 8 is a top view of the automatic feeding part of the connector in the embodiment of the present invention.

FIG. 9 is a schematic three-dimensional structure diagram of a tray feeding module in an embodiment of the present application.

FIG. 10 is a top view of the tray feeding module in the embodiment of the present application.

FIG. 11 is a schematic three-dimensional structure diagram of a tray lifting module in an embodiment of the present invention.

FIG. 12 is a front view of the tray lifting module in the embodiment of the present application.

FIG. 13 is a top view of the tray lifting module in the embodiment of the present application.

FIG. 14 is a rear view of the tray lifting module in the embodiment of the present application.

FIG. 15 is a schematic three-dimensional structural diagram of a grasping and conveying module in an embodiment of the present invention.

FIG. 16 is a schematic three-dimensional structural diagram of a hollow tray ejection module according to an embodiment of the present invention.

FIG. 17 is a schematic three-dimensional structure diagram of a workpiece conveying and positioning module in an embodiment of the present invention.

FIG. 18 is a schematic three-dimensional structure diagram of a profiling bracket in an embodiment of the present application.

19 is a schematic three-dimensional structural diagram of a bolt tightening module and an automatic bolt feeding module in an embodiment of the present invention.

Fig. 20 is another three-dimensional schematic diagram of the bolt tightening module and the bolt automatic feeding module in the embodiment of the present invention.

21 is a side view of the bolt tightening module and the bolt automatic feeding module in the embodiment of the present application.

FIG. 22 is a schematic structural diagram of the hollow tray and the stacking of the tray according to the embodiment of the present invention.

Fig. 23 is a schematic structural diagram of a connecting plate of an elevator guide rail in an embodiment of the application of the present invention.

FIG. 24 is a schematic structural diagram of the elevator guide rail connecting block in the embodiment of the present application.

Fig. 25 is a working flow chart of the automatic installation device of the elevator guide rail connector in the embodiment of the present invention.

FIG. 26 is a schematic diagram of the position of the industrial camera visual recognition system for coordinate recognition in the embodiment of the present invention.

In the attached picture:

1. The first frame

2. The tray feeding module 20, the tray placing rack 21, the first roller conveying mechanism

22. The second roller conveying mechanism 23, the third roller conveying mechanism 24, the first material tray pushing mechanism

25. The second material tray push mechanism 26. The first travel switch 27. The baffle

3. The tray lifting module 30, the second frame 31, the feeding bracket

310. Second travel switch 32. Empty tray transfer module 320. Slide rail slider mechanism

321, transmission module 33, blanking bracket 34, lifting power device

340, chain 341, sprocket 342, first servo motor

35. Block 36. Lifting cylinder

4. Grab and transfer module 41, X-axis module 42, Y-axis module

43. Z-axis module 44. Z-axis module bracket 45. Reclaiming module

5. Empty tray ejection module

6. Workpiece conveying and positioning module 60, third frame 61, pushing cylinder

62. Copying bracket 63. Compensation module 64. Cylinder backing plate

7. Bolt tightening module 70. Three-axis adjustable sliding seat 71. Bolt installation mechanism

710, pneumatic wrench 711, translation cylinder 712, second pneumatic gripper

72. Industrial cameras

8. Bolt automatic feeding module 80. Bolt vibration plate

9. Fourth frame 90. Bolt jacking up cylinder 91. First pneumatic gripper

10. Material tray 101, Material tray carrying hole 102, Positioning pin

103, the first positioning slot 104, the second positioning slot

11. Connection block 12. Connection board

Detailed ways

In order to clearly and completely describe the purpose and technical solutions of the present utility model, and to make the advantages more clearly understood, the embodiments of the present utility model are further described in detail below with reference to the accompanying drawings.

