WO2022257634A1 - Automatic mounting apparatus for elevator guide rail connecting piece and mounting method for automatic mounting apparatus - Google Patents

Abstract

Disclosed in the present invention is an automatic mounting apparatus for an elevator guide rail connecting piece, comprising a first frame, wherein the first frame is provided with a tray feeding module, a tray lifting and lowering module, a three-axis positioning grabbing and conveying module, an empty tray pushing module, a workpiece conveying and positioning module, a bolt tightening module configured to connect a workpiece, an automatic bolt feeding module, and a fourth frame used for supporting an elevator guide rail to be machined; the tray feeding module feeds a tray loaded with a material into the tray lifting and lowering module; the grabbing and conveying module is configured to grab a connecting block or a connecting plate in the tray, and convey same onto the workpiece conveying and positioning module; and the empty tray pushing module is configured to push out an empty tray in the tray lifting and lowering module. Further disclosed in the present invention is a mounting method for an automatic mounting apparatus for an elevator guide rail connecting piece.

Description

Automatic installation device and installation method for elevator guide rail connectors technical field

The invention relates to the field of elevator guide rails, in particular to an automatic installation device for elevator guide rail connectors.

Background technique

The guide rails of an elevator 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 the case of ensuring the strength of the guide rail and reducing the weight 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, in the production and processing process of the guide rails, the connecting parts required for the series connection of the guide rails are often installed on 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 bolt tightening. In the prior art, generally, the guide rail connector is installed on one end of the guide rail by manual operation, and then the process of screwing the bolts is completed. 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 concentration, and there are often situations where bolts are missed and the bolts are not tightened; thus, the joint strength of the guide rail is reduced and the product quality is reduced.

At present, the newer elevator guide rail connector feeding device is as described in the patent CN109227114B, the automatic installation device and installation method of the hollow elevator guide rail connector, which uses an industrial camera and a three-axis adjustable sliding seat, and the parameter feedback obtained by the camera The sliding seat is adjustable in three axes, and the two sides of the body of the workpiece positioning block are respectively equipped with supporting blocks supporting the sides of the guide rail connecting plate to position the distance between the guide rail connecting plate and the guide rail connecting block, thus realizing the elevator guide rail, The accurate positioning between the guide rail connection plate and the guide rail connection block improves the positioning accuracy. But this device also has the following disadvantages:

(1) The feeding method of the elevator guide rail connector: After the connector material tray is filled with the guide rail connector and placed neatly, it is placed on the fluent strip on the free slide seat, and pushed by the worker onto the movable feeding platform. Then use the first tray lifting module and the second tray lifting module to lift the full guide rail connection block, that is, manually push the tray into the loading platform, which has the disadvantages of high labor intensity and low degree of automation. shortcoming;

(2) There is no limit/positioning device around the feeding platform, that is, the tray full of connectors cannot be positioned well, resulting in the process of manually pushing the tray into the movable feeding platform and the movable feeding platform In the process of lifting the material tray, it is prone to position deviation and inaccurate positioning, which eventually leads to the inaccurate positioning of the material tray at the specified position; further, it is easy to cause the grasping module to fail to accurately grasp the connecting parts. Take the connecting piece, so that the next action cannot be performed to accurately place the connecting piece on the workpiece installation module;

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

Contents of the invention

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

In order to solve the above technical problems, the technical solution adopted in the present invention is: an automatic installation device for elevator guide rail connectors, including a first frame, the first frame is provided with a tray loading module, a tray lifting module, and a three-axis positioning gripper. Picking and conveying module, empty tray pushing module, workpiece conveying and positioning module, bolt tightening module for connecting workpieces, bolt automatic feeding module, fourth frame for supporting the elevator guide rail to be processed; tray loading module will load materials The tray is fed into the tray lifting module, and the grabbing transfer 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 The empty material tray in the middle is pushed out;

The tray loading module includes a tray placement frame, on which two first roller conveying mechanisms arranged side by side are arranged along the length direction of the tray placing frame, and on the tray placing frame, there is a The two second roller conveying mechanisms arranged side by side along the width direction of the tray placing rack, and the discharging end of the first roller conveying mechanism on the tray placing rack are provided with a discharge port for empty trays arranged along the width direction of the tray placing rack. The third roller conveying mechanism of the material, the tray placing frame is provided with the first tray pushing mechanism that pushes the tray to move on the first roller conveying mechanism, and the tray placing frame is equipped with pushing the tray on the first roller conveying mechanism through the second roller conveying mechanism. 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 terminal position of the third roller conveying mechanism is provided with a The baffle for limiting the empty tray,

The tray lifting module includes a second frame, on which the upper and lower moving brackets and the unloading brackets for conveying empty trays are movable, and the second frame is provided with the empty trays of the loading brackets to be transported to The empty tray transfer module on the unloading bracket; the second frame is provided with a lifting power device that drives the up and down movement of the loading bracket and the unloading bracket; the side of the loading bracket far away from the tray loading module is provided with a limiting second The position of the tray pushed by the tray pushing mechanism and the second stroke switch to detect whether the tray is in place, the lifting cylinder is installed on the feeding bracket, and the end of the piston of the lifting cylinder is provided with a positioning pin inserted into the positioning pin hole at the bottom of the tray ;

