Automatic stacking system and stacking method of T-shaped guide rail

Abstract

The present invention discloses an automatic stacking system for T-shaped guide rails, comprising a material-lifting device connected with the previous process and used to transport the T-shaped guide rails, a flipping device for flipping the elevator guide rails 180 degrees up and down, a three-axis system for horizontally rotating the elevator guide rails 180 degrees and stacking, and a transportation line for transporting the stacked guide rails; the three-axis system is provided with a guide rail clamping mechanism for clamping the elevator guide rails. The system can stack the T-shaped guide rails to be stacked according to a specific rule. The present invention also discloses a stacking method of the automatic stacking system for T-shaped guide rails.

Description

Technical Field

[0001] The invention relates to the field of automatic equipment, in particular to an automatic stacking system of a T-shaped guide rail. Background Art

[0002] Elevator guide rails are elevator components consisting of steel rails and connectors. They play an important guiding role for the car guide rails and can also withstand the acceleration impact force during car braking to a certain extent.

[0003] Elevator guide rails can be roughly divided into three types in terms of cross-section: T-shaped, L-shaped and hollow. Due to their special cross-section, they are not easy to clamp and transport, and the horizontal axis along the length of the elevator guide rails needs to be flipped 180° up and down and rotated 180° horizontally during the packaging process. Therefore, a series of processes from raw material forming to component assembly and packaging are mostly completed by manual cooperation, resulting in low automation level and productivity.

[0004] Patent No. 201110169266.5 discloses a new type of high-speed automatic stacking device, which uses a vibration motor to ultimately achieve synchronous reciprocating motion and rotation of the upper hopper, the active rocker arm and the driven rocker arm. The device has the characteristics of stable operation, simple structure, low noise and low cost. However, the device can only achieve a simple stacking method and cannot stack the guide rails according to a certain rule. In addition, the guide rails cannot be transmitted through the hopper due to their length, cross-sectional shape and weight. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an automatic stacking system which can stack T-shaped guide rails to be stacked according to a specific rule.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic stacking system for T-shaped guide rails, including a material-lifting device connected with the previous process and used to transport the T-shaped guide rails, a flipping device for flipping the T-shaped guide rails 180 degrees up and down, a three-axis system for horizontally rotating the T-shaped guide rails 180 degrees and stacking, and a transportation line for transporting the stacked guide rails;

[0007] The ejection device comprises a loading platform, two horizontal ejection guide rails are arranged on both sides of the loading platform, the ejection guide rails are connected to two movable seats through sliders, two ejection cylinders are fixed on the movable seats, and the piston rod ends of the ejection cylinders are respectively provided with an ejection block shaped like the T-shaped guide rails, the two movable seats are connected together through a connecting seat, and are fixed to a linear module located in the middle of the ejection device;

[0008] The three-axis system includes a frame, a first support and a second support are provided on the top of the frame, a horizontal guide rail is provided on the first support, a horizontal slider is provided on the horizontal guide rail, a horizontal guide rail is also provided on the second support, a horizontal slider is also movably provided on the horizontal guide rail, a horizontal driving seat is mounted on the two horizontal sliders, a horizontal servo driving motor is provided on the horizontal driving seat, a horizontal reducer is connected to the output end of the horizontal servo driving motor, a horizontal gear is connected to the output end of the horizontal reducer through a pin shaft, the horizontal gear is meshed with a horizontal rack provided on the second support, and a horizontal limit block for limiting the extreme position of the horizontal driving seat is provided on the second support;

[0009] A lifting mounting seat is provided on the horizontal driving seat, a lifting pipe moving up and down is provided on the lifting mounting seat, and a lifting servo motor is provided on the lifting mounting seat;

[0010] The output end of the lifting servo motor is connected to a lifting reducer, and a lifting gear is fixed to the output end of the lifting reducer. The lifting gear is meshed with a vertically arranged lifting rack installed on the lifting pipe.

[0011] A rotary shaft is provided for rotation in the lifting tube, and the upper end of the rotary shaft is connected to an external encoder through a coupling. A servo rotary motor is provided on the lifting tube, and a slewing bearing and a slewing pinion are connected to the output shaft of the servo rotary motor. The slewing pinion meshes with a slewing large gear connected to the slewing shaft. A lower slewing flange is provided at the lower end of the slewing shaft, and the lower slewing flange is connected to the cantilever. Both ends of the cantilever are respectively provided with guide rail clamping mechanisms for clamping the T-shaped guide rail.

[0012] The guide rail clamping mechanism includes two clamping side plates, which are arranged in an oblique and symmetrical manner and connected by two side plates. A clamping connecting plate is provided between the two side plates, and a clamping cylinder is provided on the clamping side plates. The end of the piston head of the clamping cylinder is connected to a clamping push slide, and a clamping block is fixed to the end of the clamping push slide, and two friction plates are respectively arranged on the opposite sides of the two clamping blocks; two clamping push rails are also arranged on both sides of each clamping cylinder, and clamping limit blocks are fixed at both ends of the clamping push rails, and the two clamping push rails are movably connected to the clamping push slide through a clamping push slider; a plurality of pneumatic suction cup connectors are provided on the clamping connecting plate, and the pneumatic suction cup connectors are connected to the pneumatic suction cup, and a spring is also provided between the pneumatic suction cup and the clamping connecting plate.

