A plunger automatic hole-through machine

Abstract

The present invention discloses an automatic plunger hole-through machine. The plunger hole-through machine frame is provided with a belt conveyor, a workpiece tray loading and multi-layer destacking device, a mechanical centering device, a workpiece tray unloading and multi-layer stacking device, a robot grasping device and a plunger hole-through device. The workpiece tray loading and multi-layer destacking device releases a workpiece tray loaded with a plunger onto the transmission belt of the belt conveyor each time. The transmission belt transmits the workpiece tray loaded with a plunger to the mechanical centering device. The mechanical centering device performs centering positioning on the workpiece tray loaded with a plunger. The robot grasping device grasps the plunger loaded on the workpiece tray to the plunger hole-through device to perform hole-through operation. After the plunger on the workpiece tray is grasped, the workpiece tray is transmitted by the transmission belt to the workpiece tray unloading and multi-layer stacking device, and each workpiece tray is stacked. The automatic plunger hole-through machine provided by the present invention can perform automatic hole-through operation on plungers of various models.

Description

Technical Field

[0001] The invention mainly relates to the technical field of plunger through-hole equipment, in particular to an automatic plunger through-hole machine. Background Art

[0002] The plunger is an important component in a diesel pump. Usually, after the plunger is machined, iron chips are often left in the oil outlet. These iron chips are often not easy to clean and need to be tested with a thimble. Currently, the through-hole test is often done manually or with a simple mechanism, and automated operations cannot be achieved. Currently, there is no automated plunger through-hole machine that can perform iron chip through-hole tests on multiple plungers at the same time. Summary of the invention

[0003] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0004] A plunger automatic through-hole machine, comprising a plunger through-hole machine frame; a belt conveyor, a workpiece tray loading and multi-layer destacking device, a mechanical centering device, a workpiece tray unloading and multi-layer stacking device, a robot grasping device and a plunger through-hole device are arranged on the plunger through-hole machine frame; the belt conveyor is arranged at the front end of the plunger through-hole machine frame, and the workpiece tray loading and multi-layer destacking device, the mechanical centering device and the workpiece tray unloading and multi-layer stacking device are arranged above the belt conveyor in sequence from the head to the tail; the robot grasping device is arranged at the middle end of the plunger through-hole machine frame, and the position of the robot grasping device corresponds to the rear end of the mechanical centering device. end position; the plunger through-hole device is arranged at the rear end of the plunger through-hole machine frame; the workpiece disc loading and multi-layer destacking device releases one workpiece disc loaded with a plunger onto the transmission belt of the belt conveyor each time, and the transmission belt transmits the workpiece disc loaded with a plunger to the mechanical centering device, and the mechanical centering device centers and positions the workpiece disc loaded with a plunger, and the robot grasping device grasps the plunger loaded on the workpiece disc to the plunger through-hole device to perform the through-hole operation, and after the plunger on the workpiece disc is grasped, the workpiece disc is transmitted by the transmission belt to the workpiece disc unloading and multi-layer stacking device to stack each workpiece disc.

[0005] Furthermore, a group of first plunger through-hole devices is provided on the rear end of the plunger through-hole machine frame, and two first plunger through-hole devices in the group of first plunger through-hole devices are symmetrical with respect to the central axis of the plunger through-hole machine frame; each of the first plunger through-hole devices comprises a rotary cylinder, a linear slide assembly, a sealing pressure head and a positioning pin mounting seat; the positioning pin mounting seat of the first plunger through-hole device is horizontally arranged on the rear end of the plunger through-hole machine frame; a rotary cylinder is relatively vertically provided in the middle of the positioning pin mounting seat of the first plunger through-hole device, and the rotary cylinder of the first plunger through-hole device A sealing pressure head is provided at the upper end of the cylinder shaft of the cylinder, a blowing channel is opened in the sealing pressure head of the first plunger through-hole device, a blowing supply head is provided on the sealing pressure head of the first plunger through-hole device, and the blowing supply head is connected to the blowing channel; a positioning pin mounting plate is horizontally provided at the outer end of the top side of the positioning pin mounting seat of the first plunger through-hole device, and a plunger positioning pin is relatively vertically penetrated on the positioning pin mounting plate of the first plunger through-hole device; the plunger on the workpiece disk is grasped by the robot grasping device and placed on the positioning pin mounting seat of the first plunger through-hole device The plate is provided with a plunger positioning pin in the pin hole of the plunger; the sealing pressure head on the rotating cylinder of the first plunger through-hole device can be rotated and pressed on the top of the plunger; the bottom of the plunger is aligned with the dust suction port of the dust suction pipe assembly and the dust suction pipe assembly is arranged on the plunger through-hole machine frame; a plurality of through-axis holes are opened on the circumferential surface of the plunger; the linear slide assembly of the first plunger through-hole device includes a driving motor, a screw rod, an electric spindle and a slide, and the two driving motors of the first plunger through-hole device are respectively arranged on the plunger through-hole machine frame in a horizontal and longitudinal manner, The motor shafts of the two driving motors of the first plunger through-hole device are both connected with screw rods, the two screw rods of the first plunger through-hole device are threadedly connected with slides, the transverse slide and the longitudinal slide of the first plunger through-hole device are both provided with electric spindles, the spindle of the electric spindle of the first plunger through-hole device is driven by its slide and penetrates into the plunger shaft hole; the electric spindle of the first plunger through-hole device performs a rotating through-hole operation in the plunger, and the gas is blown into the plunger through the air supply head and the air blowing channel, so that the iron filings in the plunger are blown into the dust suction port of the dust suction duct assembly.