There are several troughs arranged in a checkerboard shape on the material tray. The first trough in the first row is provided with the first positioning notch for positioning and assembling the workpiece first. The last trough in the last row is provided with a post-positioning slot. The second positioning notch for assembling the workpiece, and the first positioning notch for locating the first assembly workpiece and the second positioning notch for assembling the workpiece after positioning are simultaneously provided on the rest of the trough; the upper surface of the tray is provided with at least two The positioning pin for stacking trays, the lower surface of the tray is provided with a positioning hole that matches the position of the positioning pin; the two sides of the tray are respectively provided with a pair of tray handling holes;

The workpiece transmission 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. Contour brackets for blocks and connecting plates;

The bolt tightening module includes a three-axis adjustable sliding seat fixed on the third frame. The sliding seat is fixed with a bolt installation mechanism through the guide rail flange. The bolt installation mechanism is used to remove the bolt from the bolt vibrating plate and Installed on the workpiece; the outside of the Z-axis of the sliding seat is equipped with an industrial camera for taking pictures of the bolt holes to detect the position of the bolt holes. The industrial camera is electrically connected to the image processing and position recognition system, and the image processing and position recognition system processes the images taken by the industrial camera. After the picture, the position of the three-axis adjustable sliding seat is controlled to control the bolt tightening module to reach the working coordinate position; the bolt installation mechanism includes a pneumatic wrench set on the flange of the guide rail, the lower end of the pneumatic wrench is connected to the universal sleeve, and the translation cylinder is fixed on the Below the flange of the guide rail, the end of the piston rod of the translation cylinder is provided with a second pneumatic gripper for grabbing bolts.

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

As a preferred solution, free roller mechanisms are provided on both the loading bracket and the unloading bracket.

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

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

As a preferred solution, the bolt automatic feeding module is arranged under the three-axis adjustable sliding seat, the bolt automatic feeding module includes a bolt vibrating plate and a bolt vibrating plate mounting bracket, and the outlet of the bolt vibrating plate There is a bolt guide groove at the feed port to keep the bolts in a vertical position; the fourth frame is set on the side of the bolt automatic feeding module close to the bolt tightening module, and the fourth frame is provided with a bolt jacking up cylinder, and a bolt jacking up the piston of the cylinder The end of the rod is provided with a first pneumatic gripper, and the bolt jacking cylinder is used to drive the first pneumatic gripper to move up and down, and the first pneumatic gripper is used to take out the bolt from the bolt vibrating plate and pass it to the second pneumatic gripper.

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, the position of the bolt hole on the hollow elevator guide rail is first obtained 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 movement of the compensation module is in place, pass again The industrial camera obtains the position of the threaded hole in the bolt hole of the guide rail, which is used to guide the bolt screwing action. Through three times of photographing, not only the processing error of the threaded hole on the hollow elevator guide rail and the processing error of the connecting piece were overcome, but also the position deviation during the movement of the elevator guide rail was overcome. At the same time, through the third identification, the threaded hole was obtained in the guide rail bolt The precise position in the hole guides the bolt screwing action, which improves the reliability and work efficiency of the bolt screwing action.

Because the described feed tray is provided with some feed troughs arranged in a checkerboard shape, the first feed chute of the first row is provided with the first positioning notch for locating and assembling the workpiece first, and the last feed chute of the last row is provided with There is a second positioning notch for assembling the workpiece after positioning, and the first positioning notch for locating the first assembling workpiece and the second positioning notch for assembling the workpiece after positioning are provided on the rest of the trough; the upper surface of the tray is provided with at least two A positioning pin for stacking with other trays, the lower surface of the tray is provided with a positioning hole matching the position of the positioning pin; a pair of tray handling holes are respectively provided on both sides of the tray; so that one tray can meet the needs of two materials. Feeding and feeding, and make the material grabbing and feeding operation more efficient, and make the structure of the entire feeding mechanism simpler and more compact, reducing production costs and reducing the space occupied by equipment;

The loading bracket and the unloading bracket are connected to each other through a chain. When the loading bracket is loading, the unloading bracket is just unloading, that is, when the loading bracket is raised to a certain height, the unloading bracket 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 end point of the free roller mechanism on the feeding bracket, when the tray is sent to the end position of the free roller mechanism on the tray lifting module along the free roller mechanism, Trigger the second travel switch, and then the second travel switch sends a signal to the second tray pushing mechanism, the servo motor stops working after receiving the signal, and the second tray pushing mechanism stops moving forward, finally making the tray stop at the designated position, realizing The longitudinal positioning of the tray can effectively overcome the technical defects in the prior art that are prone to position deviation and inaccurate positioning during the feeding process of the tray, which ultimately leads to the inability of the tray to be accurately positioned at the designated position;

Since there are stoppers installed on both sides of the loading bracket and the unloading bracket for the positioning of the tray, it can effectively prevent the position deviation of the tray during the transmission process, solve the problem of inaccurate positioning of the tray, and solve the problem at the same time The problem of inaccurate grabbing by the grabbing module and the inability to accurately grab connectors has been solved.

Another technical problem to be solved by the present invention is to provide an installation method for the above-mentioned automatic installation device for the elevator guide rail connector.