[0013] As a preferred solution, the flipping device includes two flipping seats arranged in parallel, the flipping seats are provided with a flipping propulsion guide rail, the flipping propulsion guide rail is matched with a flipping propulsion slide, the flipping seat is provided with a propulsion cylinder for pushing the flipping propulsion slide, the flipping propulsion slide is provided with a connecting plate, the connecting plate is provided with a flipping cylinder, the piston rod end of the flipping cylinder is connected to the flipping sleeve mold, a T-shaped sleeve opening with the same cross-section as the T-shaped guide rail is provided in the flipping sleeve mold, and a notch is opened on the upper part of the flipping sleeve mold to prevent interference with the connecting piece at the end of the guide rail.

[0014] As a preferred solution, an upper swivel seat is provided in the lifting tube, a swivel shaft is rotatably penetrated in the upper swivel seat, the inner hole of the upper swivel flange is transitionally matched with the swivel shaft, and the outer ring of the swivel gear is connected to the upper swivel flange.

[0015] As a preferred solution, the lifting pipe is provided with a lifting limit block matched with the lifting gear.

[0016] As a preferred solution, a lifting movable plate is provided on the lifting mounting seat, and a lifting guide rail is provided on the lifting tube, and the lifting guide rail cooperates with a lifting guide block fixed on the lifting movable plate.

[0017] The beneficial effects of this system are:

[0018] 1. The entire stacking system can be controlled by PLC, which realizes the conveying of T-shaped guide rails by the top-loading device, the flipping of T-shaped guide rails by the flipping device, the horizontal rotation of T-shaped guide rails by the clamp device, the stacking of T-shaped guide rails by the three-axis system, and the transportation of the guide rails after stacking by the transport line. In the entire control process, the position sensor participates in the feedback control of the system, which can ensure the accuracy of the positioning of the guide rails during the operation process and improve the integration level and stacking efficiency of the entire stacking system.

[0019] 2. The ejector block and the flip sleeve are designed to imitate the T-shaped guide rail, which can firmly clamp the T-shaped guide rail so that it will not loosen during transportation and flipping. The parts have a simple structure and reliable operation.

[0020] 3. A special rail clamping mechanism for T-rail stacking is designed, which can not only complete the transfer by sucking the bottom plane of the rail through the suction cup, but also complete the transfer by clamping the "convex" structure on the front of the rail through two sets of clamping blocks and friction plates. The corresponding spatial position change of the stacking rail can be realized, reducing the difficulty of rail stacking.

[0021] 4. A symmetrically arranged three-axis system is adopted to ensure stable movement during the stacking of the guide rails. The driving mechanism that is prone to looseness and clearance and drives the guide rail to rotate 180° is arranged on the top of the three-axis system. The cross arm responsible for rotation is driven only by the rotary shaft, ensuring the stability of the guide rail during the rotation process. At the same time, the encoder closed-loop control is adopted to achieve accurate positioning of the guide rail rotation.

[0022] Another technical problem to be solved by the present invention is to provide a stacking method for the automatic stacking system of the T-shaped guide rail as described in any one of the above items.

[0023] In order to solve the above technical problems, the technical solution adopted by the present invention is: a stacking method of an automatic stacking system of a T-shaped guide rail, the steps are as follows:

[0024] Step 1: The ejector transports the T-shaped guide rail to the designated station: The T-shaped guide rail processed and assembled in the previous process is sent from the assembly line to the top of the left limit station of the ejector; at this time, the ejector cylinder extends to drive the ejector block to lift the T-shaped guide rail; then the movable seat moves to the right on the ejector guide rail following the movement of the linear module, and sends the T-shaped guide rail to the right limit station;

[0025] Step 2, PLC obtains the stacking position: When the T-shaped guide rail reaches the right limit station, the PLC calculates the serial number of the T-shaped guide rail sent from the previous process equipment, calculates and determines the number of layers from bottom to top in the stacking and the specific position of the T-shaped guide rail in the layer;

[0026] Step 3: If the number of stacking layers is an odd number, the T-shaped guide rail needs to be flipped 180°, that is, the "inverted T shape" becomes a "positive T shape";

[0027] Step 3.1: At this time, the push cylinders of the flip device on both sides of the T-shaped guide rail extend out, and the flip push slide slides along the flip push guide rail under the action of the push cylinder, driving the flip sleeve mold to cover the two ends of the T-shaped guide rail;

[0028] Step 3.2: When the push cylinder moves to the right position, the PLC receives the signal from the position sensor and controls the ejection cylinder of the ejection device to retract so that the ejection block is separated from the T-shaped guide rail;

[0029] Step 3.3: The flip cylinders of the two flipping devices control the flipping sleeve to drive the T-shaped guide rail to flip 180 degrees, completing the switching of the upper and lower sides of the T-shaped guide rail;

[0030] Step 3.4: The horizontal servo drive motor of the three-axis system starts working, and drives the horizontal gear to rotate under the action of the deceleration torque of the horizontal reducer. The horizontal gear transmits the torque to the horizontal rack through the meshing action of the gear rack, and drives the horizontal slider to move to the left along the horizontal guide rail to reach the top of the right limit position of the ejecting device; then the lifting servo motor of the three-axis system starts working, and drives the lifting gear to rotate through the lifting reducer, and transmits the force to the lifting tube. The lifting tube moves down to the stacking position to the clamping height under the action of the lifting guide rail, lifting guide block and lifting floating plate;