[0006] Furthermore, a group of second plunger through-hole devices, a group of third plunger through-hole devices and a group of fourth plunger through-hole devices are provided at the rear end of the plunger through-hole machine frame, two second plunger through-hole devices in the group of second plunger through-hole devices are symmetrical with respect to the central axis of the plunger through-hole machine frame, two third plunger through-hole devices in the group of third plunger through-hole devices are symmetrical with respect to the central axis of the plunger through-hole machine frame, and two fourth plunger through-hole devices in the group of fourth plunger through-hole devices are symmetrical with respect to the central axis of the plunger through-hole machine frame; each of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device comprises a rotary cylinder, a linear slide assembly, Sealing pressure head and locating pin mounting seat; the locating pin mounting seats of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are all inclinedly arranged on the rear end of the plunger through-hole machine frame, and the inclination angles of the locating pin mounting seats of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are different; the middle parts of the locating pin mounting seats of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are all relatively vertically provided with a rotating cylinder, and the upper ends of the cylinder shafts of the rotating cylinders of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are all provided with sealing pressure heads, and the second plunger through-hole device, The sealing pressure heads of the third plunger through-hole device and the fourth plunger through-hole device are both provided with a blowing channel, and the sealing pressure heads of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are both provided with a blowing supply head, and the blowing supply head is connected with the blowing channel; the outer ends of the top ends of the positioning pin mounting seats of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are both inclinedly provided with a positioning pin mounting plate, and the positioning pin mounting plates of the positioning pin mounting seats of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are both relatively vertically penetrated with plunger positioning pins; the multiple plungers on the workpiece disk After being grasped by the robot grasping device, the plungers are placed on the positioning pin mounting plates of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device in sequence, and a plunger positioning pin is inserted into the pin hole of each plunger. The inclination angles of the plungers on the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are different; the sealing pressure heads on the rotating cylinders of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device can be rotated and respectively crimped on the top of the plurality of plungers; the bottoms of the plurality of plungers are respectively aligned with the plurality of dust suction ports of the dust suction duct assembly; a plurality of through-axis holes are respectively opened on the circumferential surfaces of the plurality of plungers;The linear slide assembly of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device all include a driving motor, a screw rod, an electric spindle and a slide plate. The driving motors of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are longitudinally arranged on the plunger through-hole machine frame. The motor shafts of the driving motors of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are connected to the screw rod through a belt gear assembly. The screw rod is longitudinally arranged and a slide plate is threadedly connected to the screw rod. The second plunger The slide plates of the through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are all provided with electric spindles, and the spindles of the electric spindles of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device are respectively penetrated into the multiple plunger shaft holes driven by their slide plates; the electric spindles of the second plunger through-hole device, the third plunger through-hole device and the fourth plunger through-hole device respectively perform rotating through-hole operations in the multiple plungers, and the gas is respectively blown into the multiple plungers through the blowing supply head and the blowing channel, and the iron filings in the plungers are blown into the multiple dust suction ports of the dust suction pipe assembly. ;

[0007] Furthermore, a group of second plunger through-hole devices, a group of third plunger through-hole devices and a group of fourth plunger through-hole devices are arranged side by side in parallel; a group of first plunger through-hole devices is arranged at the front end of a group of second plunger through-hole devices, a group of third plunger through-hole devices and a group of fourth plunger through-hole devices.

[0008] Furthermore, the robot grasping device includes a robot body, a robotic arm, an internally supported airbag clamp and a camera; the robot body is arranged on the plunger through-hole machine frame between the mechanical centering device and a group of first plunger through-hole devices; the robot body is provided with a plurality of robotic arms pinned in sequence, the end of the robotic arm is provided with a mounting plate, and the mounting plate is provided with a camera and an internally supported airbag clamp.

[0009] Furthermore, the workpiece tray loading and multi-layer destacking device includes a loading workpiece tray lifting assembly, a blocking cylinder and a multi-layer loading workpiece tray loaded with plungers; multiple groups of loading workpiece tray lifting assemblies are provided on both sides of the belt conveyor along its transmission direction; each loading workpiece tray lifting assembly includes a workpiece tray mounting plate, a driving motor, a screw rod, a screw rod fixing block, a slide cylinder and a support plate; the motor shaft of the driving motor in one group of loading workpiece tray lifting assemblies is connected to the transmission gear assembly, and the driving gear and the driven gear in this transmission gear assembly are respectively connected to the screw rods on both sides of one group of loading workpiece tray lifting assemblies; the screw rod fixing blocks are respectively threadedly connected to the screw rods on both sides of one group of loading workpiece tray lifting assemblies; the screw rod fixing blocks on both sides of one group of loading workpiece tray lifting assemblies are slidably connected to the workpiece tray mounting plate, and one group The workpiece tray mounting plates on both sides of the loading workpiece tray lifting assembly are both arranged on the frame of the plunger through-hole machine; the inner sides of the screw rod fixing blocks on both sides of a group of loading workpiece tray lifting assemblies are provided with slider mounting plates; the slider mounting plates on both sides of a group of loading workpiece tray lifting assemblies are provided with slide cylinders, the cylinder shafts of the slide cylinders on both sides of a group of loading workpiece tray lifting assemblies are connected to the cylinder top blocks and support plates are provided above the two cylinder top blocks; multiple layers of loading workpiece trays loaded with plungers are placed on the support plates on both sides of a group of loading workpiece tray lifting assemblies; a blocking cylinder is provided in front of each group of loading workpiece tray lifting assemblies, the blocking cylinders in the workpiece tray loading and multi-layer destacking device are all arranged on the frame of the belt conveyor, and the inner sides of the cylinder shafts of the blocking cylinders in the workpiece tray loading and multi-layer destacking device are all connected to the blocking blocks.