In order to solve the above-mentioned technical problems, the technical solution adopted in the present invention is: the installation method of the automatic installation device of the elevator guide rail connector, comprising the following steps:

(1) Connector loading:

(a) The first servo motor acts to drive the loading bracket to move down along the slide rail until the loading bracket moves to the initial position of the lowest point; when the loading bracket on the feeding side drops to a certain height, it is connected by a chain The blanking bracket on the blanking side will rise to the same height;

(b) Transport the trays filled with guide rail connecting blocks and guide rail connecting plates to the first roller conveying mechanism and pile them up in a pile, start the first tray pushing mechanism, and move the trays from right to left along the first roller conveying mechanism left delivery;

(c) When the tray is conveyed from the first roller conveying mechanism to the second roller conveying mechanism, the first travel switch detects that the tray is in place, and the first travel switch sends a signal to the master control system, which first controls the first The tray pushing mechanism stops moving, and then the second tray pushing mechanism is controlled to move, changing the tray from horizontal conveying to longitudinal conveying along the second roller conveying mechanism;

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

(2) Lifting tray:

(a) After the material tray stops on the feeding bracket, the lifting cylinder installed on the feeding bracket drives the positioning pin at the end of the lifting cylinder piston to move upward, and the positioning pin is inserted into the positioning pin hole at the bottom of the material tray to realize the positioning of the material tray position;

(b) The first servo motor acts to drive the feeding bracket to move up along the slide rail to the retrieving position; when the loading bracket on the feeding side is raised to a certain height, the lower side of the feeding side connected by the chain The material support will drop to the same height;

(3) Feed:

(a) When the guide rail arrives at the processing station, the retrieving module grabs the connecting block in the material tray and places it on the profiling support on the workpiece transmission positioning module;

(b) Immediately afterwards, the retrieving module continues to grab the guide rail connection plate in the material tray, and places it on the profiling support on the workpiece transmission positioning module;

(4) Photo positioning:

(a) The industrial camera takes the first photo, and obtains the coordinate positions of the three bolt holes at the end of the hollow elevator guide rail, and records 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 photo positioning is completed, the pushing cylinder controls the profiling bracket to push the connecting piece to the designated position;

(b) The industrial camera takes a second photo, and obtains the coordinate positions of the three threaded holes on the connector, which are recorded as b ₁ (bx ₁ , by ₁ ), b ₂ (bx ₂ , by ₂ ), b ₃ (bx ₃ , by ₃ );

(c) Calculate the difference between the coordinate positions of the bolt holes and threaded holes in the length direction of the guide rail obtained by the two photographs Δy ₁ =ay ₁ -by ₁ , Δy ₂ =ay ₂ -by ₂ , Δy ₃ =ay ₃ - hy ₃ , calculate the average of the three differences at the same time

Form a control signal to control the compensation module to further push the profiling bracket to the designated position of the hollow elevator guide rail to perform distance compensation, so that the positions of the three threaded holes on the guide rail connecting plate coincide with the positions of the three bolt holes at the end of the elevator guide rail respectively;

(c) After the compensation module moves in place, the industrial camera takes a third photo to obtain the position of the threaded hole of the connector, which is 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 the bolts;

(5) Tighten the bolts:

(a) The first pneumatic gripper stretches out to clamp the lower part of the bolt from the guide groove of the bolt vibrating plate, and the bolt lifts up the cylinder to drive the first pneumatic gripper to lift the bolt to a specified height;

(b) The two-axis adjustable sliding seat moves the second pneumatic gripper on the bolt installation mechanism above the first pneumatic gripper, and then the second pneumatic gripper stretches out to clamp the upper part of the bolt;

(c) The three-axis adjustable sliding seat lifts the bolt installation mechanism to a specified height, and moves the bolts gripped by the second pneumatic gripper to the bolt holes where the bolts need to be screwed this time, and presses down to achieve preliminary stability position;

(d) The second pneumatic gripper loosens the bolt and retracts for avoidance;

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

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

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

(7) Handling empty trays:

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

(b) The transmission module moves, driving the horizontal moving cylinder to move horizontally from above the feeding bracket on the loading side to above the free roller mechanism above the unloading bracket on the unloading side; finally the empty tray is placed above the unloading bracket on the free roller mechanism;

(d) The feeding bracket continues to rise to the height of a tray, and the unloading bracket connected by the chain will drop to the same height;

(8) Discharge:

After all the connectors in all the trays have been grabbed, the unloading support just reaches the same height position as the third roller conveying mechanism, the empty tray ejection module moves, and the push cylinder drives the push plate to push out the empty tray and park it on the position of the baffle.

The beneficial effect of this method is: when the guide rail reaches the processing station of the automatic installation device for the hollow elevator guide rail connector, the position of the bolt hole on the hollow elevator guide rail is first obtained 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 movement of the compensation module is in place, pass again The industrial camera obtains the position of the threaded hole in the bolt hole of the guide rail, which is used to guide the bolt screwing action. Through three times of photographing, not only the processing error of the threaded hole on the hollow elevator guide rail and the processing error of the connecting piece were overcome, but also the position deviation during the movement of the elevator guide rail was overcome. At the same time, through the third identification, the threaded hole was obtained in the guide rail bolt The precise position in the hole guides the bolt screwing action, which improves the reliability and work efficiency of the bolt screwing action.