As shown in Figures 1-8, an automatic installation device for elevator guide rail connectors includes a first frame 1, a tray feeding module 2, a tray lifting module 3, a grasping and conveying module 4, and an empty tray ejecting module 5. The workpiece conveying and positioning module 6, the bolt tightening module 7, the automatic bolt feeding module 8, and the fourth frame 9; In the frame space of the frame 1, the tray lifting module 3 includes a loading bracket 31 and a blanking bracket 33, and the lowest stroke position height of the loading bracket 31 and the blanking bracket 33 of the tray lifting module 3 is the same as the tray loading module. 2 are located at the same height, the tray feeding module 2 and the tray lifting module 3 are connected to each other; the grabbing and conveying module 4 is arranged on the upper plane of the first frame 1 for grabbing the guide rail connector in the tray and conveying it to the workpiece transfer positioning module 6; the empty tray push-out module 5 is arranged on the first frame 1 on one side of the unloading bracket 33, and is located at the same height as the lowest stroke position of the unloading bracket 33; the workpiece transfer positioning module 6 is arranged on Right behind the tray lifting module 3, the workpiece conveying and positioning module 6 includes a third frame 60 and a pushing cylinder 61, the third frame 60 is fixedly arranged at the bottom of the first frame 1, and the pushing cylinder 61 is arranged on the third frame 60; The bolt tightening module 7 is fixedly arranged above the third frame 60 , the bolt tightening module 7 is provided with a three-axis adjustable sliding seat 70 , and the bolt automatic feeding module 8 is arranged on the three-axis adjustable sliding seat 70 The lower part is used for automatic feeding of bolts, and a fourth frame 9 is arranged on one side of the automatic bolt feeding module 8, and the fourth frame 9 is used to support the elevator guide rail from a process of the assembly production line.

As shown in FIG. 9-FIG. 10, the tray feeding module 2 includes a tray placing rack 20 for supporting the entire tray feeding module 2, and also includes a first roller conveying mechanism 21, a first roller conveying mechanism 21, a The second roller conveying mechanism 22, the third roller conveying mechanism 23, the first roller conveying mechanism 21 is arranged horizontally, the second roller conveying mechanism 22 is arranged longitudinally, and the second roller conveying mechanism 22 is connected end to end with the first roller conveying mechanism 21 , the first roller conveying mechanism 21 and the second roller conveying mechanism 22 are used for feeding the tray; the third roller conveying mechanism 23 and the second roller conveying mechanism 22 are arranged side by side, and the third roller conveying mechanism 23 is used for the empty tray discharging. .

The tray feeding module 2 also includes two tray pushing mechanisms, namely the first tray pushing mechanism 24 and the second tray pushing mechanism 25; the first roller conveying mechanism 21 and the second roller conveying mechanism 22 are both composed of two rows of It is composed of evenly arranged rollers, and there is a certain space between the two rows of evenly arranged rollers. The first material tray pushing mechanism 24 is arranged between the two evenly arranged rollers of the first roller conveying mechanism 21, and the second material tray pushes The mechanism 25 is arranged between the two rows of evenly arranged rollers of the second roller conveying mechanism 22 .

The tray feeding module 2 also includes a first travel switch 26 and a baffle 27. The first travel switch 26 is arranged on the second roller conveying mechanism 22 on the side close to the third roller conveying mechanism 23, and the baffle 27 is arranged on the third roller. The end position of the conveying mechanism 23 is used to limit the empty tray. Two first travel switches 26 are provided for sensing the material trays conveyed from the first roller conveying mechanism 21 to the second roller conveying mechanism 22 . On the tray feeding module 2, the roller conveying mechanism and the tray pushing mechanism are used to cooperate with each other. The servo motor in the tray pushing mechanism is used as the driving force to cooperate with the rack and pinion structure and the roller conveying mechanism. During the working process, when the right side When the material tray is conveyed from the first roller conveying mechanism 21 to the second roller conveying mechanism 22, the first travel switch 26 detects that the material tray is in place, and firstly the first travel switch 26 sends a signal to the first material tray pushing mechanism 24 to control The first tray push mechanism 24 stops moving, and then the first travel switch 26 sends a signal to the second tray push mechanism 25 to control the action of the second tray push mechanism 25 to change the tray from horizontal conveyance to vertical conveyance, and finally It is transported to the tray lifting module 3. That is, after the connecting piece tray is filled with guide rail connectors and neatly placed on the first roller conveying mechanism, the tray is automatically transferred to the designated position at the tray lifting module under the drive of the servo motor, without the need to manually move the tray. By advancing, automatic feeding is realized, with a high degree of automation, saving time and labor, and overcoming the problems of manual feeding, time-consuming, labor-intensive, and low degree of automation in the prior art.