[0031] Step 3.5: At this time, the clamping cylinder of the guide rail clamping mechanism receives the command from the PLC, and the piston head of the clamping cylinder of each clamping side plate extends, pushing the clamping push slide to move along the clamping push guide rail toward the side of the T-shaped guide rail through the clamping push slide, until the friction block tightly clamps the two side surfaces of the "convex" upper part of the T-shaped guide rail;

[0032] Step 3.6: When the T-shaped guide rail is clamped by the guide rail clamping mechanism, the piston of the flipping propulsion cylinder of the flipping device retracts, so that the flip sleeve mold is separated from the T-shaped guide rail;

[0033] Step 3.7: After the clamping is completed and the flip mold is detached, the lifting tube moves upward to the upper limit position under the action of the lifting servo motor, and then moves to the right under the action of the horizontal servo drive motor to reach the horizontal position of the corresponding stacking on the transportation line; at this time, the lifting tube moves downward to the vertical position of the corresponding stacking of the T-shaped guide rail, and then the piston of the clamping cylinder of the guide rail clamping mechanism retracts, and the T-shaped guide rail is placed on the transportation line in a positive T shape;

[0034] Step 3.8: The lifting tube moves up and forward to the initial position, waiting for the next instruction from PLC;

[0035] Step 4: If the number of stacking layers is an even number, the T-shaped guide rail stacking needs to be rotated 180° horizontally, and the turning device does not participate in the operation;

[0036] Step 4.1: The lifting tube moves to the left under the action of the horizontal servo drive motor to the top of the right limit position of the ejecting device, and then the lifting servo motor is started to drive the lifting tube downward to the suction station through the meshing transmission of the lifting gear and the lifting rack;

[0037] Step 4.2: At this time, the wide side of the T-shaped guide rail faces upwards to form an inverted T shape. The clamping method of the guide rail clamping mechanism is air suction. The piston of the clamping cylinder of the guide rail clamping mechanism retracts to the bottom, and the pneumatic suction cup sucks the bottom wide side surface of the T-shaped guide rail;

[0038] Step 4.3: The lifting tube is then moved upwards by the lifting servo motor to a position that does not interfere with the stacked T-shaped guide rails. The PLC sends instructions to the servo rotary motor and encoder. The servo rotary motor starts to transmit torque to the rotary pinion through the key. The rotary pinion transmits torque to the rotary gear through meshing. The rotary gear is driven by force to rotate the upper rotary flange connected to it by bolts and the rotary shaft connected by the key. The inner ring, upper spacer, upper locking nut, upper thrust washer and coupling of the upper tapered roller bearing rotate with the rotary shaft, and its outer ring and upper slewing seat remain stationary. Similarly, the inner ring, cantilever, lower locking nut, lower thrust washer and lower spacer of the lower tapered roller bearing rotate with the rotary shaft, and its outer ring and lower slewing seat remain stationary. The guide clamping mechanism fixed on both sides of the cantilever drives the T-shaped guide rail to rotate horizontally by 180°, completing the transformation of the spatial position of the T-shaped guide rail.

[0039] Step 4.4: The T-shaped guide rail completes a 180° plane rotation, and the lifting tube is driven by the horizontal servo drive motor to be transported to the corresponding horizontal position of the T-shaped guide rail stacking. Then, the lifting tube is driven by the lifting servo motor to move down to the corresponding vertical position of the T-shaped guide rail stacking. Then, the pneumatic suction cup of the guide rail clamping mechanism stops working, and the guide rail stacking is completed.

[0040] Step 4.5: The lifting tube moves upward and forward to the default position, waiting for the next transport instruction;

[0041] Step 5, cyclic stacking: repeat steps 3 and 4 in sequence until all the T-shaped guide rails to be stacked are stacked;

[0042] Step 6, T-shaped guide rail packaging: After completing step 5, workers will pack the stacked T-shaped guide rails on both sides of the transport line and hoist the packed T-shaped guide rails to the shipping location. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 Main view of the stacking system assembly

[0044] Figure 2 Left side view of the stacking system assembly

[0045] Figure 3 Left side view of the stacking system assembly

[0046] Figure 4 Schematic diagram of the structure of the lifting device

[0047] Figure 5 Schematic diagram of the structure of the flip device

[0048] Figure 6.1 Schematic diagram of the three-dimensional structure of the guide rail clamping mechanism

[0049] Figure 6.2A side view of the guide rail clamping mechanism

[0050] Figure 6.3 The main structural diagram of the guide rail clamping mechanism

[0051] Figure 6.4 Schematic diagram of the top view of the guide rail clamping mechanism

[0052] Figure 7.1 The side view of the three-axis system

[0053] Figure 7.2 A top view of the three-axis system

[0054] Figure 7.3 The main structural diagram of the three-axis system

[0055] Figure 7.4 Schematic diagram of the three-axis system

[0056] Figure 7.5 A top view of the partially enlarged structure of the three-axis system

[0057] Figure 7.6 The rear view diagram of the three-axis system

[0058] Figure 7.6.1 for Figure 7.6-1 Schematic diagram of the enlarged structure of the