Description of drawings

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

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

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

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

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

Fig. 6 is a schematic perspective view of the three-dimensional structure of the automatic feeding part of the connector in the embodiment of the application of the present invention.

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

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 diagram of the three-dimensional structure of the tray loading module in the embodiment of the application of the present invention.

Fig. 10 is a top view of the tray loading module in the embodiment of the application of the present invention.

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

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

Fig. 13 is a top view of the tray lifting module in the embodiment of the present invention.

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

Fig. 15 is a schematic perspective view of the three-dimensional structure of the grabbing and conveying module in the embodiment of the present application.

Fig. 16 is a schematic perspective view of the three-dimensional structure of the hollow tray ejection module according to the embodiment of the present invention.

Fig. 17 is a schematic perspective view of the three-dimensional structure of the workpiece conveying and positioning module in the embodiment of the application of the present invention.

Fig. 18 is a schematic diagram of the three-dimensional structure of the profiling bracket in the embodiment of the present invention.

Fig. 19 is a schematic perspective view of the three-dimensional structure of the bolt tightening module and the bolt automatic feeding module in the embodiment of the application of the present invention.

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

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

Fig. 22 is a schematic structural view of the hollow tray and the stacking of trays according to the embodiment of the present invention.

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

Fig. 24 is a schematic diagram of the structure of the connecting block of the elevator guide rail in the embodiment of the application of the present invention.

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

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

In the attached picture:

1. The first frame

2. Tray loading module 20. Tray placement rack 21. The first roller conveying mechanism

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

25. The second tray pushing mechanism 26. The first travel switch 27. Baffle

3. Tray lifting module 30. Second frame 31. Feeding bracket

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

321. Transmission module 33. Bracket for unloading 34. Lifting power device

340. Chain 341. Sprocket 342. The 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 transmission and positioning module 60. Third frame 61. Pushing cylinder

62. Profiled 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. Translating cylinder 712. Second pneumatic gripper

72. Industrial camera

8. Bolt automatic feeding module 80. Bolt vibrating tray

9. The fourth frame 90. Bolt jacking cylinder 91. The first pneumatic grip

10. Tray 101. Tray handling hole 102. Locating pin

103. The first positioning notch 104. The second positioning notch

11. Connection block 12. Connection plate

Detailed ways

In order to clearly and completely describe the purpose, technical solution, and advantages of the present invention, the embodiments of the present invention will be further described in detail below in conjunction with 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 loading module 2, a tray lifting module 3, a grabbing and conveying module 4, and an empty tray pushing module 5. Workpiece transmission positioning module 6, bolt tightening module 7, bolt automatic loading module 8, fourth frame 9; tray loading module 2 is set in front of the first frame 1, and tray lifting module 3 is set in the first 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 minimum stroke position height of the loading bracket 31 and the blanking bracket 33 of the tray lifting module 3 and the tray loading module 2 are located at the same height, the tray loading module 2 and the tray lifting module 3 are connected to each other; the grabbing transfer module 4 is set on the upper plane of the first frame 1, and is used to grab the guide rail connectors in the tray and transfer them To the workpiece transmission and positioning module 6; the empty tray ejection module 5 is arranged on the first frame 1 on one side of the blanking support 33, and is at the same height as the lowest stroke position of the blanking support 33; the workpiece transmission and positioning module 6 is arranged on Right behind the tray lifting module 3, the workpiece transmission positioning module 6 includes a third frame 60 and a pushing cylinder 61, the third frame 60 is fixedly arranged on 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 bottom part is used for automatic loading of bolts. A fourth frame 9 is arranged on one side of the automatic bolt loading module 8, and the fourth frame 9 is used to support the elevator guide rails from a process on the assembly line.

As shown in Figures 9-10, the tray loading module 2, the tray loading module 2 includes a tray placement frame 20 for supporting the entire tray loading module 2, and also includes a first roller conveying mechanism 21, a first 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 vertically, 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 tray feeding; the third roller conveying mechanism 23 is arranged side by side with the second roller conveying mechanism 22, and the third roller conveying mechanism 23 is used for empty tray discharging .

The tray loading module 2 also includes two tray pushing mechanisms, which are respectively 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 composed of two rows of Evenly arranged rollers are formed, 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 rows of evenly arranged rollers of the first roller conveying mechanism 21, and the second material tray pushes The mechanism 25 is arranged between two rows of uniformly arranged rollers of the second roller conveying mechanism 22 .