As shown in FIG. 11-FIG. 14, the tray lifting module 3 includes a second frame 30, a feeding support 31, an empty tray conveying module 32, a blanking support 33 and a lifting power device 34. The second The frame 30 is divided into two mutually symmetrical frame spaces on the left and right, and the feeding support 31 and the unloading support 33 are respectively arranged in the left and right two symmetrical frame spaces in the second frame 30, wherein the feeding support 31 is located on the right side, The unloading bracket 33 is located on the left side. Both the loading bracket 31 and the unloading bracket 33 are provided with a free roller mechanism. The loading bracket 31 is used for conveying the tray filled with the connecting parts, and the blanking bracket 33 is used for conveying the empty tray. . The empty tray transfer module 32 is disposed on the upper plane of the second frame 30 . Wherein, a second travel switch 310 is provided on the second frame 30 at the end of the free roller mechanism on the feeding bracket 31. When the material tray is sent along the free roller mechanism to the end position of the free roller mechanism on the tray lifting module 3 When the second stroke switch 310 detects that the tray is in place, the second stroke switch 310 sends a signal to the second tray push mechanism 25, the servo motor stops working after receiving the signal, the second tray push mechanism 25 stops moving, and finally The material tray is stopped at the designated position, and the longitudinal positioning of the material tray is realized.

Blocks 35 are installed on both sides of the feeding support 31 and the unloading support 33, which are mainly used for the positioning of the feeding tray, that is, the lateral positioning of the feeding tray is realized, which can effectively prevent the positional deviation of the feeding tray during the transmission process. The problem of inaccurate positioning of the material tray is solved, and at the same time, the problem of inaccurate grasping of the grasping module and the inability to grasp the connecting piece accurately is solved.

The empty tray conveying module 32 is arranged on the upper plane of the second frame 30, and is used to transport the empty tray from the loading bracket 31 on the right to the unloading bracket 3 on the left to complete the horizontal transportation of the empty tray . The empty tray transmission module 32 includes a sliding rail slider mechanism 320 and a transmission module 321. The sliding rail slider mechanism 320 and the transmission module 321 are symmetrically arranged with each other, and the sliding rail slider mechanism 320 and the transmission module 321 are respectively provided with The lateral movement cylinders are symmetrically arranged. The end of the piston rod of the laterally moving cylinder is provided with a material tray positioning and clamping device, and the material tray positioning and clamping device is provided with a pin head matched with a material tray carrying hole provided on the side of the material tray.

The lifting power device 34 includes a chain 340, a sprocket 341 and a first servo motor 342. The sprocket 341 is mounted on the second frame 30 through a sprocket mounting bracket and is located between the loading bracket 31 and the unloading bracket 33. The sprocket 341 There are two symmetrically arranged, the chain 340 and the sprocket 341 are meshed with each other, and the two ends of the chain 340 are respectively connected with the feeding support 31 and the unloading support 33 on both sides through the chain connecting block; the first servo motor 342 is used to drive the feeding support. 31 and the blanking support 33 move up and down. The loading support 31 and the unloading support 33 are connected to each other by the chain 340. When the loading support 31 is loaded, the unloading support 33 is just unloading, that is, when the loading support 31 is raised to a certain height, the lowering support connected by the chain 340 The material support 33 is lowered to the same height, that is, the material loading and unloading are carried out at the same time, which greatly improves the efficiency of loading and unloading.

As shown in FIG. 15 , the grabbing and conveying module 4 is a three-axis manipulator arranged on the first frame 1, which is used to grab and transfer the guide rail connecting plate and the guide rail connecting block from the tray 7 to the The workpiece is transferred to the positioning module 6. The grabbing and conveying module 4 includes an X-axis module 41, a Y-axis module 42 and a Z-axis module 43, and a reclaiming module 45 arranged on the Z-axis module, and the reclaiming module 45 is used for grabbing the rail connecting plate and the Rail connection block.

As shown in FIGS. 17-18 , the workpiece transfer and positioning module 6 includes a third frame 60 , a pushing cylinder 61 , a profiling bracket 62 and a compensation module 63 . The third frame 60 is fixedly arranged at the bottom of the first frame 1 , and the pushing material The cylinder 61 is arranged on the third frame 60; the profiling bracket 62 is arranged on the end of the piston rod of the pushing cylinder 61, and the profiling bracket 62 is used to place the connecting block 11 and the connecting plate 12; the compensation module 63 is fixed to the first through the module bracket. On the three frames 60 , the compensation module 63 is connected to the pushing cylinder 61 through the cylinder backing plate 64 .