[0059] Figure 7.6.2 for Figure 7.6 2 Schematic diagram of the enlarged structure of the

[0060] Figure 8 Structural intent for a single rail

[0061] Fig. 9 Schematic diagram of multiple guide rails after stacking

[0062] Fig.10 The main view of the top block

[0063] Fig.11 3D image of the flip mold

[0064] Figure 1-Figure 11 Middle: 1- material lifting device, 2- turning device, 3- three-axis system, 4- transport line, 5- stacked guide rail;

[0065] 11-movable seat, 12-top material cylinder, 13-top material block, 14-linear module, 15-top material guide rail, 16-loading platform;

[0066] 21-turning seat, 22-turning push slide, 23-pushing cylinder, 24-connecting plate, 25-turning cylinder, 26-turning sleeve die, 27 tank chain, 28-turning push guide rail;

[0067] 301-clamping cylinder, 302-clamping limit block, 303-clamping push guide rail, 304-pneumatic suction cup coupling, 305-clamping connecting plate, 306-pneumatic suction cup, 307-clamping block, 308-friction plate, 309-spring, 310-clamping side plate, 311-clamping push slider, 312-clamping push slide;

[0068] 401-frame, 402-servo rotary motor, 403-encoder, 404-upper rotary flange, 405-lifting reducer, 406-lifting servo motor, 407-lifting rack, 408-lifting limit block, 409-lifting guide rail, 410-horizontal guide rail, 411-rotating pinion, 412-slewing bearing, 413-lifting gear, 414-cantilever, 415-guide rail clamping mechanism, 416-first cross brace, 417-horizontal servo drive motor, 418-horizontal reducer, 419-horizontal gear, 420-horizontal slider, 421-second support, 422-water Flat rack, 423-horizontal limit block, 424-lifting tube, 425-horizontal drive plate, 426-lifting mounting seat, 427-lifting floating plate, 428-lifting guide block, 429-slewing fixed seat, 430-coupling, 431-upper slewing seat, 432-upper tapered roller bearing, 433-upper spacer, 434-upper locking nut, 435-upper anti-retraction washer, 436-slewing shaft, 437 slewing gear, 438-lower slewing seat, 439-lower tapered roller bearing, 440-lower spacer, 441-lower locking nut, 442-lower thrust washer, 443-lower slewing flange. DETAILED DESCRIPTION

[0069] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0070] like Figure 1-11 As shown, the automatic stacking system of the T-shaped guide rail comprises a material ejecting device 1 connected with the previous process and used to transport the T-shaped guide rail, a flipping device 2 for flipping the T-shaped guide rail 180°, a three-axis system 3 for horizontally rotating the T-shaped guide rail 180° and stacking the T-shaped guide rail, a guide rail clamping mechanism 415 for clamping the T-shaped guide rail is provided on the three-axis system 3, and a transport line 4 for stacking the guide rails 5 after transport and packaging is completed;

[0071] The ejection device 1 comprises a loading platform 16, two horizontal ejection guide rails 15 are arranged on both sides of the loading platform 16, the ejection guide rails 15 are connected to two movable seats 11 through sliders, two ejection cylinders 12 are fixed on the movable seats, and the piston rod ends of the ejection cylinders 12 are respectively provided with an ejection block 13 that is shaped like a T-shaped T-shaped guide rail, and the two movable seats 11 are connected together through a connecting seat and fixed to a linear module 14 located in the middle of the ejection device 1;

[0072] The flipping device 2 includes two flipping seats 21 arranged in parallel, a flipping propulsion guide rail 28 is provided on the flipping seat 21, a flipping propulsion slide 22 is matched on the flipping propulsion guide rail 28, a propulsion cylinder 23 for pushing the flipping propulsion slide 22 is provided on the flipping seat 21, a connecting plate 24 is provided on the flipping propulsion slide 22, a flipping cylinder 25 is provided on the connecting plate 24, the piston rod end of the flipping cylinder 25 is connected to the flipping sleeve mold 26, a T-shaped sleeve opening with the same cross-section as the T-shaped guide rail is provided in the flipping sleeve mold 26, and a notch is opened on the upper part of the flipping sleeve mold 26 to prevent interference with the connecting piece at the end of the guide rail; a tank chain 27 is hung on the side of the flipping propulsion slide 22 to place the air pipe and sensor circuit.

[0073] The three-axis system 3 includes a frame 401, a first support 416 and a second support 421 are provided on the top of the frame 401, a horizontal guide rail 410 is provided on the first support 416, a horizontal slider 420 is provided on the horizontal guide rail 410, a horizontal guide rail 410 is also provided on the second support 421, a horizontal slider 420 is also provided on the horizontal guide rail 410, a horizontal driving seat 425 is mounted on the two horizontal sliders 420, a horizontal servo driving motor 417 is provided on the horizontal driving seat 425, a horizontal reducer 418 is connected to the output end of the horizontal servo driving motor 417, a horizontal gear 419 is connected to the output end of the horizontal reducer 418 through a pin shaft, the horizontal gear 419 is meshed with a horizontal rack 422 provided on the second support 421, and a horizontal limit block 423 for limiting the extreme position of the horizontal driving seat 425 is provided on the first support 416;

[0074] A lifting mounting seat 426 is provided on the horizontal driving seat 425, and a lifting tube 424 that moves up and down is provided on the lifting mounting seat 426, and a lifting floating plate 427 is provided on the lifting mounting seat 426, and a lifting guide rail 409 is provided on the lifting tube, and the lifting guide rail 409 cooperates with a lifting guide block 428 fixed on the lifting floating plate 427. A lifting servo motor 406 is provided on the lifting mounting seat 426, and a lifting reducer 405 is connected to the output end of the lifting servo motor 406, and a lifting gear 413 is fixed to the output end of the lifting reducer 405, and the lifting gear 413 is meshed with a vertically arranged lifting rack 407 installed on the lifting tube 424, and a lifting limit block 408 that cooperates with the lifting gear 413 is provided on the lifting tube 424.