[0010] Furthermore, the workpiece tray unloading and multi-layer stacking device includes an unloading workpiece tray lifting assembly, a blocking cylinder and multiple layers of unloading workpiece trays that are not loaded with plungers; multiple groups of unloading workpiece tray lifting assemblies are provided on both sides of the belt conveyor along its transmission direction; each unloading workpiece tray lifting assembly includes a workpiece tray mounting plate, a driving motor, a screw rod, a screw rod fixing block, a slide cylinder and a support plate; the motor shaft of the driving motor in one group of unloading workpiece tray lifting assemblies is connected to the transmission gear assembly, and the driving gear and the driven gear in this transmission gear assembly are respectively connected to the screw rods on both sides of one group of unloading workpiece tray lifting assemblies; the screw rod fixing blocks are respectively threadedly connected to the screw rods on both sides of one group of unloading workpiece tray lifting assemblies; the screw rod fixing blocks on both sides of one group of unloading workpiece tray lifting assemblies are slidably connected to the workpiece tray mounting plate, and one group The workpiece tray mounting plates on both sides of the unloading workpiece tray lifting assembly are both arranged on the plunger through-hole machine frame; slider mounting plates are provided on the inner sides of the screw rod fixing blocks on one group of unloading workpiece tray lifting assemblies; slide cylinders are provided on the slider mounting plates on both sides of the unloading workpiece tray lifting assembly, and the cylinder shafts of the slide cylinders on both sides of the unloading workpiece tray lifting assembly are connected to the cylinder ejection blocks and support plates are provided above the two cylinder ejection blocks; multiple layers of unloading workpiece trays without plungers are placed on the support plates on both sides of the unloading workpiece tray lifting assembly; a blocking cylinder is provided in front of each group of unloading workpiece tray lifting assemblies, and the blocking cylinders in the workpiece tray unloading multi-layer stacking device are all arranged on the frame of the belt conveyor, and the inner sides of the cylinder shafts of the blocking cylinders in the workpiece tray unloading multi-layer stacking device are all connected to the blocking blocks.

[0011] Furthermore, the mechanical centering device includes two push-pull cylinders, two cylinder push plates and two groups of mechanical connecting rods. The two push-pull cylinders of the mechanical centering device are respectively arranged on both sides of the center position of the transmission belt through cylinder mounting seats. The cylinder shafts of the two push-pull cylinders of the mechanical centering device are connected to the cylinder push plates. A group of mechanical connecting rods are respectively provided on the inner sides of the two cylinder push plates of the mechanical centering device. Each group of mechanical connecting rods is pinned to the cylinder mounting seat. During the pin-connected rotation of each mechanical connecting rod, the two groups of mechanical connecting rods will press against both sides of the workpiece disk loaded with the plunger passing through this position to center the workpiece disk loaded with the plunger.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention provides an automatic plunger hole-through machine, in which the first plunger hole-through device, the second plunger hole-through device, the third plunger hole-through device and the fourth plunger hole-through device can be respectively suitable for plungers of different models, thereby realizing automatic hole-through operations on plungers of various models; the first plunger hole-through device, the second plunger hole-through device, the third plunger hole-through device and the fourth plunger hole-through device are arranged as two symmetrical ones, and the double workstation makes the hole-through operation more efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0014] Figure 2 It is a schematic diagram of the overall internal three-dimensional structure of the present invention;

[0015] Figure 3 yes Figure 2 A magnified view of part A in FIG.

[0016] Figure 4 It is a schematic diagram of the overall internal three-dimensional structure of the present invention;

[0017] Figure 5 yes Figure 4 A magnified view of part B in FIG.

[0018] Figure 6 It is a schematic diagram of the overall internal three-dimensional structure of the present invention;

[0019] Figure 7 yes Figure 6 The enlarged view of the C part in FIG.

[0020] Figure 8 It is a schematic diagram of the overall internal three-dimensional structure of the present invention;

[0021] Fig. 9 yes Figure 8 The enlarged view of the D part in FIG.

[0022] Fig.10 It is a schematic diagram of the overall internal three-dimensional structure of the present invention;

[0023] Fig.11 yes Fig.10 The enlarged view of part E in FIG.

[0024] Fig.12 It is a schematic diagram of the overall internal three-dimensional structure of the present invention;

[0025] Fig.13 yes Fig.12 The enlarged view of the F part in the figure;

[0026] Fig.14 It is the overall internal left view of the present invention;

[0027] Fig.15 is an overall internal top view of the present invention;

[0028] Fig.16 It is a schematic diagram of the structure of the internally supported airbag clamp and the camera of the present invention.

[0029] In the figure: 1. Plunger through-hole machine frame; 2. Belt conveyor; 3. Workpiece tray loading and multi-layer destacking device; 4. Mechanical centering device; 41. Push-pull cylinder; 42. Cylinder push plate; 43. Mechanical connecting rod; 5. Workpiece tray unloading and multi-layer stacking device; 6. Robot grasping device; 61. Robot body; 62. Robot arm; 63. Internal support airbag gripper; 64. Camera; 7. First plunger through-hole device; 8. Second plunger through-hole device; 9. Third plunger through-hole device; 10. Fourth plunger through-hole device; 11. Dust collection pipe assembly; 12. Rotating Cylinder; 13. Sealing pressure head; 14. Positioning pin mounting seat; 15. Air blowing supply head; 16. Positioning pin mounting plate; 17. Plunger positioning pin; 18. Plunger; 19. Shaft hole; 20. Driving motor; 21. Screw; 22. Electric spindle; 23. Slide; 24. Slide plate; 25. Loading workpiece plate; 26. Blocking cylinder; 27. Workpiece plate mounting plate; 28. Screw fixing block; 29. ​​Slider mounting plate; 30. Slide cylinder; 31. Cylinder ejector block; 32. Support plate; 33. Transmission gear assembly; 34. Unloading workpiece plate; 35. Through-hole plate. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0031] Example:

[0032] like Figures 1 to 16 As shown, a plunger automatic through-hole machine comprises a plunger through-hole machine frame 1; a belt conveyor 2, a workpiece tray loading and multi-layer destacking device 3, a mechanical centering device 4, a workpiece tray unloading and multi-layer stacking device 5, a robot grasping device 6 and a plunger through-hole device are arranged on the plunger through-hole machine frame 1; the belt conveyor 2 is arranged at the front end of the plunger through-hole machine frame 1, and the workpiece tray loading and multi-layer destacking device 3, the mechanical centering device 4 and the workpiece tray unloading and multi-layer stacking device 5 are arranged above the belt conveyor 2 in sequence from the head to the tail; the robot grasping device 6 is arranged at the middle end of the plunger through-hole machine frame 1, and the position of the robot grasping device 6 corresponds to the rear of the mechanical centering device 4. End position; the plunger through-hole device is arranged at the rear end of the plunger through-hole machine frame 1; the workpiece tray loading and multi-layer destacking device 3 releases one workpiece tray loaded with the plunger 18 each time to the transmission belt of the belt conveyor 2, and the transmission belt transmits the workpiece tray loaded with the plunger 18 to the mechanical centering device 4, and the mechanical centering device 4 centers the workpiece tray loaded with the plunger 18, and the robot grasping device 6 grasps the plunger 18 loaded on the workpiece tray (i.e., the through-hole tray 35) to the plunger through-hole device to perform the through-hole operation, and after the plunger 18 on the workpiece tray is grasped, the workpiece tray is transmitted by the transmission belt to the workpiece tray unloading and multi-layer stacking device 5, and each workpiece tray is stacked.

