Assembly unit of the steel component parts processing production line

Abstract

The present invention relates to an assembly unit of a steel member part processing production line, which includes a first assembly platform and a second assembly platform located on both sides; an assembly robot is provided between the first assembly platform and the second assembly platform, and two assembly robots are installed side by side on the assembly robot base, and the assembly robot base is installed on the assembly robot track; a part tray is further provided on the assembly robot track, and the part tray is detachably connected to the assembly robot base; the working arm of one assembly robot reciprocally rotates between the part tray and the first assembly platform; the working arm of the other assembly robot reciprocally rotates between the part tray and the second assembly platform; a manipulator is provided at the end of the working arm, and the manipulator picks up parts through the circular electromagnetic chuck on the main finger and fixes the parts to the main component through the circular electromagnetic chuck on the auxiliary finger. This solution realizes automatic part assembly, reduces manual labor, and improves the automation degree of the production line.

Description

Technical Field

[0001] The present invention relates to the processing technology of steel component parts, and specifically to an assembly unit of a steel component part processing production line. Background Art

[0002] Currently, the assembly and welding of steel structure component parts mainly rely on manual operation. First, a crane is manually operated to hoist the main component to the corresponding construction work station, and then various parts are manually assembled onto the main component for part positioning. In the assembly process, the parts and the main component do not need to be welded and can only be pre-fixed. Then, the construction workers operate welding equipment to weld each part. After welding is completed, the steel component with the designed part structure (the original main component + the welded combination of multiple parts) is transferred to the next process. This kind of processing has a low degree of automation and great potential safety hazards.

[0003] In the existing intelligent welding workshops, robots are usually used for component assembly and welding construction. The time required for part assembly and part welding processes is different, and the working rates of the upstream and downstream processes of assembly and welding are also different. In the prior art, the part assembly and welding of steel components are carried out at one work station, and can only be carried out in sequence, first for assembly and then for welding, which takes a long time and cannot improve the time utilization rate.

[0004] In a common production workshop, a set of equipment in the part assembly unit includes a robot for assembly and a dedicated track, and assembly construction is carried out for one steel component per unit time. The investment in each track not only involves the capital investment in the track itself, but also includes the matching base, mounting rack and site cost. The installation of the track occupies the factory building space, and for each additional track, the production cost will increase exponentially. Summary of the Invention

[0005] The present invention aims to solve the above problems, and thus provides an assembly unit that can better coordinate the production rates of each process, has a higher degree of automation, and saves the equipment cost of the production line.

[0006] The technical solution adopted by the present invention to solve the above problems is:

[0007] An assembly unit of a steel component part processing production line includes two first flow channels and a second flow channel arranged in parallel to each other, and there is an assembly unit between the first flow channel and the second flow channel;

[0008] The assembly unit includes a first assembly platform adjacent to the first transfer channel and a second assembly platform adjacent to the second transfer channel; an assembly robot is provided between the first assembly platform and the second assembly platform. Two assembly robots are installed side by side on the assembly robot base, and the assembly robot base is installed on the assembly robot track; a parts tray is further provided on the assembly robot track, and the parts tray is detachably connected to the assembly robot base; the working arm of one assembly robot rotates reciprocally between the parts tray and the first assembly platform; the working arm of the other assembly robot rotates reciprocally between the parts tray and the second assembly platform; a manipulator is provided at the end of the working arm, and the manipulator includes a main finger for extracting parts and two auxiliary fingers for assembling and fixing the parts to the main component.

[0009] The present invention adopting the above technical solution, compared with the prior art, has the following beneficial effects:

[0010] 1) The production unit for part assembly on the automated production line provided by the present invention can realize various part assemblies by automated robots, improving the automation and unmanned degree of steel structure production.

[0011] 2) Two robots in the present invention share one track, and the structure of one track with two robots greatly reduces the usage of expensive tracks, saving equipment costs; two steel component assemblies are produced simultaneously in one working unit, and the production operation mode of one tray for two reduces the factory floor space cost and improves the productivity of the production line.

[0012] 3) The assembly unit provided by the present invention is dedicated to part assembly, forming a modular unit, which can be combined with multiple modules. By adjusting the quantity, the production rate of this process can be adjusted, improving the overall production efficiency of the production line.