[0075] A rotating shaft 436 is rotatably provided inside the lifting tube 424, and the upper end of the rotating shaft 436 is connected to an external encoder 403 through a coupling 430. A servo rotating motor 402 is provided on the lifting tube 424, and a slewing bearing 412 and a rotating pinion 411 are connected to the output shaft of the servo rotating motor 402. The rotating pinion 411 is meshed with a rotating large gear 437 connected to the rotating shaft 436. An upper slewing seat 431 is provided inside the lifting tube 424, and a rotating shaft 436 is rotatably penetrated inside the upper slewing seat 431. The inner hole of the upper slewing flange 404 is transitionally matched with the rotating shaft 436, and the outer ring of the rotating large gear 437 is connected to the upper slewing flange 404.

[0076] A rotary fixed seat 429 is provided on the lifting tube 424, and a servo rotary motor 402 is provided on the rotary fixed seat 429. An upper tapered roller bearing 432 is installed at the upper journal of the rotary shaft 436, and the inner ring of the bearing is in transitional fit with the outer ring of the rotary shaft, and the outer ring of the bearing is in transitional fit with the inner hole of the upper rotary seat 431; the lower end face of the outer ring of the upper tapered roller bearing 432 is matched with the inner hole end face of the upper rotary flange 404, and the upper end face of its inner ring is matched with the lower end face of the upper spacer 433, and the upper locking nut 434 is against the lower end face of the upper spacer 433, and the upper thrust washer 435 is used to prevent the axial movement of the upper locking nut 434 caused by vibration.

[0077] A lower tapered roller bearing 439 is provided at the lower end of the rotary shaft 436. The outer ring of the lower tapered roller bearing 439 is in transitional fit with the lower rotary seat 438. The lower spacer 440 is pressed against the lower end surface of the inner ring of the lower tapered roller bearing 439 under the action of the lower locking nut 441 and the lower thrust washer 442.

[0078] A lower rotating flange 443 is provided at the lower end of the rotating shaft 436, and the lower rotating flange 443 is connected to the cantilever 414, and guide rail clamping mechanisms 415 are arranged at both ends of the cantilever 414;

[0079] The guide rail clamping mechanism 415 includes two clamping side plates 310, which are arranged obliquely and symmetrically and connected by two side plates. A clamping connecting plate 305 is provided between the two side plates. A clamping cylinder 301 is provided on the clamping side plate 310. A clamping push slide 312 is connected to the end of the piston head of the clamping cylinder 301. A clamping block 307 is fixed to the end of the clamping push slide 312. Two friction plates 308 are respectively provided on the opposite sides of the two clamping blocks 307. Two clamping push rails 303 are also arranged on both sides of each clamping cylinder 301, and clamping limit blocks 302 are fixed at both ends of the rails 303. The two clamping push rails 303 are movably connected with the clamping push slide 312 through the clamping push slider 311; a plurality of pneumatic suction cup connectors 304 are provided on the clamping connecting plate 305, and the pneumatic suction cup connectors 304 are connected to the pneumatic suction cup 306, and a spring 309 is also provided between the pneumatic suction cup 306 and the clamping connecting plate 305.

[0080] The specific operation steps of the T-shaped guide rail automatic stacking system of the present invention are as follows:

[0081] Step 1: The ejector transports the T-shaped guide rail to the designated station: The T-shaped guide rail processed and assembled in the previous process is sent from the assembly line to the top of the left limit station of the ejector. At this time, the ejector cylinder extends to drive the ejector block to lift the T-shaped guide rail; then the movable seat moves to the right on the ejector guide rail following the movement of the linear module, and sends the T-shaped guide rail to the right limit station.

[0082] Step 2, PLC obtains the stacking position: When the T-shaped guide rail reaches the right limit station, the PLC calculates the serial number of the T-shaped guide rail sent from the previous process equipment, calculates and determines the number of layers from bottom to top in the stack and the specific position of the guide rail in the layer.

[0083] Step 3: If the number of stacking layers is an odd number, the T-shaped guide rail needs to be flipped 180°, that is, the "inverted T shape" becomes a "positive T shape".