As shown in FIGS. 19-21 , the bolt tightening module 7 is fixedly arranged above the third frame 60 , and the bolt tightening module 7 is provided with a three-axis adjustable sliding seat 70 , and the three-axis adjustable sliding seat 70 adopts the guide rail method A bolt installation mechanism 71 is provided on the flange plate, and the bolt installation mechanism 71 is used to take out the bolt from the bolt vibrating plate 80 and install it on the workpiece; the Z-axis outside of the three-axis adjustable sliding seat 70 is installed through the camera mounting bracket There is an industrial camera, which is used to take pictures of the bolt holes and detect the position of the bolt holes. After processing by the image processing and position recognition system, the coordinates are fed back to the three-axis adjustable sliding seat 70, and then the three-axis adjustable position is controlled by the three-axis adjustable sliding seat 70. The sliding seat 70 moves to control the position coordinates of the bolt tightening module 7 . The bolt installation mechanism 71 includes a pneumatic wrench 710, a translation cylinder 711, and a second pneumatic gripper 712. The pneumatic wrench 710 is installed on the flange of the guide rail. The lower end of the pneumatic wrench 710 is connected with a universal socket. Bolt and tighten it on the workpiece. Using the solution of pneumatic wrench 710 and universal socket, it can satisfy the tightening of bolts with heads of any shape. The translation cylinder 711 is fixedly arranged under the flange of the guide rail, and the second pneumatic gripper 712 is arranged at the end of the piston rod of the translation cylinder 711 , and the second pneumatic gripper 712 is used for grasping the bolt.

The bolt automatic feeding module 8 is arranged below the three-axis adjustable sliding seat 70 for automatic feeding of the bolts. The bolt automatic feeding module 8 includes a bolt vibrating plate 80 and a bolt vibrating plate mounting bracket, and a bolt guiding groove is provided at the discharge port of the bolt vibrating plate 80 so that the bolts are located in a vertical position.

The fourth frame 9 is arranged on the side of the automatic bolt feeding module 8 close to the bolt tightening module 7, and the fourth frame 9 is used to support the elevator guide rail from a process of the assembly line. The fourth frame 9 is provided with a bolt jacking cylinder 90, a first pneumatic gripper 91 is arranged at the end of the piston rod of the bolt jacking cylinder 90, and the bolt jacking cylinder 90 is used to drive the first pneumatic gripper 91 to move up and down. The pneumatic gripper 91 is used to take out the bolt from the bolt vibrating plate 80 and transmit it to the second pneumatic gripper 712 .

As shown in FIG. 22 , the material tray 10 is provided with a number of chessboard-shaped troughs. The first trough in the first row is provided with a first positioning slot 103 for locating the workpiece to be assembled first. One hopper is provided with a second positioning notch 104 for assembling the workpiece after positioning, and the other hoppers are simultaneously provided with a first positioning notch 103 for locating the workpiece before assembling and a second positioning notch 104 for assembling the workpiece after positioning; The upper surface of the tray 10 is provided with at least two positioning pins 102 for stacking with the rest of the trays, the lower surface of the tray 10 is provided with positioning holes that match the positions of the positioning pins; the two sides of the tray are respectively provided with a pair of tray handling holes .

As shown in Figure 25, an installation method of an elevator guide rail connector automatic installation device includes the following steps:

(1) Feeding of connecting parts:

(a) The first servo motor 342 acts to drive the feeding support 31 to move downward along the slide rail until the feeding support 31 moves to the lowest initial position; when the feeding support 31 on the feeding side descends to a certain height , the blanking bracket 33 on the blanking side connected by the chain 340 will rise to the same height;

(b) Transfer the trays 10 filled with the guide rail connecting blocks 11 and the guide rail connecting plates 17 to the first roller conveying mechanism 21 and stack them in a pile, start the first tray pushing mechanism 24, and move the trays 10 along the first The roller conveying mechanism 21 conveys from right to left;

(c) When the material tray is conveyed from the first roller conveying mechanism 21 to the second roller conveying mechanism 22, the first travel switch 26 detects that the material tray 7 is in place, and the first travel switch 26 sends a signal to the master control system. The system first controls the first material tray pushing mechanism 24 to stop, and then controls the second material tray pushing mechanism 25 to act, changing the material tray from horizontal conveying to longitudinal conveying along the second roller conveying mechanism 22;