The tray loading module 2 also includes a first travel switch 26 and a baffle plate 27, the first travel switch 26 is arranged on the second roller conveying mechanism 22 near the third roller conveying mechanism 23 side, 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, and are used to sense the trays transported from the first roller conveying mechanism 21 to the second roller conveying mechanism 22 . The tray feeding module 2 adopts the way that the roller conveying mechanism and the tray pushing mechanism cooperate with each other. The servo motor in the tray pushing mechanism is used as the power, and cooperates with the rack and pinion structure and the roller conveying mechanism. During the working process, when the right side When the tray is transported from the first roller conveying mechanism 21 to the second roller conveying mechanism 22, the first travel switch 26 detects that the tray is in place, and first the first travel switch 26 sends a signal to the first tray pushing mechanism 24 to control The first tray pushing mechanism 24 stops moving, and then the first travel switch 26 sends a signal to the second tray pushing mechanism 25 to control the action of the second tray pushing mechanism 25, changing the tray from horizontal conveying to longitudinal conveying, and finally Transport to the tray lifting module 3. That is, after the connector tray is filled with guide rail connectors and neatly placed on the first roller conveying mechanism, the tray will be automatically transferred to the designated position at the tray lifting module under the drive of the servo motor, without the need to manually lift the tray Pushing forward, automatic feeding is realized, with a high degree of automation, time-saving and labor-saving, and overcomes the problems of manual feeding, time-consuming and labor-intensive, and low degree of automation in the prior art.

As shown in Figures 11-14, the tray lifting module 3, the tray lifting module 3 includes a second frame 30, a loading bracket 31, an empty tray transfer module 32, a blanking bracket 33 and a lifting power device 34, the second The frame 30 is divided into left and right two mutually symmetrical frame spaces, and the loading bracket 31 and the unloading bracket 33 are respectively arranged in the left and right two mutually symmetrical frame spaces in the second frame 30, wherein the loading bracket 31 is located on the right side, The blanking support 33 is located on the left side, and the loading support 31 and the blanking support 33 are provided with a free roller mechanism. The loading support 31 is used to transmit the trays filled with connectors, and the blanking support 33 is used to transmit empty trays . The empty tray transfer module 32 is disposed on the upper plane of the second frame 30 . Wherein, the second frame 30 on the end point side of the free roller mechanism on the feeding bracket 31 is provided with a second travel switch 310, when the material tray is sent 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 then the second travel switch 310 sends a signal to the second tray pushing mechanism 25, and the servo motor stops working after receiving the signal, and the second tray pushing mechanism 25 stops advancing, and finally The material tray is stopped at the specified position, and the longitudinal positioning of the material tray is realized.

The both sides of feeding support 31 and unloading support 33 are provided with stopper 35, mainly used for the positioning of material tray, promptly realized the lateral positioning of material tray, can effectively prevent the positional deviation problem of material tray from taking place in the conveying process, solve It solves the problem of inaccurate positioning of the material tray, and at the same time solves the problem of inaccurate grabbing by the grabbing module and the inability to accurately grab connectors.

The empty tray transfer module 32 is arranged on the upper plane of the second frame 30, and is used to transport the empty tray from the upper material support 31 on the right side to the lower material support 3 on the left side, so as to complete the horizontal movement of the empty tray . The empty tray transfer module 32 includes a slide rail slider mechanism 320 and a transfer module 321, the slide rail slider mechanism 320 and the transfer module 321 are arranged symmetrically to each other, and the slide rail slider mechanism 320 and the transfer module 321 are respectively provided with A horizontally moving cylinder, the two horizontally moving cylinders are arranged symmetrically. The end of the piston rod of the laterally moving cylinder is provided with a tray positioning and clamping device, and the tray positioning and clamping device is provided with a pin head matching the tray handling hole provided on the side of the tray.

Lifting power unit 34 comprises chain 340, sprocket wheel 341 and first servomotor 342, and sprocket wheel 341 is installed on the second frame 30 by sprocket wheel mounting bracket and is positioned between loading bracket 31 and unloading bracket 33, and sprocket wheel 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 loading bracket 31 and the unloading bracket 33 on both sides through the chain connecting block; the first servo motor 342 is used to drive the loading bracket 31 and blanking support 33 move up and down. The loading bracket 31 and the unloading bracket 33 are connected to each other by the chain 340. When the loading bracket 31 is loaded, the unloading bracket 33 just unloads, that is, when the loading bracket 31 is lifted to a certain height, the lower bracket connected by the chain 340 The height of the decline of the material support 33 is the same, that is, loading and unloading are carried out simultaneously, which greatly improves the efficiency of loading and unloading.

As shown in Figure 15, grab the transfer module 4, the grab transfer module 4 is a three-axis manipulator arranged on the first frame 1, and 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 conveyed on the positioning module 6. Grabbing and conveying module 4 comprises X-axis module 41, Y-axis module 42 and Z-axis module 43, and the retrieving module 45 that is arranged on Z-axis module, and retrieving module 45 is used for grabbing guide rail connecting plate and Rail connection block.

As shown in Figures 17-18, the workpiece transfer positioning module 6 includes a third frame 60, a pusher 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 pusher The cylinder 61 is arranged on the third frame 60; the profiling bracket 62 is arranged on the piston rod end of the push 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 on the second frame through the module bracket On the three frames 60 , the compensating module 63 is connected with the pushing cylinder 61 through the cylinder backing plate 64 .