[0084] Step 3.1: At this time, the push cylinders of the flip device on both sides of the T-shaped guide rail extend out, and the flip push slide slides along the flip push guide rail under the action of the push cylinder, driving the flip sleeve mold to cover the two ends of the T-shaped guide rail;

[0085] Step 3.2: When the push cylinder moves to the right position, the PLC receives the signal from the position sensor and controls the ejection cylinder of the ejection device to retract so that the ejection block is separated from the T-shaped guide rail;

[0086] Step 3.3: The flip cylinders of the two flipping devices control the flipping sleeve to drive the T-shaped guide rail to flip 180 degrees, completing the switching of the upper and lower sides of the T-shaped guide rail;

[0087] Step 3.4: The horizontal servo drive motor of the three-axis system starts working, and drives the horizontal gear to rotate under the action of the deceleration torque of the horizontal reducer. The horizontal gear transmits the torque to the horizontal rack through the meshing action of the gear rack, and drives the horizontal slider to move to the left along the horizontal guide rail to reach the top of the right limit position of the ejecting device; then the lifting servo motor of the three-axis system starts working, and drives the lifting gear to rotate through the lifting reducer, and transmits the force to the lifting tube. The lifting tube moves down to the stacking position to the clamping height under the action of the lifting guide rail, lifting guide block and lifting floating plate;

[0088] Step 3.5: At this time, the clamping cylinder of the guide rail clamping mechanism receives the command from the PLC, and the piston head of the clamping cylinder of each clamping side plate extends, pushing the clamping push slide to move along the clamping push slide toward the side of the T-shaped guide rail through the clamping push slide, until the friction block 308 tightly clamps the two side surfaces of the "convex" upper part of the T-shaped guide rail;

[0089] Step 3.6: When the T-shaped guide rail is clamped by the guide rail clamping mechanism, the piston of the flipping propulsion cylinder of the flipping device retracts, so that the flip sleeve mold is separated from the T-shaped guide rail;

[0090] Step 3.7: After the clamping is completed and the flip mold is detached, the lifting tube moves upward to the upper limit position under the action of the lifting servo motor, and then moves to the right under the action of the horizontal servo drive motor to reach the horizontal position of the corresponding stacking on the transportation line. At this time, the lifting tube moves downward to the vertical position of the T-shaped guide rail corresponding to the stacking, and then the piston of the clamping cylinder of the guide rail clamping mechanism retracts, and the T-shaped guide rail is placed on the transportation line in a positive T shape;

[0091] Step 3.8: The lifting tube moves up and forward to the initial position, waiting for the next instruction from PLC;

[0092] Step 4: If the number of stacking layers is an even number, the T-shaped guide rail stacking needs to be rotated 180° horizontally, and the turning device does not participate in the operation.

[0093] Step 4.1: The lifting tube moves to the left under the action of the horizontal servo drive motor to the top of the right limit position of the ejecting device, and then the lifting servo motor is started to drive the lifting tube downward to the suction station through the meshing transmission of the lifting gear and the lifting rack;

[0094] Step 4.2: At this time, the wide side of the T-shaped guide rail faces upwards to form an inverted T shape. The clamping method of the guide rail clamping mechanism is air suction. The piston of the clamping cylinder of the guide rail clamping mechanism retracts to the bottom, and the pneumatic suction cup sucks the bottom wide side surface of the T-shaped guide rail;

[0095] Step 4.3: The lifting tube is then moved upwards by the lifting servo motor to a position that does not interfere with the stacked T-shaped guide rails. The PLC sends instructions to the servo rotary motor and encoder. The servo rotary motor starts to transmit torque to the rotary pinion through the key. The rotary pinion transmits torque to the rotary gear through meshing. The rotary gear is driven by force to rotate the upper rotary flange connected to it by bolts and the rotary shaft connected by the key. The inner ring, upper spacer, upper locking nut, upper thrust washer and coupling of the upper tapered roller bearing rotate with the rotary shaft, and its outer ring and upper slewing seat remain stationary. Similarly, the inner ring, cantilever, lower locking nut, lower thrust washer and lower spacer of the lower tapered roller bearing rotate with the rotary shaft, and its outer ring and lower slewing seat remain stationary. The guide clamping mechanism fixed on both sides of the cantilever drives the T-shaped guide rail to rotate horizontally by 180°, completing the transformation of the spatial position of the T-shaped guide rail.

[0096] Step 4.4: The T-shaped guide rail completes a 180° plane rotation, and the lifting tube is driven by the horizontal servo drive motor to be transported to the corresponding horizontal position of the T-shaped guide rail stacking. Then, the lifting tube is driven by the lifting servo motor to move down to the corresponding vertical position of the T-shaped guide rail stacking. Then, the pneumatic suction cup of the guide rail clamping mechanism stops working, and the stacking of the T-shaped guide rail is completed.

[0097] Step 4.5: The lifting tube moves upward and forward to the default position, waiting for the next transport instruction;

[0098] Step 5: Circular stacking. Repeat steps 3 and 4 in sequence until all the T-shaped guide rails to be stacked are stacked.

[0099] Step 6: Packing of T-shaped guide rails. After completing step 5, workers pack the stacked T-shaped guide rails on both sides of the transport line and hoist the packed T-shaped guide rails to the shipping location.

[0100] The above-mentioned embodiments are only illustrative of the principles and effects of the invention, as well as some embodiments of its application, and are not intended to limit the invention. It should be pointed out that a person skilled in the art can make several modifications and improvements without departing from the inventive concept of the invention, and all of these belong to the protection scope of the invention.