[0033] A group of first plunger through-hole devices 7 is provided on the rear end of the plunger through-hole machine frame 1, and two first plunger through-hole devices 7 in the group of first plunger through-hole devices 7 are symmetrical with respect to the central axis of the plunger through-hole machine frame 1; each first plunger through-hole device 7 comprises a rotating cylinder 12, a linear slide assembly, a sealing pressure head 13 and a positioning pin mounting seat 14; the positioning pin mounting seat 14 of the first plunger through-hole device 7 is horizontally arranged on the rear end of the plunger through-hole machine frame 1; a rotating cylinder 12 is relatively vertically provided in the middle part of the positioning pin mounting seat 14 of the first plunger through-hole device 7, a sealing pressure head 13 is provided at the upper end of the cylinder shaft of the rotating cylinder 12 of the first plunger through-hole device 7, an air blowing channel is opened in the sealing pressure head 13 of the first plunger through-hole device 7, and an air blowing supply head 15 is provided on the sealing pressure head 13 of the first plunger through-hole device 7 and And the air supply head 15 is connected with the air blowing channel; a positioning pin mounting plate 16 is horizontally provided on the outer end of the top side of the positioning pin mounting seat 14 of the first plunger through-hole device 7, and a plunger positioning pin 17 is relatively vertically penetrated on the positioning pin mounting plate 16 of the first plunger through-hole device 7; the plunger 18 on the workpiece disk is grasped by the robot grasping device 6 and placed on the positioning pin mounting plate 16 of the first plunger through-hole device 7, and a plunger positioning pin 17 is penetrated in the pin hole of the plunger 18; the sealing pressure head 13 on the rotating cylinder 12 of the first plunger through-hole device 7 can be rotated and crimped on the top of the plunger 18; the bottom of the plunger 18 is aligned with the dust suction port of the dust suction pipe assembly 11, and the dust suction pipe assembly 11 is arranged on the plunger through-hole machine frame 1; a plurality of through shaft holes 19 are opened on the circumferential surface of the plunger 18;

[0034] The linear slide assembly of the first plunger through-hole device 7 includes a driving motor 20, a screw rod 21, an electric spindle 22 and a slide 23. The two driving motors 20 of the first plunger through-hole device 7 are respectively arranged on the plunger through-hole machine frame 1 in a horizontal and vertical manner. The motor shafts of the two driving motors 20 of the first plunger through-hole device 7 are both connected with screw rods 21. The two screw rods 21 of the first plunger through-hole device 7 are threadedly connected with slides 23. The horizontal slide 23 and the longitudinal slide 23 of the first plunger through-hole device 7 are both provided with electric spindles 22. The spindle of the electric spindle 22 of the first plunger through-hole device 7 is driven by its slide 23 and penetrates into the shaft hole 19 of the plunger 18;

[0035] The electric spindle 22 of the first plunger hole-piercing device 7 performs a rotating hole-piercing operation in the plunger 18 , and the gas is blown into the plunger 18 through the air blowing supply head 15 and the air blowing channel, and the iron filings in the plunger 18 are blown into the dust suction port of the dust suction duct assembly 11 .

[0036] A group of second plunger through-hole devices 8, a group of third plunger through-hole devices 9 and a group of fourth plunger through-hole devices 10 are provided at the upper rear end of the plunger through-hole machine frame 1. Two second plunger through-hole devices 8 in the group of second plunger through-hole devices 8 are symmetrical with respect to the central axis of the plunger through-hole machine frame 1, two third plunger through-hole devices 9 in the group of third plunger through-hole devices 9 are symmetrical with respect to the central axis of the plunger through-hole machine frame 1, and two fourth plunger through-hole devices 10 in the group of fourth plunger through-hole devices 10 are symmetrical with respect to the central axis of the plunger through-hole machine frame 1. Axis symmetry; each of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 comprises a rotary cylinder 12, a linear slide assembly, a sealing pressure head 13 and a positioning pin mounting seat 14; the positioning pin mounting seats 14 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 are all obliquely arranged on the rear end of the plunger through-hole machine frame 1, and the inclination angles of the positioning pin mounting seats 14 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 are different;

[0037] The middle part of the positioning pin mounting seat 14 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 is relatively vertically provided with a rotating cylinder 12, the upper end of the cylinder shaft of the rotating cylinder 12 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 is provided with a sealing pressure head 13, and the sealing pressure head 13 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 is provided with a blowing channel, and the sealing pressure head 13 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 is provided with a blowing supply head 15, and the blowing supply head 15 is connected to the blowing channel Through; the outer ends of the top side of the positioning pin mounting seats 14 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 are all inclinedly provided with a positioning pin mounting plate 16, and the positioning pin mounting plates 16 of the positioning pin mounting seats 14 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 are all relatively vertically penetrated with plunger positioning pins 17; a plurality of plungers 18 on the workpiece disk are grasped by the robot grasping device 6 and are placed on the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 in sequence, and a plunger positioning pin 17 is penetrated in the pin hole of each plunger 18,

[0038] The inclination angles of the plungers 18 on the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 are different; the sealing pressure heads 13 on the rotating cylinders 12 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 can be rotated and respectively pressed on the top of the plurality of plungers 18; the bottoms of the plurality of plungers 18 are respectively aligned with the plurality of dust suction ports of the dust suction duct assembly 11; and a plurality of through-shaft holes 19 are respectively opened on the circumferential surfaces of the plurality of plungers 18;

[0039] The linear slide assembly of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 all include a driving motor 20, a screw rod 21, an electric spindle 22 and a slide plate 24. The driving motor 20 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 is longitudinally arranged on the plunger through-hole machine frame 1. The motor shaft of the driving motor 20 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 is connected to the screw rod 21 through a belt gear assembly. The screw rod 21 is longitudinally arranged and the slide plate 24 is threadedly connected to the screw rod 21. The slide plate 24 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 is provided with an electric spindle 22.