(d) When the tray is sent along the second roller conveying mechanism 22 to the end position of the free roller mechanism on the tray lifting module 3, the second travel switch 310 detects that the tray is in place, and the second travel switch 310 sends a signal to the general The overall control system controls the servo motor to stop working, and the second material tray pushing mechanism 25 stops advancing, finally making the material tray stop at the designated position, realizing the longitudinal positioning of the material tray;

(2) Lift the tray:

(a) After the feeding tray stops on the feeding support 31, the lifting cylinder 36 installed on the feeding supporting frame 31 drives the positioning pin at the end of the piston of the lifting cylinder 36 to move upward, and the positioning pin is inserted into the positioning pin hole at the bottom of the feeding tray 7 , to achieve the positioning of the tray;

(b) The first servo motor 342 acts to drive the feeding support 31 to ascend along the slide rail to the reclaiming position; when the feeding support 31 on the feeding side is lifted to a certain height, the unloading material connected by the chain 340 The blanking support 33 on one side will drop by the same height;

(3) Take material:

(a) When the guide rail reaches the processing station, the reclaiming module 45 grabs the connecting block 11 in the tray and places it on the profiling bracket 62 on the workpiece conveying and positioning module 6;

(b) Next, the reclaiming module 45 continues to grab the guide rail connecting plate 102 in the tray, and places it on the profiling bracket 62 on the workpiece conveying and positioning module 6;

(4) Photo positioning:

(a) The industrial camera 72 takes a picture for the first time to obtain the coordinate positions of the three bolt holes at the end of the hollow elevator guide rail, and denote them as a ₁ (ax ₁ , ay ₁ ), a ₂ (ax ₂ , ay ₂ ), a ₃ (ax ₃ , ay ₃ ), that is, the absolute coordinate positions of the three bolt holes are obtained. After the photographing and positioning is completed, the pushing cylinder 61 controls the profiling bracket 62 to push the connecting piece to the designated position;

(b) The industrial camera 72 takes a second photograph to obtain the coordinate positions of the three threaded holes on the connector, denoted as b ₁ (bx ₁ , by ₁ ), b ₂ (bx ₂ , by ₂ ), b ₃ (bx ₃ , by ₃ );

形成控制信号控制补偿模组63进一步将仿形支架62推出至空心电梯导轨指定位置，进行距离补偿，使得导轨连接板 102的三个螺纹孔位置与电梯导轨端部三个螺栓孔位置分别对应重合；(c) Calculate the difference between the coordinate positions of the bolt hole and the threaded hole in the length direction of the guide rail obtained by taking two pictures: Δy ₁ =ay ₁ -by ₁ , Δy ₂ =ay ₂ -by ₂ , Δy ₃ =ay ₃ - by ₃ , calculate the average of the three differences at the same time

The control signal is formed to control the compensation module 63 to further push the profiling bracket 62 to the designated position of the hollow elevator guide rail to perform distance compensation, so that the positions of the three threaded holes of the guide rail connecting plate 102 and the positions of the three bolt holes at the end of the elevator guide rail are correspondingly coincident respectively. ;

(c) After the compensation module moves in place, the industrial camera 72 takes a third photo to obtain the position of the threaded hole of the connector, denoted as c ₁ (cx ₁ , cy ₁ ), c ₂ (cx ₂ , cy ₂ ), c ₃ (cx ₃ , cy ₃ ), prepare for the next step of screwing;

(5) Screw the bolts:

(a) The first pneumatic gripper 91 stretches out and clamps the lower part of the bolt from the guide groove of the bolt vibrating plate 80, the bolt pushes up the cylinder 90 to act, and drives the first pneumatic gripper 91 to lift the bolt to a specified height;

(b) The three-axis adjustable sliding seat 70 moves the second pneumatic gripper 712 on the bolt mounting mechanism 71 to the top of the first pneumatic gripper 91 , and then the second pneumatic gripper 712 stretches out and clamps the upper part of the bolt ;

(c) The three-axis adjustable sliding seat 70 lifts the bolt installation mechanism 71 to a specified height, and moves the bolt clamped by the second pneumatic gripper 712 to the bolt hole where the bolt needs to be screwed this time, and presses down, Achieve initial stable positioning;

(d) The second pneumatic gripper 712 loosens the bolt and retracts to avoid position;

