WO2023004960A1

WO2023004960A1 - Robotic automatic assembling machine for graphite electrode and joint

Info

Publication number: WO2023004960A1
Application number: PCT/CN2021/118924
Authority: WO
Inventors: 陈善元; 严小林; 张明; 殷缘; 梅建文
Original assignee: 江苏晨光数控机床有限公司
Priority date: 2021-07-26
Filing date: 2021-09-17
Publication date: 2023-02-02
Also published as: CN113352100A

Abstract

Disclosed are robotic automatic assembling machine (4) for a graphite electrode and a joint, comprising an industrial robot (4-1), a joint conveying workbench (4-2), a joint temporary storage table (4-3), a scanning system (4-4), a torque controller (4-5), an electrode conveying roller channel (4-6), a graphite electrode and joint assembly table (4-7), an electrode pressing mechanism (4-8), a material flipping mechanism (4-9) and a finished product discharging frame (4-10). A mechanical arm (4-1-1) is disposed at the front end of the industrial robot (4-1), and an electric clamping jaw, a servo motor, the scanning system (4-4) and the torque controller (4-5) are mounted on the mechanical arm (4-1-1). The joint conveying workbench (4-2) is disposed at one side of the industrial robot (4-1) and is used to convey graphite fittings (7) with installed pins and circlips. The electrode conveying roller channel (4-6), and the graphite electrode and joint assembling table (4-7) are disposed at another side of the industrial robot (4-1). The electrode pressing mechanism (4-8) is disposed at an upper portion of the graphite electrode and joint assembling table (4-7). The finished product discharging frame (4-10) is disposed at one side of the graphite electrode and joint assembling table (4-7).

Description

Graphite electrode and joint robot automatic assembly machine

technical field

The invention relates to a robot automatic assembly machine for graphite electrodes and joints, which is an assembly line for graphite electrodes and graphite joints used in smelting electric furnaces after processing, and belongs to the technical field of metallurgical electrode joint processing.

Background technique

Graphite electrode is an important procurement part in the metal smelting industry. It is mainly composed of two parts: the electrode body and the joint. The electrode body usually needs to be processed and manufactured through three main processes: boring and scraping, turning the outer circle, and comb-taper thread processing. The electrode joint is usually The processing and manufacturing should be completed through four main processes of drilling the center hole, turning the outer circle, combing the thread, drilling the bolt hole and grooving.

Graphite electrodes and graphite joints with tapered threads at both ends are widely used in the metallurgical industry. Electrode joints for smelting electric furnaces are products after graphite electrodes and graphite joints are assembled. At present, the assembly of graphite electrodes and graphite joints is basically done manually, which is time-consuming, laborious and inefficient.

Contents of the invention

The purpose of the present invention is to provide a graphite electrode and joint robot automatic assembly machine for the above shortcomings. The design of the robot automation system is to realize automatic product grabbing, graphite electrode and joint robot automatic assembly, and graphite joint screwing and tightening operations. Improve operation accuracy and efficiency, reduce manual manual labor and safety management risks. Robots can complete physical labor that repeats a single action, and always maintain high precision and no fatigue.

The robot automatic assembly machine for graphite electrodes and joints is realized by adopting the following technical solutions:

Graphite electrode and joint robot automatic assembly machine includes industrial robot, joint conveying workbench, joint temporary storage platform, scanning system, torque controller, electrode conveying roller table, graphite electrode and joint assembly platform, electrode pressing mechanism, material turning mechanism And finished product unloading rack.

The front end of the industrial robot is provided with a manipulator, and the manipulator is equipped with electric grippers, a servo motor, a scanning system, and a torque controller. The servo motor drives the electric grippers to grab graphite joints, and the scanning system is used to scan the two-dimensional code of the graphite joints. The information is fed back to the control system to control the industrial robot. The industrial robot is equipped with an electric gripper on the manipulator to grab the graphite joint that meets the assembly size, and sends it to the graphite electrode and joint assembly platform, and puts it into the tapered threaded hole of the graphite electrode. , the servo motor rotates to install the graphite electrode in place, and a certain torque is controlled by the torque controller to prevent the graphite joint from being too tight and damaged. For graphite joints that do not meet the assembly size, the industrial robot is equipped with electric grippers on the manipulator to grab the graphite joints and send them to the joint temporary storage table for temporary storage.