As shown in Figures 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 The blue plate is provided with a bolt installation mechanism 71, 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 installation bracket An industrial camera 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 sliding seat 70 is controlled. The sliding seat 70 acts to control the position coordinates of the bolt tightening module 7 . Bolt installation mechanism 71 comprises pneumatic wrench 710, translation cylinder 711, second pneumatic gripper 712, and pneumatic wrench 710 is installed on the guide rail flange, and the lower end of pneumatic wrench 710 is connected with universal sleeve, and pneumatic wrench 710 and universal sleeve are used for taking bolt and tighten it on the workpiece. The solution of using pneumatic wrench 710 with a universal socket can meet the requirements of tightening 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 under 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 the outlet of the bolt vibrating plate 80 is provided with a bolt guide groove for positioning the bolt in a vertical position.

The fourth frame 9 is arranged on the side of the bolt automatic 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 on the assembly line. The fourth frame 9 is provided with a bolt jacking cylinder 90, the end of the piston rod of the bolt jacking cylinder 90 is provided with a first pneumatic gripper 91, 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 bolts from the bolt vibrating pan 80 and transfer them to the second pneumatic gripper 712 .

As shown in Figure 22, the material tray 10 is provided with a number of troughs arranged in a checkerboard shape. The first trough in the first row is provided with a first positioning notch 103 for locating and assembling the workpiece first. One trough is provided with the second positioning notch 104 for assembling the workpiece after positioning, and the other troughs are simultaneously provided with the first positioning notch 103 for assembling the workpiece and the second positioning notch 104 for assembling the workpiece after positioning; The upper surface of the tray 10 is provided with at least two locating pins 102 for stacking with the rest of the trays, and the lower surface of the tray 10 is provided with positioning holes matching the positions of the locating pins; a pair of tray handling holes are respectively provided on both sides of the tray .

As shown in Figure 25, a method for installing an automatic installation device for elevator guide rail connectors includes the following steps:

(1) Connector loading:

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

(b) Transport the material tray 10 filled with guide rail connecting block 11 and guide rail connecting plate 17 to the first roller conveying mechanism 21 and pile it up in a pile, start the first material tray pushing mechanism 24, and move the material tray 10 along the first The roller conveying mechanism 21 conveys from right to left;

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

(d) When the tray is sent to the end position of the free roller mechanism on the tray lifting module 3 along the second roller conveying mechanism 22, the second travel switch 310 detects that the tray is in place, and the second travel switch 310 sends a signal to the master control system, the master 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) Lifting tray:

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

(h) The first servo motor 342 acts to drive the feeding bracket 31 to move upward along the slide rail to the material retrieving position; The blanking bracket 33 on one side will drop to the same height;

(3) Feed:

(a) When the guide rail arrives at the processing station, the retrieving module 45 grabs the connecting block 11 in the tray and places it on the profiling support 62 on the workpiece transmission positioning module 6;

(b) Immediately afterwards, the retrieving module 45 continues to grab the guide rail connecting plate 102 in the tray, and places it on the profiling support 62 on the workpiece transmission positioning module 6;

(4) Photo positioning:

(a) The industrial camera 72 takes the first photo and obtains the coordinate positions of the three bolt holes at the end of the hollow elevator guide rail, which are recorded 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 are completed, the pushing cylinder 61 controls the profiling bracket 62 to push the connecting piece to the designated position;

(h) The industrial camera 72 takes a second photo, and obtains the coordinate positions of the three threaded holes on the connector, which are denoted as h ₁ (bx ₁ , by ₁ ), b ₂ (bx ₂ , by ₂ ), b ₃ (bx ₃ , by ₃ );

(c) Calculate the difference between the coordinate positions of the bolt holes and threaded holes in the length direction of the guide rail obtained by the two photographs Δy ₁ =ay ₁ -by ₁ , Δy ₂ =ay ₂ -by ₂ , Δy ₃ =ay ₃ - hy ₃ , calculate the average of the three differences at the same time

Form the control signal 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 coincide with the positions of the three bolt holes at the end of the elevator guide rail 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, which is denoted as c ₁ (cx ₁ , cy ₁ ), c ₂ (cx ₂ , cy ₂ ), c _s (cx ₃ , cy ₃ ), prepare for the next step of screwing the bolts;

(5) Tighten the bolts:

(a) The first pneumatic gripper 91 stretches out to clamp the lower part of the bolt from the guide groove of the bolt vibrating tray 80, and the bolt lifts up the cylinder 90 to drive the first pneumatic gripper 91 to lift the bolt to a specified height;

(b) The sliding seat 70 with three-axis adjustable position moves the second pneumatic gripper 712 on the bolt installation mechanism 71 to the top of the first pneumatic gripper 91, and then the second pneumatic gripper 712 stretches out to clamp 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, To achieve initial stable positioning;

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

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

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

(6) Repeat the above step (3), step (4), and step (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 by the material retrieving module 45, the lateral movement cylinder is released, and the pin head on the tray positioning and clamping device provided at the end of the piston rod of the transverse movement cylinder is inserted into the tray handling hole;

(b) The transfer module 321 moves to drive the laterally moving cylinder to move horizontally from the top of the feeding bracket 31 on the feeding side to the top of the free roller mechanism above the feeding bracket 33 on the feeding side; finally the empty tray is placed on the bottom On the free roller mechanism above material support 33;

(d) The feeding bracket 31 continues to rise to the height of a tray, and the unloading bracket 33 connected by the chain 340 will drop to the same height;

(8) Discharge:

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

The above-mentioned embodiment only illustrates the principle of the present invention and its effect, and the embodiment of partial use, but is not intended to limit the present invention; It should be pointed out that for those of ordinary skill in the art, without departing from the Under the premise of creating ideas, some modifications and improvements can also be made, which all belong to the protection scope of the present invention.