Claims

1. The automatic stacking system of the T-shaped guide rail includes a material ejecting device connected with the previous process and used to transport the T-shaped guide rail, a flipping device for flipping the T-shaped guide rail 180 degrees up and down, a three-axis system for rotating the T-shaped guide rail 180 degrees horizontally and stacking the T-shaped guide rail, and a transport line for transporting the stacked T-shaped guide rail; Features: The ejection device comprises a loading platform, two horizontal ejection guide rails are arranged on both sides of the loading platform, the ejection guide rails are connected to two movable seats through sliders, two ejection cylinders are fixed on the movable seats, and the piston rod ends of the ejection cylinders are respectively provided with an ejection block shaped like the T-shaped guide rails, the two movable seats are connected together through a connecting seat, and are fixed to a linear module located in the middle of the ejection device; The three-axis system includes a frame, a first support and a second support are provided on the top of the frame, a horizontal guide rail is provided on the first support, a horizontal slider is provided on the horizontal guide rail, a horizontal guide rail is also provided on the second support, a horizontal slider is also movably provided on the horizontal guide rail, a horizontal driving seat is mounted on the two horizontal sliders, a horizontal servo driving motor is provided on the horizontal driving seat, a horizontal reducer is connected to the output end of the horizontal servo driving motor, a horizontal gear is connected to the output end of the horizontal reducer through a pin shaft, the horizontal gear is meshed with a horizontal rack provided on the second support, and a horizontal limit block for limiting the extreme position of the horizontal driving seat is provided on the second support; A lifting mounting seat is provided on the horizontal driving seat, a lifting pipe moving up and down is provided on the lifting mounting seat, and a lifting servo motor is provided on the lifting mounting seat; a lifting reducer is connected to the output end of the lifting servo motor, a lifting gear is fixed to the output end of the lifting reducer, and the lifting gear is meshed with a vertically arranged lifting rack installed on the lifting pipe; A rotary shaft is provided for rotation in the lifting tube, and the upper end of the rotary shaft is connected to an external encoder through a coupling. A servo rotary motor is provided on the lifting tube, and a slewing bearing and a slewing pinion are connected to the output shaft of the servo rotary motor. The slewing pinion meshes with a slewing large gear connected to the slewing shaft. A lower slewing flange is provided at the lower end of the slewing shaft, and the lower slewing flange is connected to the cantilever. Both ends of the cantilever are respectively provided with guide rail clamping mechanisms for clamping the T-shaped guide rail. The guide rail clamping mechanism includes two clamping side plates, which are arranged in an oblique and symmetrical manner and connected by two side plates. A clamping connecting plate is provided between the two side plates, and a clamping cylinder is provided on the clamping side plates. The end of the piston head of the clamping cylinder is connected to a clamping push slide, and a clamping block is fixed to the end of the clamping push slide, and two friction plates are respectively arranged on the opposite sides of the two clamping blocks; two clamping push rails are also arranged on both sides of each clamping cylinder, and clamping limit blocks are fixed at both ends of the clamping push rails, and the two clamping push rails are movably connected to the clamping push slide through a clamping push slider; a plurality of pneumatic suction cup connectors are provided on the clamping connecting plate, and the pneumatic suction cup connectors are connected to the pneumatic suction cup, and a spring is also provided between the pneumatic suction cup and the clamping connecting plate.

2. The automatic stacking system of T-shaped guide rails according to claim 1, characterized in that: The flipping device includes two flipping seats arranged in parallel, a flipping propulsion guide rail is provided on the flipping seat, a flipping propulsion slide is matched on the flipping propulsion guide rail, a propulsion cylinder for pushing the flipping propulsion slide is provided on the flipping seat, a connecting plate is provided on the flipping propulsion slide, a flipping cylinder is provided on the connecting plate, the piston rod end of the flipping cylinder is connected to the flipping sleeve mold, a T-shaped sleeve opening with the same cross-section as the T-shaped guide rail is provided in the flipping sleeve mold, and a notch is provided on the upper part of the flipping sleeve mold to prevent interference with the connecting piece at the end of the T-shaped guide rail.

3. The automatic stacking system of T-shaped guide rails according to claim 1, characterized in that: An upper swivel seat is arranged in the lifting pipe, a swivel shaft is rotatably penetrated in the upper swivel seat, the inner hole of the upper swivel flange is transitionally matched with the swivel shaft, and the outer ring of the swivel gear is connected with the upper swivel flange.

4. The automatic stacking system of T-shaped guide rails according to claim 3, characterized in that: The lifting pipe is provided with a lifting limit block matched with the lifting gear.

5. The automatic stacking system of T-shaped guide rails according to claim 4, characterized in that: The lifting mounting seat is provided with a lifting movable plate, the lifting pipe is provided with a lifting guide rail, and the lifting guide rail matches with a lifting guide block fixed on the lifting movable plate.