One side of the industrial robot is provided with a joint conveying workbench for conveying graphite joints with pins and retaining springs installed.

The front side of the industrial robot is provided with a temporary storage platform for temporary storage of graphite joints.

The other side of the industrial robot is provided with an electrode conveying roller table, a graphite electrode and a joint assembly platform. The electrode conveying roller table is equipped with multiple transmission rollers, equipped with transmission chains, sprockets and transmission motors. The transmission motor drives multiple transmission rollers through the sprockets and transmission chains, and transmits the processed graphite electrodes to graphite electrodes and joints for assembly. tower.

An electrode pressing mechanism is arranged on the upper part of the graphite electrode and joint assembly platform, and the electrode pressing mechanism has an electrode pressing frame and an electrode pressing oil cylinder. The electrode pressing frame is installed on the upper part of the graphite electrode and joint assembly platform, and the electrode pressing oil cylinder is installed on the electrode pressing frame, which is used to press and fix the graphite electrode to facilitate the assembly of the graphite electrode and the joint.

There is a finished product unloading rack on one side of the graphite electrode and joint assembly platform. The rear end of the finished product unloading rack is equipped with a material turning mechanism.

The material turning and turning mechanism is provided with a material turning rod, a turning shaft, a push rod, and a material turning and turning oil cylinder. The turning shaft is installed at the rear end of the finished product unloading rack, and two shifting rods are installed on the turning shaft. One end of the shifting rod is inserted into the graphite electrode and the upper part of the joint assembly table, and the other end of the shifting rod is equipped with a push rod. Installed on the finished product unloading rack, the push rod of the material turning over cylinder is connected with the push rod. When the material turning cylinder is working, the push rod of the material turning cylinder pushes the material rod through the push rod, so that the material rod is turned over, and the graphite electrode and joint assembly table are assembled on the upper part, and the graphite electrode finished product assembled by the industrial robot is turned over and transferred to the finished product Unloading rack. Due to the certain inclination of the finished product blanking rack, the finished graphite electrode will automatically roll to the front of the finished product blanking rack under the action of its own weight and the slope of the finished product blanking rack, and enter the automatic packaging process of the finished graphite electrode product.

The industrial robot adopts a six-axis robot.

The robot automatic assembly machine for graphite electrodes and joints is equipped with a numerical control system for control, and the numerical control system is equipped with PLC programmable controllers, industrial control computers and other control equipment.

It is controlled by a numerical control system.

working principle:

When the graphite electrode and joint robot automatic assembly machine is working, the other side of the industrial robot is provided with an electrode conveying roller table, and the transmission motor drives multiple conveying rollers through the sprocket and conveying chain, and conveys the processed graphite electrode to the graphite electrode. And connector assembly station.

The electrode pressing oil cylinder of the electrode pressing mechanism on the upper part of the graphite electrode and joint assembly table presses and fixes the graphite electrode.

The front end of the industrial robot is equipped with a manipulator, which is equipped with an electric gripper, a servo motor, a scanning system, and a torque controller. The servo motor drives the electric gripper to grab the graphite joint. The scanning system is used to scan the QR code of the graphite joint, and the scanning information is fed back to The control system controls the industrial robot to grab the graphite joints that meet the assembly size, and the electric grippers on the manipulator grab the graphite joints and send them to the graphite electrode and joint assembly platform, and put them into the tapered threaded holes of the graphite electrodes. The servo motor drives and rotates the graphite joints. The electrode is installed in place, and a certain torque is controlled by the torque controller. When the set torque is reached, it will stop automatically, avoiding the transition of the electrode tip, and preventing the graphite joint from being too tight and damaged. For graphite joints that do not meet the assembly size, the industrial robot is equipped with electric grippers on the manipulator to grab the graphite joints and send them to the joint temporary storage table for temporary storage.

After the graphite electrode and joints are assembled, the electrode pressing cylinder is closed, the electrode pressing mechanism is opened, and the material turning cylinder of the material turning mechanism is started, and the push rod of the turning material turning cylinder pushes the material rod through the push rod, so that the material rod is turned over On the upper part of the graphite electrode and joint assembly table, the finished graphite electrode assembled by the industrial robot is turned over and transferred to the finished product unloading rack. The rear end of the finished product blanking rack is higher than the front end, and the finished graphite electrode is automatically rolled to the front of the finished product blanking rack under the action of its own weight and the slope of the finished product blanking rack, and enters the automatic packaging process of the finished graphite electrode.