[0040] The spindles of the electric spindles 22 of the second plunger through-hole device 8, the third plunger through-hole device 9 and the fourth plunger through-hole device 10 are respectively inserted into the shaft holes 19 of the plurality of plungers 18 driven by their slide plates 24;

[0041] The electric spindles 22 of the second plunger hole-through device 8, the third plunger hole-through device 9 and the fourth plunger hole-through device 10 respectively perform rotary hole-through operations in the multiple plungers 18, and the gas is blown into the multiple plungers 18 through the air supply head 15 and the air blowing channel, respectively, and the iron filings in the plungers 18 are blown into the multiple dust suction ports of the dust suction duct assembly 11.

[0042] A group of second plunger through-hole devices 8, a group of third plunger through-hole devices 9 and a group of fourth plunger through-hole devices 10 are arranged side by side in parallel; a group of first plunger through-hole devices 7 is arranged at the front end of a group of second plunger through-hole devices 8, a group of third plunger through-hole devices 9 and a group of fourth plunger through-hole devices 10.

[0043] The robot grasping device 6 includes a robot body 61, a robot arm 62, an internally supported airbag clamp 63 and a camera 64; the robot body 61 is arranged on the plunger through-hole machine frame 1 between the mechanical centering device 4 and a group of first plunger through-hole devices 7; the robot body 61 is provided with a plurality of robot arms 62 pinned in sequence, and a mounting plate is provided at the end of the robot arm 62, and a camera 64 and an internally supported airbag clamp 63 are provided on the mounting plate.

[0044] The workpiece tray loading and multi-layer destacking device 3 includes a loading workpiece tray 25 lifting assembly, a blocking cylinder 26 and a multi-layer loading workpiece tray 25 loaded with plungers 18; multiple groups of loading workpiece tray 25 lifting assemblies are arranged on both sides of the belt conveyor 2 along its transmission direction; each loading workpiece tray 25 lifting assembly includes a workpiece tray mounting plate 27, a drive motor 20, a screw rod 21, a screw rod fixing block 28, a slide cylinder 30 and a support plate 32; the motor shaft of the drive motor 20 in a group of loading workpiece tray 25 lifting assemblies and the transmission gear The driving gear and the driven gear in the transmission gear assembly 33 are respectively connected with the screw rods 21 on both sides of the lifting assembly of the first group of loading workpiece tray 25; the screw rod fixing blocks 28 are respectively threadedly connected to the screw rods 21 on both sides of the lifting assembly of the first group of loading workpiece tray 25; the screw rod fixing blocks 28 on both sides of the lifting assembly of the first group of loading workpiece tray 25 are both slidably connected to the workpiece tray mounting plate 27, and the workpiece tray mounting plates 27 on both sides of the lifting assembly of the first group of loading workpiece tray 25 are both arranged on the frame 1 of the plunger through-hole machine;

[0045] Slider mounting plates 29 are provided on the inner sides of the screw fixing blocks 28 on both sides of a group of loading workpiece tray 25 lifting components; slide cylinders 30 are provided on the slide mounting plates 29 on both sides of a group of loading workpiece tray 25 lifting components, and the cylinder shafts of the slide cylinders 30 on both sides of a group of loading workpiece tray 25 lifting components are connected to the cylinder ejection blocks 31 and support plates 32 are provided above the two cylinder ejection blocks 31; multiple layers of loading workpiece trays 25 loaded with plungers 18 are placed on the support plates 32 on both sides of a group of loading workpiece tray 25 lifting components; a blocking cylinder 26 is provided in front of each group of loading workpiece tray 25 lifting components, and the blocking cylinders 26 in the workpiece tray loading multi-layer destacking device 3 are all arranged on the frame of the belt conveyor 2, and the inner sides of the cylinder shafts of the blocking cylinders 26 in the workpiece tray loading multi-layer destacking device 3 are all connected to the blocking blocks.

[0046] The workpiece tray unloading multi-layer stacking device 5 includes an unloading workpiece tray 34 lifting assembly, a blocking cylinder 26 and multiple layers of unloading workpiece trays 34 without plungers 18; multiple groups of unloading workpiece tray 34 lifting assemblies are arranged on both sides of the belt conveyor 2 along its transmission direction; each unloading workpiece tray 34 lifting assembly includes a workpiece tray mounting plate 27, a driving motor 20, a screw 21, a screw fixing block 28, a slide cylinder 30 and a support plate 32; the motor shaft of the driving motor 20 in a group of unloading workpiece tray 34 lifting assemblies is connected to the transmission gear assembly 33, and the driving gear and the driven gear in this transmission gear assembly 33 are respectively connected to the screws 21 on both sides of a group of unloading workpiece tray 34 lifting assemblies; the screws 21 on both sides of a group of unloading workpiece tray 34 lifting assemblies are respectively threadedly connected with screw fixing blocks 28; the screw fixing blocks 28 on both sides of a group of unloading workpiece tray 34 lifting assemblies are both slidably connected to the workpiece tray mounting plate 27, and a group of unloading The workpiece tray mounting plates 27 on both sides of the material workpiece tray 34 lifting assembly are both arranged on the plunger through-hole machine frame 1; the inner sides of the screw rod fixing blocks 28 on one group of material unloading workpiece tray 34 lifting assemblies are both provided with slider mounting plates 29; the slider mounting plates 29 on both sides of the material unloading workpiece tray 34 lifting assemblies are both provided with slide cylinders 30, the cylinder shafts of the slide cylinders 30 on both sides of the material unloading workpiece tray 34 lifting assemblies are both connected to the cylinder ejection blocks 31 and support plates 32 are provided above the two cylinder ejection blocks 31; multiple layers of material unloading workpiece trays 34 without plungers 18 are placed on the support plates 32 on both sides of the material unloading workpiece tray 34 lifting assemblies; a blocking cylinder 26 is provided in front of each group of material unloading workpiece tray 34 lifting assemblies, and the blocking cylinders 26 in the workpiece tray unloading multi-layer stacking device 5 are both arranged on the frame of the belt conveyor 2, and the inner sides of the cylinder shafts of the blocking cylinders 26 in the workpiece tray unloading multi-layer stacking device 5 are both connected to the blocking blocks. The blocking cylinders 26 are not all drawn in the attached drawings of this embodiment, but in actual use, a blocking cylinder 26 is provided in front of each group of loading workpiece tray 25 lifting components, and a blocking cylinder 26 is provided in front of each group of unloading workpiece tray 34 lifting components.