(e) The pneumatic wrench 710 extends downward, grabs the head of the bolt through the universal sleeve and screw it into the bolt hole, and after the bolt is tightened, the bolt installation mechanism 71 returns to the initial position;

(f) Repeat the above steps (a)-step (e) to complete the bolt tightening action of the three bolt holes;

(6) Repeat the above steps (3), (4), and (5) until all the guide rail connectors in the tray are taken out;

(7) Handling empty trays:

(a) After the guide rail connector in the tray is taken out by the reclaiming module 45, the lateral movement cylinder is pushed out, and the pin head on the tray positioning and clamping device provided at the end of the lateral movement cylinder piston rod is inserted into the tray handling hole;

(b) The conveying module 321 is actuated to drive the lateral movement cylinder to move horizontally from above the feeding bracket 31 on the feeding side to the free roller mechanism above the feeding bracket 33 on the feeding side; finally the empty tray is placed on the lower side. on the free roller mechanism above the material support 33;

(d) The loading support 31 continues to rise by the height of a material tray, and the unloading support 33 connected by the chain 340 will descend by the same height;

(8) Discharge:

After all the connecting parts in all the trays have been grasped, the blanking bracket 33 just reaches the same height position as the third roller conveying mechanism 23, the empty tray push-out module 5 moves, and the push cylinder 51 drives the push plate 52 to push the empty trays out. The disc is pushed out and parked at the shutter 27 position.

The above-mentioned embodiments are only illustrative of the principles and effects of the present invention, as well as some examples of applications, rather than being used to limit the present invention; it should be pointed out that for those of ordinary skill in the art, without departing from the present invention Under the premise of the inventive concept, several modifications and improvements can also be made, which all belong to the protection scope of the present invention.

Claims (6)

1. An automatic installation device for elevator guide rail connecting pieces comprises a first frame, wherein the first frame is provided with a material tray feeding module, a material tray lifting module, a three-axis positioning grabbing and conveying module, an empty material tray pushing module, a workpiece conveying and positioning module, a bolt tightening module for connecting workpieces, an automatic bolt feeding module and a fourth frame for supporting an elevator guide rail to be processed; the material tray loading module sends a material tray loaded with materials to the material tray lifting module, and the grabbing and conveying module is used for grabbing a connecting block or a connecting plate in the material tray and conveying the connecting block or the connecting plate to the workpiece conveying and positioning module; the empty tray pushing module is used for pushing out an empty tray in the tray lifting module; the method is characterized in that:

the charging tray feeding module comprises a charging tray placing frame, two first roller conveying mechanisms which are arranged in parallel are arranged on the charging tray placing frame along the length direction of the charging tray placing frame, two second roller conveying mechanisms which are arranged in parallel along the width direction of the charging tray placing frame are arranged beside the discharging end of the first roller conveying mechanisms on the charging tray placing frame, a third roller conveying mechanism which is arranged along the width direction of the charging tray placing frame and is used for discharging an empty charging tray is arranged at the discharging end of the first roller conveying mechanisms on the charging tray placing frame, the charging tray placing frame is provided with a first charging tray pushing mechanism for pushing the charging tray to move on the first roller conveying mechanisms, and the charging tray placing frame is provided with a second charging tray pushing mechanism for pushing the charging tray on the first roller conveying mechanisms to move to the charging tray lifting module through the second roller conveying mechanisms; a first travel switch is arranged on one side of the second roller conveying mechanism, which is close to the third roller conveying mechanism, a baffle plate for limiting the blank disc is arranged at the end point of the third roller conveying mechanism,

The material tray lifting module comprises a second frame, a feeding support moving up and down and a discharging support used for conveying empty material trays are movably arranged on the second frame, and an empty material tray conveying module used for conveying the empty material trays of the feeding support to the discharging support is arranged on the second frame; the second frame is provided with a lifting power device for driving the feeding bracket and the discharging bracket to move up and down; a second travel switch which limits the position of the material plate pushed by the second material plate pushing mechanism and detects whether the material plate is in place is arranged on one side, far away from the material plate feeding module, of the feeding support, a lifting cylinder is arranged on the feeding support, and a positioning pin inserted into a positioning pin hole in the bottom of the material plate is arranged at the end part of a piston of the lifting cylinder;

the material tray is provided with a plurality of material placing grooves which are arranged in a checkerboard shape, the first material placing groove of the first row is provided with a first positioning notch for positioning a first-assembled workpiece, the last material placing groove of the last row is provided with a second positioning notch for positioning a second-assembled workpiece, and the rest material placing grooves are simultaneously provided with a first positioning notch for positioning the first-assembled workpiece and a second positioning notch for positioning the second-assembled workpiece; the upper surface of the material tray is provided with at least two positioning pins for stacking with other material trays, and the lower surface of the material tray is provided with positioning holes matched with the positioning pins in position; a pair of tray carrying holes are respectively arranged on two side surfaces of the tray;