Graphite electrode and joint robot automatic assembly machine, using robot automation to automatically grab graphite joints, graphite electrodes and joint robot automatic assembly, graphite joint screwing and tightening operations, improve operation accuracy and efficiency, reduce manual manual labor and safety management risks. Robots can complete physical labor that repeats a single action, and always maintain high precision and no fatigue.

Graphite electrode and joint robot automatic assembly machine has the following characteristics:

1. The structural layout and control design are reasonable, and the operation is stable, which can greatly reduce the amount of manual manual labor and safety management risks.

2. The production cycle is between 120-180 seconds, and the processing efficiency is high.

3. The flexible manufacturing capability is strong, and it can adapt to the switching between workpieces of different sizes.

4. The control system is perfect, there are feedback links and safety measures, and the emergency stop function is perfect, which can effectively prevent safety accidents.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing:

Figure 1 is a schematic diagram of the structure of a robot automatic assembly machine for graphite electrodes and joints.

Fig. 2 is a structural schematic diagram of the electrode conveying roller table, the graphite electrode and joint assembly platform and the electrode pressing mechanism of the graphite electrode and joint robot automatic assembly machine.

In the picture: 4. Robotic automatic assembly machine for graphite electrodes and joints;

4-1. Industrial robot, 4-2. Joint conveying table, 4-3. Joint temporary storage table, 4-4. Scanning system, 4-5. Torque controller, 4-6. Electrode conveying roller table, 4 -7. Graphite electrode and joint assembly platform, 4-8. Electrode pressing mechanism, 4-9. Material turning mechanism, 4-10. Finished product unloading rack;

4-1-1, manipulator; 4-6-1, transmission roller; 4-8-1, electrode pressing frame, 4-8-2, electrode pressing oil cylinder; 4-9-1, material lever, 4-9-2, overturn shaft, 4-9-3, push rod, 4-9-4, material turning over oil cylinder.

Detailed ways

Referring to the accompanying drawings 1-2, the graphite electrode and joint robot automatic assembly machine 4 includes an industrial robot 4-1, a joint conveying workbench 4-2, a joint temporary storage table 4-3, a scanning system 4-4, and a torque controller 4- 5. Electrode conveying roller table 4-6, graphite electrode and joint assembly table 4-7, electrode pressing mechanism 4-8, material turning mechanism 4-9 and finished product unloading rack 4-10.

The front end of the industrial robot 4-1 is provided with a manipulator 4-1-1, and the manipulator 4-1-1 is equipped with an electric gripper, a servo motor, a scanning system 4-4, a torque controller 4-5, and the servo motor drives an electric The gripper grabs the graphite joint 7, the scanning system 4-4 is used to scan the two-dimensional code of the graphite joint, and the scanning information is fed back to the control system to control the industrial robot 4-1, and the industrial robot 4-1 pairs the graphite joint 7 that meets the assembly size, The manipulator 4-1-1 is equipped with electric grippers to grab the graphite joint 7 and send it to the graphite electrode and joint assembly table 4-7, and put it into the tapered threaded hole of the graphite electrode 6, and the servo motor drives and rotates to install the graphite electrode 7 in place, and a certain torque is controlled by the torque controller 4-5 to prevent damage to the graphite joint 7 from being too tight. For the graphite joint 7 that does not meet the assembly size, the industrial robot is equipped with electric grippers on the manipulator 4-1-1 to grab the graphite joint 7 and send it to the joint temporary storage platform 4-3 for temporary storage.

One side of the industrial robot 4-1 is provided with a joint conveying workbench 4-2, which is used for conveying the graphite joint 7 with pins and retaining springs installed.

The front side of the industrial robot 4-1 is provided with a temporary storage table 4-3 for temporary storage of graphite joints 7.

The other side of the industrial robot 4-1 is provided with an electrode delivery roller table 4-6, a graphite electrode and a joint assembly platform 4-7. The electrode conveying roller table 4-6 is provided with a plurality of conveying rollers 4-6-1, equipped with conveying chains, sprockets and transmission motors, and the transmission motor drives multiple conveying rollers through the sprockets and conveying chains to convey processed Graphite electrode 6 to graphite electrode and joint assembly station 4-7.