[0047] The mechanical centering device 4 includes two push-pull cylinders 41, two cylinder push plates 42 and two groups of mechanical connecting rods 43. The two push-pull cylinders 41 of the mechanical centering device 4 are respectively arranged on both sides of the center position of the transmission belt through cylinder mounting seats. The cylinder shafts of the two push-pull cylinders 41 of the mechanical centering device 4 are connected to the cylinder push plates 42. A group of mechanical connecting rods 43 are respectively arranged on the inner sides of the two cylinder push plates 42 of the mechanical centering device 4. Each group of mechanical connecting rods 43 is pin-connected to the cylinder mounting seat. During the pin-connected rotation of each mechanical connecting rod 43, the two groups of mechanical connecting rods 43 will press against both sides of the workpiece disk (i.e., the through-hole disk 35) loaded with the plunger 18 passing through this position to center the workpiece disk loaded with the plunger 18.

[0048] The working principle of the present invention is:

[0049] The loading area destackers the multi-layer loading workpiece trays 25 loaded with plungers 18, releasing one workpiece tray at a time; when a workpiece tray needs to be released, first the two side support plates 32 are retracted and moved downward under the drive of the slide cylinder 30 so that all the multi-layer loading workpiece trays 25 fall onto the belt conveyor 2, at this time, the blocking blocks connected to the blocking cylinders 26 still block the multi-layer loading workpiece trays 25, and then the two side support plates 32 move upward and the two side support plates 32 are extended to the bottom of the second layer of loading workpiece tray 25 under the drive of the slide cylinder 30, and the blocking blocks connected to the blocking cylinders 26 retract so that the lowest layer of loading workpiece tray 25 runs along the transmission belt to the position of the mechanical centering device 4, and the loading workpiece tray 25 at this position is the through-hole tray 35; during the pin-connected rotation of each mechanical connecting rod 43, it will be pressed against the positions around the two sides of the through-hole tray 35 to center the workpiece tray loaded with the plunger 18;

[0050] After centering and positioning, the camera 64 captures the position of the plunger 18 and transmits the image signal to the background control system. The background control system controls the mechanical arm 62 to move and accurately move to the position of the plunger 18. The inner-supported airbag clamp 63 grabs the plunger 18 (the inner-supported airbag clamp 63 is a conventional airbag clamp structure, so it is not repeated). The mechanical arm 62 then inserts the plunger 18 into the first plunger through-hole device 7 or the second plunger through-hole device 8 or the third plunger through-hole device 9 or the fourth plunger through-hole device 10 under the movement of the background control system. The positioning pin is installed A plunger positioning pin 17 is provided on the plate 16 and in the pin hole of the plunger 18, and the plunger 18 is positioned at this time; the electric spindle 22 on the positioning pin installation plate 16 on the first plunger through-hole device 7 or the second plunger through-hole device 8 or the third plunger through-hole device 9 or the fourth plunger through-hole device 10 performs a rotating through-hole operation in the plunger 18 to conduct the iron filings remaining in the plunger 18, and at the same time, the gas is blown into the plunger 18 through the air supply head 15 and the air blowing channel, and the iron filings conducted in the plunger 18 are blown into the multiple dust suction ports of the dust suction duct assembly 11,

[0051] This process effectively realizes the automated through-hole operation of the iron filings in the plunger (the path trajectory of the plunger 18 grabbed by the robot arm 62 to the positioning pin mounting plate 16 of each plunger through-hole device is fixed, which can be planned and controlled by the background control system. This is a conventional technology. The shooting position of the camera 64 and the control system then control the robot arm 62 to move to the specified shooting position are also conventional technologies, so they will not be repeated);

[0052] The first plunger through-hole device 7, the second plunger through-hole device 8, the third plunger through-hole device 9, and the fourth plunger through-hole device 10 can be respectively suitable for plungers of different models, thereby realizing automated through-hole operations for plungers of various models; the first plunger through-hole device 7, the second plunger through-hole device 8, the third plunger through-hole device 9, and the fourth plunger through-hole device 10 are arranged as two symmetrical ones in that the double-station makes the through-hole operation more efficient, reduces the idle time of the robot when one device is through-hole, improves the utilization rate of the robot, and shortens the overall beat of the equipment, thereby improving production capacity;

[0053] After all the plungers 18 on the through-hole disk 35 are grasped by the robot grasping device 6, the through-hole disk 35 forms a blanking workpiece disk 34 without the plungers 18. The blanking workpiece disk 34 is blocked by the blocking block connected to the blocking cylinder 26. At this time, the two side support plates 32 descend and the two side support plates 32 are extended to the bottom of the blanking workpiece disk 34 under the drive of the slide cylinder 30. Then the two side support plates 32 drive the bottom layer of the blanking workpiece disk 34 to rise and stack the workpiece disks. The whole process cycle is carried out according to the previous one. After the blanking workpiece disk 34 is stacked into multiple layers, it can be moved away by the overall forklift.