[0013] As a preference, a further technical solution of the present invention is:

[0014] Both the main finger and the auxiliary fingers are installed on the lower side of the end of the working arm. The main finger includes a telescopic cylinder and a disc electromagnet. The upper part of the telescopic cylinder is installed on the working arm, and the lower end is installed with the disc electromagnet. The magnetic control circuit of the disc electromagnet is connected to the controller; the auxiliary fingers are symmetrically arranged on both sides of the main finger. The auxiliary finger includes a rocker arm and a plurality of ring-shaped magnets sleeved on the rocker arm. The upper end of the rocker arm is connected to the working arm through a rotating shaft, and the lower end is provided with a ring-shaped magnet switch control device, and the ring-shaped magnet switch control device is connected to the controller; every time an assembly robot fixes a part, each of the two auxiliary fingers releases a ring-shaped magnet. In this solution, the parts to be assembled are attracted and fixed to the main component by magnets, so as to achieve the purpose of pre-assembling the parts to the main component. The magnetism of the magnets is easy to control, the attraction and fixing method is relatively convenient, and the magnets can be removed conveniently before welding, without damaging the component and having good safety.

[0015] On the working arms of two assembly robots, there are respectively laser 3D scanning cameras for scanning steel components on the first assembly platform and the second assembly platform. The laser 3D scanning cameras are connected to a controller. In the controller, there is a component parameter data packet, which contains the positioning position information of each part on the steel component and the quantity of parts. The equipment of this solution can automatically collect data, form its own motion control strategy, make the production line more intelligent, reduce manual intervention, and has high accuracy and high processing efficiency.

[0016] The assembly unit also includes a part tray placement area, which is arranged on one side of the starting end of the assembly robot track; there are multiple part trays in the part tray placement area. The part trays above the assembly robot track are taken from any one of the part trays in the part tray placement area, and one type of part is placed in each part tray. This solution facilitates the assembly management of multiple parts.

[0017] On the base of the assembly robot, there is a part tray connection bracket; there are bolt holes on the part tray, and the part tray and the connection bracket are fixedly connected by bolts or pins. This fixed structure of the part tray is convenient for installation and replacement. Description of the Drawings

[0018] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 is a structural diagram of the working arm manipulator of the present invention;

[0020] Figure 3 is a schematic diagram of the connection structure between the part tray and the robot base of the present invention;

[0021] Figure 4 is an embodiment diagram of the lower end structure of the auxiliary finger of the present invention.

[0022] In the figure: 1. First transfer channel; 2. Second transfer channel; 3. First assembly platform; 4. Second assembly platform; 5. Assembly robot track; 6. Assembly robot base; 7. Working arm; 8. Manipulator; 9. Part tray; 10. Part tray placement area; 11. Connection bracket; 12. Bolt; 7-1. Cantilever; 8-1. Disc electromagnet; 5-2. Telescopic cylinder; 8-3. Ring magnet; 8-4. Rocker arm; 8-5. Rotating shaft; 8-6. Ring magnet switch control device. Detailed Embodiments

[0023] The following further illustrates the present invention in conjunction with embodiments. The purpose is only to better understand the content of the present invention. Therefore, the examples given do not limit the protection scope of the present invention.

[0024] In the automatic processing production process of steel component parts, it includes a part manufacturing and processing unit, a part assembly unit, a part welding unit, a component painting unit, and also includes a finished product stacking unit.

[0025] The parts in the present invention refer to diaphragms, brackets or triangular plates that need to be welded to the main steel structure members. As Figures 1 to 4 shown, an assembly unit of a steel component part processing production line provided by the present invention includes two first transfer channels 1 and second transfer channels 2 arranged in parallel. There is an assembly unit between the first transfer channel 1 and the second transfer channel 2;

[0026] The assembly unit includes a first assembly platform 3 adjacent to the first transfer channel 1 and a second assembly platform 4 adjacent to the second transfer channel 2; an assembly robot is arranged between the first assembly platform 3 and the second assembly platform 4. Two assembly robots are installed side by side on the assembly robot base 6, and the assembly robot base 6 is installed on the assembly robot track 5; a part tray 9 is also arranged on the assembly robot track 5, and the part tray 9 is detachably connected to the assembly robot base 6; the working arm 7 of one assembly robot reciprocates between the part tray 9 and the first assembly platform 3; the working arm of the other assembly robot reciprocates between the part tray 9 and the second assembly platform 4; a manipulator 8 is arranged at the end of the working arm 7, and the manipulator 8 includes a main finger for extracting parts and two auxiliary fingers for assembling and fixing the parts to the main member.