The upper part of the graphite electrode and joint assembly platform is provided with an electrode pressing mechanism 4-8, and the electrode pressing mechanism 4-8 has an electrode pressing frame 4-8-1 and an electrode pressing oil cylinder 4-8-2. The electrode pressing frame 4-8-1 is installed on the upper part of the graphite electrode and joint assembly table 4-7, and the electrode pressing oil cylinder 4-8-2 is installed on the electrode pressing frame 4-8 for pressing and fixing the graphite electrode 6 , to facilitate the assembly of the graphite electrode 6 and the joint 7.

One side of the graphite electrode and joint assembly table 4-7 is provided with a finished product unloading rack 4-10. Finished product unloading rack 4-10 rear end is equipped with dialing and flipping mechanism 4-9.

The material turning mechanism 4-9 is provided with a material turning lever 4-9-1, a turning shaft 4-9-2, a push rod 4-9-3, and a turning cylinder 4-9-4. The overturning shaft 4-9-2 is installed on the rear end of the finished product unloading rack 4-10, and two shift rods 4-9-1 are installed on the flip shaft 4-9-2, and one end of the shift rod 4-9-1 Insert the graphite electrode and the upper part of the joint assembly table 4-7, the other end of the material shifting rod 4-9-1 is equipped with a push rod 4-9-3, and the material shifting and turning cylinder 4-9-4 is installed on the finished product unloading rack 4-10 On, the push rod of the material turning over cylinder is connected with the push rod 4-9-3. When the material turning cylinder 4-9-4 is working, the push rod of the material turning cylinder pushes the material rod 4-9-1 through the push rod 4-9-3, so that the material rod 4-9-1 is turned over, and the graphite electrode And the joint assembly table 4-7 top, the graphite electrode finished product that industrial robot 4-1 has assembled, turns over and transfers to the finished product unloading rack 4-10. Because the finished product blanking rack 4-10 has a certain inclination, the graphite electrode finished product will automatically roll to the front part of the finished product blanking rack 4-10 under the action of its own weight and the gradient of the finished product blanking rack, and enters the graphite electrode finished product automatic packaging process.

The industrial robot 4-1 adopts a six-axis robot.

Graphite electrode and joint robot automatic assembly machine 4 is equipped with a numerical control system for control, and the numerical control system is equipped with PLC programmable controllers, industrial control computers and other control equipment.

The scanning system 4-4 adopts a two-dimensional code scanner, and the two-dimensional code scanner is connected with the numerical control system.

Described torque controller 4-5 adopts commercially available torque controller.

working principle:

When the graphite electrode and joint robot automatic assembly machine is working, the other side of the industrial robot 4-1 is provided with an electrode conveying roller table 4-6, and the transmission motor drives a plurality of conveying rollers 4-6 through sprockets and conveying chains. 1. Transfer the processed graphite electrode 6 to the graphite electrode and joint assembly station 4-7.

The electrode pressing oil cylinder 4-8-2 of the electrode pressing mechanism 4-8 on the top of the graphite electrode and joint assembly platform 4-7 presses and fixes the graphite electrode 6.

The front end of the industrial robot 4-1 is equipped with a manipulator 4-1-1, and the manipulator 4-1-1 is equipped with an electric gripper, a servo motor, a scanning system 4-4, a torque controller 4-5, and the servo motor drives the electric gripper to grasp Take the graphite joint 7, the scanning system 4-4 is used to scan the two-dimensional code of the graphite joint, and the scanning information is fed back to the control system to control the industrial robot 4-1 to pair the graphite joint 7 that meets the assembly size, and the electric gripper is installed on the manipulator to grab it The graphite joint 7 is sent to the graphite electrode and joint assembly station 4-7, and is loaded into the tapered threaded hole of the graphite electrode 6. The servo motor drives and rotates to install the graphite electrode 6 in place, and a certain torque is controlled by the torque controller 4-5. After reaching the set torque, it will stop automatically to avoid the transitional screwing in of the electrode tip and prevent the graphite joint 6 from being too tight and damaged. The industrial robot 4-1 is equipped with electric grippers on the manipulator 4-1-1 to grab the graphite joint 7 that does not meet the assembly size, and sends it to the joint temporary storage table 4-3 for temporary storage.