Claims (7)

1. An automatic installation device for elevator guide rail connectors, including a first frame, the first frame is provided with a tray loading module, a tray lifting module, a three-axis positioning grasping and transferring module, an empty tray pushing module, a workpiece transfer positioning module, The bolt tightening module used to connect workpieces, the bolt automatic feeding module, the fourth frame used to support the elevator guide rail to be processed; the tray feeding module sends the tray loaded with materials into the tray lifting module, and the grabbing transfer module is used 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 push out the empty tray in the tray lifting module; it is characterized in that:

   The tray loading module includes a tray placement frame, and the tray placement frame is provided with two first roller conveying mechanisms arranged side by side along its length direction, and the tray placement frame is next to the discharge section of the first roller conveying mechanism. There are two second roller conveying mechanisms arranged side by side along the width direction of the tray placing rack. On the tray placing rack, there is an empty material roller arranged along the width direction of the tray placing rack at the discharge end of the first roller conveying mechanism. The third roller conveying mechanism for tray discharge, the tray placing frame is provided with the first tray pushing mechanism that pushes the tray to move on the first roller conveying mechanism, and the tray placing frame is provided with the tray passing mechanism for pushing the tray on the first roller conveying mechanism The second 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 third roller conveying mechanism is at the terminal position There is a baffle for limiting the empty tray,

   The tray lifting module includes a second frame, the second frame is movable with a feeding bracket moving up and down and a blanking bracket for transmitting an empty tray, and the second frame is provided with an empty tray for feeding the tray The empty tray transfer module that is transported to the unloading bracket; the second frame is provided with a lifting power device that drives the up and down movement of the loading bracket and the unloading bracket; the side of the loading bracket away from the tray loading module is provided with a limit The position of the tray pushed by the second tray pushing mechanism and the second stroke switch to detect whether the tray is in place, the lifting cylinder is provided on the feeding bracket, and the end of the piston of the lifting cylinder is provided with a positioning pin hole inserted into the bottom of the tray. positioning pin;

   The feed tray is provided with a number of checkerboard-shaped troughs, the first trough in the first row is provided with a first positioning notch for locating and assembling the workpiece first, and the last trough in the last row is provided with a The second positioning notch for assembling the workpiece after positioning, and the first positioning notch for locating the first assembling workpiece and the second positioning notch for assembling the workpiece after positioning; the upper surface of the tray is provided with at least two The positioning pin used for stacking with other trays, the lower surface of the tray is provided with a positioning hole that matches the position of the positioning pin; the two sides of the tray are respectively provided with a pair of tray handling holes;

   The workpiece transmission 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 Profiled brackets for placing connecting 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 move the bolt from the bolt vibration plate Take it out and install it on the workpiece; an industrial camera is installed on the outside of the Z axis of the sliding seat to take pictures of the bolt holes to detect the position of the bolt holes. The industrial camera is electrically connected to the image processing and position recognition system, and the image processing and position recognition system processes the industrial camera. After taking pictures, control the action of the three-axis adjustable sliding seat to control the bolt tightening module to reach the working coordinate position; the bolt installation mechanism includes a pneumatic wrench set on the flange of the guide rail, the lower end of the pneumatic wrench is connected to the universal sleeve, and the translation cylinder is fixed. It is arranged under the flange of the guide rail, and the end of the piston rod of the translation cylinder is provided with a second pneumatic gripper for grabbing bolts.
2. An automatic installation device for elevator guide rail connectors according to claim 1, characterized in that: the empty tray transfer module is arranged on the top of the second frame, and the empty tray transfer module includes a slide rail slider mechanism arranged in parallel and The transmission module, the slide rail slider mechanism and the transmission module are all equipped with lateral movement cylinders, and the two horizontal movement cylinders are arranged symmetrically. It is provided with a pin head matched with the tray handling hole provided on the side of the tray.
3. An automatic installation device for elevator guide rail connectors according to claim 2, characterized in that free roller mechanisms are provided on both the loading bracket and the unloading bracket.
4. An automatic installation device for elevator guide rail connectors according to claim 3, characterized in that: the lifting power device includes a sprocket mounting bracket installed on the second frame and located between the loading bracket and the unloading bracket. Two sprockets, the chain and the sprocket are meshed with each other, and the two ends of the chain are respectively connected with the loading bracket and the unloading bracket on both sides; the second rack is arranged vertically on the second frame, and the The output shaft of the first servo motor is provided with a gear meshed with the second rack.
5. An automatic installation device for elevator guide rail connectors as claimed in claim 4, characterized in that: the empty tray push-out module is set on the first frame on one side of the unloading support, and is located at the same position as the lowest stroke position of the unloading support. The height, the empty tray push-out module includes a push cylinder arranged on the first frame, and the end of the piston rod of the push cylinder is provided with a second push plate for pushing the empty tray out from the blanking support.
6. An automatic installation device for elevator guide rail connectors according to claim 5, characterized in that: the bolt automatic feeding module is set under the three-axis adjustable sliding seat, and the bolt automatic feeding module includes a bolt vibrating plate and the mounting bracket of the bolt vibrating plate, the outlet of the bolt vibrating plate is provided with a bolt guide groove to make the bolts in a vertical position; the fourth frame is set on the side of the bolt automatic feeding module close to the bolt tightening module, and the fourth frame There is a bolt jacking cylinder on the top, and the end of the piston rod of the bolt jacking cylinder is provided with a first pneumatic gripper. The bolt jacking cylinder is used to drive the first pneumatic gripper to move up and down, and the first pneumatic gripper is used to move the bolt from the bolt Take it out from the vibrating tray and pass it to the second pneumatic gripper.
7. The installation method of the automatic installation device for elevator guide rail connectors as claimed in claim 6, comprising the steps of:

   (1) Connector loading:

   (a) The first servo motor acts to drive the loading bracket to move down along the slide rail until the loading bracket moves to the initial position of the lowest point; when the loading bracket on the feeding side drops to a certain height, it is connected by a chain The blanking bracket on the blanking side will rise to the same height;

   (b) Transport the trays filled with guide rail connecting blocks and guide rail connecting plates to the first roller conveying mechanism and pile them up in a pile, start the first tray pushing mechanism, and move the trays from right to left along the first roller conveying mechanism left delivery;

   (c) When the tray is conveyed from the first roller conveying mechanism to the second roller conveying mechanism, the first travel switch detects that the tray is in place, and the first travel switch sends a signal to the master control system, which first controls the first The tray pushing mechanism stops moving, and then the second tray pushing mechanism is controlled to move, changing the tray from horizontal conveying to longitudinal conveying along the second roller conveying mechanism;

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

   (2) Lifting tray:

   (a) After the material tray stops on the feeding bracket, the lifting cylinder installed on the feeding bracket drives the positioning pin at the end of the lifting cylinder piston to move upward, and the positioning pin is inserted into the positioning pin hole at the bottom of the material tray to realize the positioning of the material tray position;

   (b) The first servo motor acts to drive the feeding bracket to move up along the slide rail to the retrieving position; when the loading bracket on the feeding side is raised to a certain height, the lower side of the feeding side connected by the chain The material support will drop to the same height;

   (3) Feed:

   (a) When the guide rail arrives at the processing station, the retrieving module grabs the connecting block in the material tray and places it on the profiling support on the workpiece transmission positioning module;

   (b) Immediately afterwards, the retrieving module continues to grab the guide rail connection plate in the material tray, and places it on the profiling support on the workpiece transmission positioning module;

   (4) Photo positioning:

   (a) The industrial camera takes the first photo, and obtains the coordinate positions of the three bolt holes at the end of the hollow elevator guide rail, and records 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 photo positioning is completed, the pushing cylinder controls the profiling bracket to push the connecting piece to the designated position;

   (b) The industrial camera takes a second photo, and obtains the coordinate positions of the three threaded holes on the connector, which are recorded as b ₁ (bx ₁ , by ₁ ), b ₂ (bx ₂ , by ₂ ), b ₃ (bx ₃ , by ₃ );

   (c) Calculate the difference between the coordinate positions of the bolt holes and threaded holes in the length direction of the guide rail obtained by the two photographs Δy ₁ =ay ₁ -by ₁ , Δy ₂ =ay ₂ -by ₂ , Δy ₃ =ay ₃ - by ₃ , calculates the average of the three differences at the same time

   

   Form a control signal to control the compensation module to further push the profiling bracket 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 coincide with the positions of the three bolt holes at the end of the elevator guide rail respectively;

   (c) After the compensation module moves in place, the industrial camera takes a third photo to obtain the position of the threaded hole of the connector, which is 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 the bolts;

   (5) Tighten the bolts:

   (a) The first pneumatic gripper stretches out to clamp the lower part of the bolt from the guide groove of the bolt vibrating plate, and the bolt lifts up the cylinder to drive the first pneumatic gripper to lift the bolt to a specified height;

   (b) The sliding seat with three-axis adjustable position moves the second pneumatic gripper on the bolt installation mechanism above the first pneumatic gripper, and then the second pneumatic gripper stretches out to clamp the upper part of the bolt;

   (c) The three-axis adjustable sliding seat lifts the bolt installation mechanism to a specified height, and moves the bolts gripped by the second pneumatic gripper to the bolt holes where the bolts need to be screwed this time, and presses down to achieve preliminary stability position;

   (d) The second pneumatic gripper loosens the bolt and retracts for avoidance;

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

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

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

   (7) Handling empty trays:

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

   (b) The transmission module moves, driving the horizontal moving cylinder to move horizontally from above the feeding bracket on the loading side to above the free roller mechanism above the unloading bracket on the unloading side; finally the empty tray is placed above the unloading bracket on the free roller mechanism;

   (d) The feeding bracket continues to rise to the height of a tray, and the unloading bracket connected by the chain will drop to the same height;

   (8) Discharging: When all the connectors in all the trays are grabbed, the unloading bracket just reaches the same height position as the third roller conveying mechanism, the empty tray pushes out the module, and the push cylinder drives the push plate to push the empty tray out. The tray is pushed out and parked at the baffle position.

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