[0054] The above are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A plunger automatic hole-punching machine, comprising a plunger hole-punching machine frame (1); characterized in that: The plunger through-hole machine frame (1) is provided with a belt conveyor (2), a workpiece tray loading and multi-layer destacking device (3), a mechanical centering device (4), a workpiece tray unloading and multi-layer stacking device (5), a robot grasping device (6) and a plunger through-hole device; the belt conveyor (2) is arranged at the front end of the plunger through-hole machine frame (1), and the workpiece tray loading and multi-layer destacking device (3), the mechanical centering device (4) and the workpiece tray unloading and multi-layer stacking device (5) are arranged above the belt conveyor (2) in sequence from the head to the tail; the robot grasping device (6) is arranged at the middle end of the plunger through-hole machine frame (1), and the position of the robot grasping device (6) corresponds to the rear end position of the mechanical centering device (4); The plunger hole-through device is arranged at the rear end of the plunger hole-through machine frame (1); the workpiece tray loading and multi-layer destacking device (3) releases a workpiece tray loaded with a plunger (18) onto the transmission belt of the belt conveyor (2) each time, and the transmission belt transmits the workpiece tray loaded with the plunger (18) to the mechanical centering device (4), and the mechanical centering device (4) performs centering positioning on the workpiece tray loaded with the plunger (18), and the robot grasping device (6) grasps the plunger (18) loaded on the workpiece tray to the plunger hole-through device to perform a hole-through operation, and after the plunger (18) on the workpiece tray is grasped, the workpiece tray is transmitted by the transmission belt to the workpiece tray unloading and multi-layer stacking device (5), and each workpiece tray is stacked; A group of first plunger through-hole devices (7) is provided at the rear end of the plunger through-hole machine frame (1); two first plunger through-hole devices (7) in the group of first plunger through-hole devices (7) are symmetrical with respect to the central axis of the plunger through-hole machine frame (1); each of the first plunger through-hole devices (7) comprises a rotary cylinder (12), a linear slide assembly, a sealing pressure head (13) and a positioning pin mounting seat (14); the positioning pin mounting seat (14) of the first plunger through-hole device (7) is horizontally arranged at the rear end of the plunger through-hole machine frame (1); a rotary cylinder (12) is relatively vertically provided in the middle of the positioning pin mounting seat (14) of the first plunger through-hole device (7); ) is provided with a sealing pressure head (13) at the upper end of the cylinder shaft of the rotating cylinder (12); a blowing channel is provided in the sealing pressure head (13) of the first plunger through-hole device (7); a blowing supply head (15) is provided on the sealing pressure head (13) of the first plunger through-hole device (7), and the blowing supply head (15) is connected to the blowing channel; a positioning pin mounting plate (16) is horizontally provided at the outer end of the top side of the positioning pin mounting seat (14) of the first plunger through-hole device (7); a plunger positioning pin (17) is relatively vertically penetrated on the positioning pin mounting plate (16) of the first plunger through-hole device (7); the plunger (18) on the workpiece disk is grasped by the robot grasping device (6) After being taken out, it is placed on the positioning pin mounting plate (16) of the first plunger through-hole device (7), and a plunger positioning pin (17) is inserted into the pin hole of the plunger (18); the sealing pressure head (13) on the rotating cylinder (12) of the first plunger through-hole device (7) can be rotated and pressed against the top of the plunger (18); the bottom of the plunger (18) is aligned with the dust suction port of the dust suction pipe assembly (11), and the dust suction pipe assembly (11) is arranged on the plunger through-hole machine frame (1); a plurality of through-axis holes (19) are opened on the circumferential surface of the plunger (18); the linear slide assembly of the first plunger through-hole device (7) includes a drive motor (20), a screw rod (21), and an electric spindle (22) and a slide (23), the two driving motors (20) of the first plunger through-hole device (7) are respectively arranged on the plunger through-hole machine frame (1) in a horizontal and vertical direction, the motor shafts of the two driving motors (20) of the first plunger through-hole device (7) are both connected with screw rods (21), the two screw rods (21) of the first plunger through-hole device (7) are threadedly connected with a slide (23), the horizontal slide (23) and the longitudinal slide (23) of the first plunger through-hole device (7) are both provided with an electric spindle (22), and the main shaft of the electric spindle (22) of the first plunger through-hole device (7) is driven by its slide (23) to penetrate into the shaft hole (19) of the plunger (18);The electric spindle (22) of the first plunger hole-piercing device (7) performs a rotating hole-piercing operation in the plunger (18), and gas is blown into the plunger (18) through the air blowing supply head (15) and the air blowing channel, so that the iron filings in the plunger (18) are blown into the dust suction port of the dust suction pipe assembly (11); The mechanical centering device (4) comprises two push-pull cylinders (41), two cylinder push plates (42) and two groups of mechanical connecting rods (43). The two push-pull cylinders (41) of the mechanical centering device (4) are respectively arranged on both sides of the center position of the transmission belt through cylinder mounting seats. The cylinder shafts of the two push-pull cylinders (41) of the mechanical centering device (4) are connected to the cylinder push plates (42). A group of mechanical connecting rods (43) are respectively arranged on the inner side of the two cylinder push plates (42) of the mechanical centering device (4). Each group of mechanical connecting rods (43) is pin-connected to the cylinder mounting seat. During the pin-connected rotation of each mechanical connecting rod (43), the two groups of mechanical connecting rods (43) will press against both sides of the workpiece disk loaded with the plunger (18) passing through this position to center the workpiece disk loaded with the plunger (18).