The workpiece conveying and positioning module comprises a third frame arranged beside the first frame, the third frame is provided with a compensation module, a movable seat of the compensation module is provided with a material pushing cylinder, and the end of a piston rod of the material pushing cylinder is provided with a profiling bracket for placing a connecting block and a connecting plate;

the bolt tightening module comprises a sliding seat which is fixedly arranged on the third frame and is provided with an adjustable three-axis position, the sliding seat is fixedly provided with a bolt mounting mechanism through a guide rail flange plate, and the bolt mounting mechanism is used for taking out a bolt from a bolt vibration disc and mounting the bolt on a workpiece; an industrial camera used for photographing bolt holes to detect the positions of the bolt holes is installed on the outer side of the Z axis of the sliding seat, the industrial camera is electrically connected with the image processing and position recognition system, and after the image processing and position recognition system processes pictures shot by the industrial camera, the sliding seat with the three adjustable axes of the position is controlled to act to control the bolt tightening module to reach a working coordinate position; bolt installation mechanism is including setting up the air wrench on the guide rail ring flange, and the omnipotent sleeve is connected to the air wrench lower extreme, and the translation cylinder is fixed to be set up in guide rail ring flange below, and the tailpiece of the piston rod portion of translation cylinder is equipped with the second pneumatic tongs that is used for snatching the bolt.

2. The automatic installation apparatus of an elevator guide rail coupler according to claim 1, wherein: the empty tray conveying module is arranged at the top of the second frame and comprises a sliding rail sliding block mechanism and a conveying module which are arranged in parallel, transverse moving cylinders are arranged on the sliding rail sliding block mechanism and the conveying module symmetrically, a tray positioning and clamping device is arranged at the end part of a piston rod of each transverse moving cylinder and provided with a pin head matched with a tray carrying hole formed in the side face of the tray.

3. An automatic mounting device for an elevator guide rail coupler according to claim 2, wherein: and free roller mechanisms are arranged on the feeding support and the discharging support.

4. The automatic elevator guide rail coupler installation apparatus of claim 3, wherein: the lifting power device comprises two chain wheels which are arranged on the second frame through a chain wheel mounting bracket and are positioned between the feeding bracket and the discharging bracket, a chain is meshed with the chain wheels, and two ends of the chain are respectively connected with the feeding bracket and the discharging bracket on two sides; a second rack which is vertically arranged is arranged on the second frame, and a gear which is meshed with the second rack is arranged on a force output shaft of a first servo motor which is arranged on the feeding support.

5. An automatic installation device of an elevator guide rail connecting member according to claim 4, wherein: the empty tray pushing module is arranged on the first frame on one side of the blanking support and is located at the same height with the lowest stroke position of the blanking support, the empty tray pushing module comprises a pushing cylinder arranged on the first frame, and a second pushing plate used for pushing the empty tray out of the blanking support is arranged on the end portion of a piston rod of the pushing cylinder.

6. An automatic installation device of an elevator guide rail coupler according to claim 5, wherein: the bolt automatic feeding module is arranged below the sliding seat with the three-axis adjustable position and comprises a bolt vibration disc and a bolt vibration disc mounting bracket, and a bolt guide groove for enabling the bolt to be located at a vertical position is formed in a discharge port of the bolt vibration disc; the fourth frame is arranged on one side, close to the bolt tightening module, of the automatic bolt feeding module, the bolt jacking cylinder is arranged on the fourth frame, the first pneumatic gripper is arranged at the end of a piston rod of the bolt jacking cylinder and used for driving the first pneumatic gripper to move up and down, and the first pneumatic gripper is used for taking out the bolt from the bolt vibration disc and transmitting the bolt to the second pneumatic gripper.

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