[0027] The main finger and the auxiliary fingers are installed at the lower end of the working arm. The main finger includes a telescopic cylinder 8-2 and a disc electromagnet 8-1. The upper end of the telescopic cylinder 8-2 is connected to the working arm 7, and the lower end is installed with the disc electromagnet 8-1. The magnetic control circuit of the disc electromagnet is connected to the controller; the two auxiliary fingers are symmetrically arranged on both sides of the main finger. The auxiliary finger includes a rocker arm 8-4 and a plurality of ring magnets 8-3 sleeved on the rocker arm 8-4. The upper end of the rocker arm 8-4 is connected to the working arm 7 through a rotating shaft 8-5, and the lower end is provided with a ring magnet magnetic control structure, and this control structure is also connected to the controller; every time the assembly robot fixes a part, each of the two auxiliary fingers releases a ring magnet 8-3.

[0028] The above disc electromagnet 8-1 refers to a lifting suction cup. A disc electromagnet magnetic control circuit is installed on the main finger to control its magnetization when picking up parts and demagnetization when releasing parts.

[0029] For the above ring magnet 8-3, the central hole is sleeved on the rocker arm 8-4. It can be a permanent magnet suction cup, using high-performance permanent magnet material neodymium iron boron (Nd-Fe-B) as the product core, making the product smaller in volume, stronger in lifting force, and with a permanent magnetic force. Using the borax principle, the magnetism is controlled by a switch. When the switch is closed, the magnetic lines of force are scattered and the magnetism is lost.

[0030] An annular magnet switch control device 8-6 is provided on the auxiliary finger. The annular magnet switch control device 8-6 is arranged at the lower end of the rocker arm 8-4. When the annular magnet 8-3 at the bottom contacts the annular magnet switch control device 8-6, the switch closes and the magnetism disappears. Then the annular magnet 8-3 disengages from the auxiliary finger and falls onto the part and the main component. After the annular magnet 8-3 on the part and the main component disengages from the auxiliary finger, the switch automatically opens and generates magnetism, thus sucking and fixing the part and the main component. The permanent magnet chuck can be used without electricity, saving the trouble of power supply. The optimized magnetic circuit design of the permanent magnet chuck makes the residual magnet almost zero. In this solution, the parts to be assembled are sucked and fixed to the main component by magnets, so as to achieve the purpose of pre-assembling the parts to the main component. The magnetism of the magnet is easy to control, the sucking and fixing method is relatively convenient, the magnet can be easily removed before welding, and it does not cause damage to the component, with good safety.

[0031] The electromagnet used in the present invention adopts a super-strong magnet with a suction force of 500 kg to 1000 kg, ensuring that parts of various sizes can be extracted and fixed.

[0032] Laser 3D scanning cameras for scanning the steel components on the first assembly platform 3 and the second assembly platform 4 are respectively provided on the working arms 7 of the two assembly robots. The laser 3D scanning cameras are connected to the controller. A component parameter data packet is provided in the controller, and the component parameter data packet includes the part quantity information and the positioning position information of each part on the steel component. The device can automatically collect data, form its own motion control strategy, make the production line more intelligent, reduce manual intervention, and has high accuracy and high processing efficiency.

[0033] The assembly unit further includes a part tray placement area 10, which is arranged on one side at the starting end of the assembly robot track 5; a plurality of part trays 9 are provided in the part tray placement area 10. The part trays 9 above the assembly robot track 5 are taken from any one of the part trays in the part tray placement area 10, and one type of part is placed in each part tray 9. The parts are preferably placed vertically, and can also be placed horizontally.

[0034] The above-mentioned part tray 9 and the assembly robot base 6 are connected as a whole through a detachable buckle. Specifically, a part tray connection bracket 11 is provided on the assembly robot base 6; bolt holes are provided on the part tray 9, and the part tray 9 and the connection bracket 11 are fixedly connected by bolts 12 or pins. The detachable connection structure enables the part tray 9 to be replaceable. In the present invention, a plurality of part trays 9 are provided and uniformly placed in one position. Each part tray respectively stores one type of part concentratedly. When different parts need to be assembled, the tray storing the corresponding type of part is installed on the assembly robot track and connected to the assembly robot base.