After the graphite electrode 6 and joint 7 are assembled, the electrode pressing oil cylinder 4-9-4 is closed, the electrode pressing mechanism 4-9 is opened, and the material turning turning oil cylinder 4-9-4 of the turning material turning mechanism 4-9 is started, and The push rod of the material turning cylinder pushes the material rod 4-9-1 through the push rod 4-9-3, so that the material rod 4-9-1 is turned over, and the graphite electrode and joint assembly table 4-7 are assembled, and the industrial robot 4- 1. The finished graphite electrode 6 that has been assembled is turned over and transferred to the finished product unloading rack 4-10.

Because the finished product blanking rack 4-10 has a certain inclination, the rear end of the finished product blanking rack 4-10 is higher than the front end, and the graphite electrode finished product is slid and pushed to the front part of the finished product blanking rack 4-10, and the graphite electrode finished product is automatically Packaging process.

Claims

An automatic robot assembly machine for graphite electrodes and joints, characterized in that it includes an industrial robot, a joint conveying workbench, a joint temporary storage platform, a scanning system, a torque controller, an electrode conveying roller table, a graphite electrode and joint assembly platform, an electrode press Tightening mechanism, material turning mechanism and finished product unloading rack;

The front end of the industrial robot is provided with a manipulator, and the manipulator is equipped with electric grippers, a servo motor, a scanning system, and a torque controller. The servo motor drives the electric grippers to grab graphite joints, and the scanning system is used to scan the two-dimensional code of the graphite joints. The information is fed back to the control system to control the industrial robot;

One side of the industrial robot is provided with a joint conveying workbench for conveying graphite joints with pins and retaining springs installed;

The front side of the industrial robot is provided with a temporary storage platform for temporary storage of graphite joints;

The other side of the industrial robot is provided with an electrode conveying roller table, a graphite electrode and a joint assembly platform;

The upper part of the graphite electrode and joint assembly table is equipped with an electrode pressing mechanism; the graphite electrode and joint assembly table is equipped with a finished product unloading rack, and the rear end of the finished product unloading rack is equipped with a material turning mechanism.
A robot automatic assembly machine for graphite electrodes and joints according to claim 1, wherein the electrode conveying roller table is provided with a plurality of conveying rollers, equipped with conveying chains, sprockets and transmission motors, and the transmission motors pass through the sprockets , The transmission chain drives multiple transmission rollers, and transmits the processed graphite electrode to the graphite electrode and joint assembly platform.
A robot automatic assembly machine for graphite electrodes and joints according to claim 1, wherein the electrode pressing mechanism has an electrode pressing frame and an electrode pressing oil cylinder; the electrode pressing frame is installed on the upper part of the graphite electrode and joint assembly platform , The electrode pressing oil cylinder is installed on the electrode pressing frame, which is used to press and fix the graphite electrode, so as to facilitate the assembly of the graphite electrode and the joint.
A robot automatic assembly machine for graphite electrodes and joints according to claim 1, characterized in that, the material turning mechanism is provided with a material pulling rod, a turning shaft, a push rod and a material turning oil cylinder; the turning shaft is installed on the finished product blanking At the rear end of the frame, two shift rods are installed on the turning shaft. One end of the shift rod is inserted into the graphite electrode and the upper part of the joint assembly table. The other end of the shift rod is equipped with a push rod. , the push rod of the material turning over cylinder is connected with the push rod.
A robot automatic assembly machine for graphite electrodes and joints according to claim 4, characterized in that, when the material turning cylinder is working, the push rod of the material turning cylinder pushes the material rod through the push rod, so that the material rod is turned over, and the On the upper part of the graphite electrode and joint assembly table, the finished graphite electrode assembled by the industrial robot is turned over and transferred to the finished product unloading rack. The finished product unloading rack has a certain inclination, and the finished graphite electrode is under the action of its own weight and the slope of the finished product unloading rack. , automatically roll to the front of the finished product unloading rack, and enter the automatic packaging process of the finished graphite electrode.
A robot automatic assembly machine for graphite electrodes and joints according to claim 1, wherein the industrial robot is equipped with electric grippers on the manipulator to grab the graphite joints and send them to the graphite electrodes and joints for assembly. Put it into the tapered threaded hole of the graphite electrode, the servo motor drives and rotates to install the graphite electrode in place, and a certain torque is controlled by the torque controller to prevent the graphite joint from being too tight and damaged. The industrial robot does not meet the assembly size. Graphite joints are grabbed by the electric grippers on the manipulator and sent to the joint temporary storage table for temporary storage.