6. The stacking method of the automatic stacking system of the T-shaped guide rail according to any one of claims 1 to 5, comprising the following steps: Step 1: The ejector transports the T-shaped guide rail to the designated station: The T-shaped guide rail processed and assembled in the previous process is sent from the assembly line to the top of the left limit station of the ejector; at this time, the ejector cylinder extends to drive the ejector block to lift the T-shaped guide rail; then the movable seat moves to the right on the ejector guide rail following the movement of the linear module, and sends the T-shaped guide rail to the right limit station; Step 2, PLC obtains the stacking position: When the T-shaped guide rail reaches the right limit station, the PLC calculates the serial number of the T-shaped guide rail sent from the previous process equipment, calculates and determines the number of layers from bottom to top in the stacking and the specific position of the T-shaped guide rail in the layer; Step 3: If the number of stacking layers is an odd number, the T-shaped guide rail needs to be flipped 180°, that is, the "inverted T shape" becomes a "positive T shape"; Step 3.1: At this time, the push cylinders of the flip device on both sides of the T-shaped guide rail extend out, and the flip push slide slides along the flip push guide rail under the action of the push cylinder, driving the flip sleeve mold to cover the two ends of the T-shaped guide rail; Step 3.2: When the push cylinder moves to the right position, the PLC receives the signal from the position sensor and controls the ejection cylinder of the ejection device to retract so that the ejection block is separated from the T-shaped guide rail; Step 3.3: The flip cylinders of the two flipping devices control the flipping sleeve to drive the T-shaped guide rail to flip 180 degrees, completing the switching of the upper and lower sides of the T-shaped guide rail; Step 3.4: The horizontal servo drive motor of the three-axis system starts working, and drives the horizontal gear to rotate under the action of the deceleration torque of the horizontal reducer. The horizontal gear transmits the torque to the horizontal rack through the meshing action of the gear rack, and drives the horizontal slider to move to the left along the horizontal guide rail to reach the top of the right limit position of the ejecting device; then the lifting servo motor of the three-axis system starts working, and drives the lifting gear to rotate through the lifting reducer, and transmits the force to the lifting tube. The lifting tube moves down to the stacking position to the clamping height under the action of the lifting guide rail, lifting guide block and lifting floating plate; Step 3.5: At this time, the clamping cylinder of the guide rail clamping mechanism receives the command from the PLC, and the piston head of the clamping cylinder of each clamping side plate extends, pushing the clamping push slide to move along the clamping push slide toward the side of the T-shaped guide rail through the clamping push slide, until the friction block tightly clamps the two side surfaces of the "convex" upper part of the T-shaped guide rail; Step 3.6: When the T-shaped guide rail is clamped by the guide rail clamping mechanism, the piston of the flipping propulsion cylinder of the flipping device retracts, so that the flip sleeve mold is separated from the T-shaped guide rail; Step 3.7: After the clamping is completed and the flip mold is detached, the lifting tube moves upward to the upper limit position under the action of the lifting servo motor, and then moves to the right under the action of the horizontal servo drive motor to reach the horizontal position of the corresponding stacking on the transportation line; at this time, the lifting tube moves downward to the vertical position of the corresponding stacking of the T-shaped guide rail, and then the piston of the clamping cylinder of the guide rail clamping mechanism retracts, and the T-shaped guide rail is placed on the transportation line in a positive T shape; Step 3.8: The lifting tube moves up and forward to the initial position, waiting for the next instruction from PLC; Step 4: If the number of stacking layers is an even number, the T-shaped guide rail stacking needs to be rotated 180° horizontally, and the turning device does not participate in the operation; Step 4.1: The lifting tube moves to the left under the action of the horizontal servo drive motor to the top of the right limit position of the ejecting device, and then the lifting servo motor is started to drive the lifting tube downward to the suction station through the meshing transmission of the lifting gear and the lifting rack; Step 4.2: At this time, the wide side of the T-shaped guide rail faces upwards to form an inverted T shape. The clamping method of the guide rail clamping mechanism is air suction. The piston of the clamping cylinder of the guide rail clamping mechanism retracts to the bottom, and the pneumatic suction cup sucks the bottom wide side surface of the T-shaped guide rail; Step 4.3: Then the lifting tube is moved upward to a position that does not interfere with the stacked T-shaped guide rails through the lifting servo motor. The PLC sends instructions to the servo rotary motor and the encoder. The servo rotary motor starts to transmit torque to the rotary pinion through the key. The rotary pinion transmits torque to the rotary gear through meshing. The rotary gear is driven by force to rotate the upper rotary flange connected to it by bolts and the rotary shaft connected by the key. The inner ring, upper spacer, upper locking nut, upper thrust washer and coupling of the upper tapered roller bearing rotate with the rotary shaft, and its outer ring and upper rotary seat remain stationary; similarly, the inner ring, cantilever, lower locking nut, lower thrust washer and lower spacer of the lower tapered roller bearing rotate with the rotary shaft, and its outer ring and lower rotary seat remain stationary. The guide clamping mechanism fixed on both sides of the cantilever drives the T-shaped guide rail to rotate 180° horizontally to complete the transformation of the spatial position of the T-shaped guide rail. Step 4.4: The T-shaped guide rail completes a 180° plane rotation, and the lifting tube is driven by the horizontal servo drive motor to be transported to the corresponding horizontal position of the T-shaped guide rail stacking. Then, the lifting tube is driven by the lifting servo motor to move down to the corresponding vertical position of the T-shaped guide rail stacking. Then, the pneumatic suction cup of the guide rail clamping mechanism stops working, and the stacking of the T-shaped guide rail is completed. Step 4.5: The lifting tube moves upward and forward to the default position, waiting for the next transport instruction; Step 5, cyclic stacking: repeat steps 3 and 4 in sequence until all the T-shaped guide rails to be stacked are stacked; Step 6, T-shaped guide rail packaging: After completing step 5, workers will pack the stacked T-shaped guide rails on both sides of the transport line and hoist the packed T-shaped guide rails to the shipping location.

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