[0035] Working process of the assembly unit: The main finger of the assembly robot extends into the part tray 9. After the disc electromagnet 8-1 generates magnetism, it picks up a part and then moves the part to the first assembly platform. Before the disc electromagnet 8-1 releases the part, the two auxiliary fingers automatically adjust their positions. The clamping part under the ring magnet retracts into the auxiliary fingers, and the ring magnet 8-3 automatically drops to the lower end (the tip of the auxiliary finger) of the rocker arm 8-4. The disc electromagnet 8-1 places the part at the designed position of the main component. Then the two auxiliary fingers move downward to release the ring magnet 8-3 onto the part and the main component, so that the part and the component are attracted and fixed. Subsequently, after all the parts on the main component are assembled, the whole is transferred to the transfer channel and transported to the next production unit through the transfer channel.

[0036] The beneficial effects of the present invention are reflected in:

[0037] 1) The production unit for part assembly on the automated production line provided by the present invention can realize the assembly of various parts by an automated robot, improving the automation and unmanned degree of steel structure production.

[0038] 2) Two assembly robots of the present invention share one track. The structure of one track for two machines greatly reduces the usage of the expensive track, saving equipment costs. The production operation mode of one work unit for simultaneous assembly production of two steel components reduces the factory floor space cost and improves the productivity of the production line.

[0039] 3) The assembly unit provided by the present invention is dedicated to part assembly, forming a modular unit. Multiple modules can be combined, and the production rate of this process can be adjusted by the quantity to improve the overall production efficiency of the production line.

[0040] The above are only the preferred and feasible embodiments of the present invention, and do not limit the scope of the rights of the present invention accordingly. All equivalent changes made by using the content of the specification and drawings of the present invention are included within the scope of the rights of the present invention.

Claims

1. An assembly unit of a steel component part processing production line, comprising two first flow channels (1) and a second flow channel (2) which are arranged in parallel with each other, characterized in that: There is an assembly unit between the first flow channel (1) and the second flow channel (2). The assembly unit includes a first assembly platform (3) adjacent to the first flow channel (1) and a second assembly platform (4) adjacent to the second flow channel (2); an assembly robot is provided between the first assembly platform (3) and the second assembly platform (4). Two assembly robots are installed side by side on the assembly robot base (6), and the assembly robot base (6) is installed on the assembly robot track (5); a parts tray (9) is also provided on the assembly robot track (5), and the parts tray (9) is detachably connected to the assembly robot base (6); the working arm (7) of one assembly robot rotates reciprocally between the parts tray (9) and the first assembly platform (3); the working arm (7) of the other assembly robot rotates reciprocally between the parts tray (9) and the second assembly platform (4); a manipulator (8) is provided at the end of the working arm (7). The installation of the manipulator (8) includes a main finger for extracting parts and two auxiliary fingers for assembling and fixing the parts to the main component. The main finger and the auxiliary fingers are both installed on the lower side of the end of the working arm (7). The main finger includes a telescopic cylinder (8-2) and a disc electromagnet (8-1). The upper part of the telescopic cylinder (8-2) is installed on the working arm (7), and the lower end is installed with the disc electromagnet (8-1). The magnetic control circuit of the disc electromagnet is connected to the controller; the auxiliary fingers are symmetrically arranged on both sides of the main finger. The auxiliary finger includes a rocker arm (8-4) and a number of ring magnets (8-3) sleeved on the rocker arm. The upper end of the rocker arm (8-4) is connected to the working arm (7) through a rotating shaft (8-5), and the lower end is provided with a ring magnet switch control device, and the ring magnet switch control device is connected to the controller; every time an assembly robot fixes a part, each of the two auxiliary fingers releases a ring magnet (8-3); laser 3D scanning cameras for scanning the main components on the first assembly platform (3) and the second assembly platform (4) are respectively provided on the working arms (7) of the two assembly robots. The laser 3D scanning cameras are connected to the controller. A component parameter data packet is provided in the controller, and the component parameter data packet includes part quantity information and the positioning position information of each part on the main component.

2. The assembly unit of the steel component part processing production line according to claim 1, characterized in that: The assembly unit also includes a parts tray placement area (10), which is arranged on one side of the starting end of the assembly robot track (5); several parts trays (9) are stacked in the parts tray placement area (10). The parts tray (9) above the assembly robot track (5) is taken from any one of the parts trays (9) in the parts tray placement area (10), and each parts tray (9) contains one type of part.

3. The assembly unit of the steel component part processing production line according to claim 1, characterized in that: A parts tray connection bracket (11) is provided on the assembly robot base (6); bolt holes are provided on the parts tray (9), and the parts tray (9) and the connection bracket (11) are fixedly connected by bolts (12) or pins.

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