2. The plunger automatic hole-drilling machine according to claim 1, characterized in that: The upper rear end of the plunger through-hole machine frame (1) is provided with a group of second plunger through-hole devices (8), a group of third plunger through-hole devices (9) and a group of fourth plunger through-hole devices (10); the two second plunger through-hole devices (8) in the group of second plunger through-hole devices (8) are symmetrical with respect to the central axis of the plunger through-hole machine frame (1); the two third plunger through-hole devices (9) in the group of third plunger through-hole devices (9) are symmetrical with respect to the central axis of the plunger through-hole machine frame (1); and the two fourth plunger through-hole devices (10) in the group of fourth plunger through-hole devices (10) are symmetrical with respect to the central axis of the plunger through-hole machine frame (1); each The second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) all comprise a rotary cylinder (12), a linear slide assembly, a sealing pressure head (13) and a positioning pin mounting seat (14); the positioning pin mounting seats (14) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) are all arranged at an angle on the rear end of the plunger through-hole machine frame (1); the inclination angles of the positioning pin mounting seats (14) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) are different; A rotating cylinder (12) is relatively vertically arranged in the middle of the positioning pin mounting seat (14) of the through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10); a sealing pressure head (13) is arranged at the upper end of the cylinder shaft of the rotating cylinder (12) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10); a blowing channel is arranged in the sealing pressure head (13) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10); The sealing pressure head (13) of the fourth plunger through-hole device (10) is provided with a blowing supply head (15), and the blowing supply head (15) is connected to the blowing channel; the outer ends of the top ends of the positioning pin mounting seats (14) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) are all provided with positioning pin mounting plates (16) in an inclined manner, and the positioning pin mounting plates (16) of the positioning pin mounting seats (14) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) are all provided with plunger positioning pins (17) in a relatively vertical manner;The plurality of plungers (18) on the workpiece disk are grasped by the robot grasping device (6) and are placed in sequence on the positioning pin mounting plates (16) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10), and a plunger positioning pin (17) is inserted into the pin hole of each plunger (18); the inclination angles of the plungers (18) on the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) are different; the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) are respectively The sealing pressure head (13) on the rotary cylinder (12) can rotate and be respectively pressed onto the top of the plurality of plungers (18); the bottoms of the plurality of plungers (18) are respectively aligned with the plurality of dust suction ports of the dust suction duct assembly (11); a plurality of through-axis holes (19) are respectively opened on the circumferential surfaces of the plurality of plungers (18); the linear slide plate assemblies of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) each comprise a driving motor (20), a screw rod (21), an electric spindle (22) and a slide plate (24); the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) each comprise a driving motor (20), a screw rod (21), an electric spindle (22) and a slide plate (24); The driving motor (20) of the fourth plunger through-hole device (10) is longitudinally arranged on the plunger through-hole machine frame (1); the motor shafts of the driving motors (20) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) are connected to a screw (21) through a belt gear assembly; the screw (21) is longitudinally arranged and a slide plate (24) is threadedly connected to the screw (21); the slide plates (24) of the second plunger through-hole device (8), the third plunger through-hole device (9) and the fourth plunger through-hole device (10) are all provided with an electric spindle (22); The spindles of the electric spindles (22) of the plunger hole-through device (8), the third plunger hole-through device (9) and the fourth plunger hole-through device (10) are respectively inserted into the shaft holes (19) of the plurality of plungers (18) driven by the slide plates (24); the electric spindles (22) of the second plunger hole-through device (8), the third plunger hole-through device (9) and the fourth plunger hole-through device (10) respectively perform rotation hole-through operations in the plurality of plungers (18), and the gas is respectively blown into the plurality of plungers (18) through the air supply head (15) and the air blowing channel, and the iron filings in the plungers (18) are blown into the plurality of dust suction ports of the dust suction pipe assembly (11). ; 3. The plunger automatic hole-drilling machine according to claim 2, characterized in that: A group of second plunger through-hole devices (8), a group of third plunger through-hole devices (9) and a group of fourth plunger through-hole devices (10) are arranged side by side in parallel; a group of first plunger through-hole devices (7) is arranged at the front end of a group of second plunger through-hole devices (8), a group of third plunger through-hole devices (9) and a group of fourth plunger through-hole devices (10).

4. The plunger automatic hole-drilling machine according to claim 3, characterized in that: The robot grasping device (6) comprises a robot body (61), a mechanical arm (62), an internally supported airbag clamp (63) and a camera (64); the robot body (61) is arranged on a plunger through-hole machine frame (1) between a mechanical centering device (4) and a group of first plunger through-hole devices (7); the robot body (61) is provided with a plurality of mechanical arms (62) pinned in sequence, a mounting plate is provided at the end of each mechanical arm (62), and a camera (64) and an internally supported airbag clamp (63) are provided on the mounting plate.

5. The automatic plunger hole-drilling machine according to claim 1, characterized in that: The workpiece tray loading and multi-layer destacking device (3) comprises a loading workpiece tray (25) lifting assembly, a blocking cylinder (26) and a multi-layer loading workpiece tray (25) loaded with plungers (18); a plurality of groups of loading workpiece tray (25) lifting assemblies are arranged on both sides of the belt conveyor (2) along its transmission direction; each loading workpiece tray (25) lifting assembly comprises a workpiece tray mounting plate (27), a driving motor (20), a screw rod (21), a screw rod fixing block (28), a slide cylinder (30) and a support plate (32); a group of loading workpiece trays ( The motor shaft of the driving motor (20) in the lifting assembly (25) is connected to the transmission gear assembly (33), and the driving gear and the driven gear in the transmission gear assembly (33) are respectively connected to the screw rods (21) on both sides of the lifting assembly of the first loading workpiece plate (25); the screw rod fixing blocks (28) on both sides of the screw rods (21) on the lifting assembly of the first loading workpiece plate (25) are respectively threadedly connected; the screw rod fixing blocks (28) on both sides of the lifting assembly of the first loading workpiece plate (25) are both slidably connected to the workpiece plate mounting plate (27), and the first The workpiece tray mounting plates (27) on both sides of the lifting assembly of the workpiece tray (25) are both arranged on the frame (1) of the plunger through-hole machine; the inner sides of the screw rod fixing blocks (28) on both sides of the lifting assembly of the workpiece tray (25) are both provided with slider mounting plates (29); the slider mounting plates (29) on both sides of the lifting assembly of the workpiece tray (25) are both provided with slide cylinders (30); the cylinder shafts of the slide cylinders (30) on both sides of the lifting assembly of the workpiece tray (25) are both connected to the cylinder ejection blocks (31) and the two cylinder ejection blocks are connected to the two cylinder ejection blocks. A support plate (32) is provided above the block (31); multiple layers of loading workpiece trays (25) loaded with plungers (18) are placed on the support plates (32) on both sides of a group of loading workpiece tray (25) lifting components; a blocking cylinder (26) is provided in front of each group of loading workpiece tray (25) lifting components, and the blocking cylinder (26) in the workpiece tray loading multi-layer destacking device (3) is arranged on the frame of the belt conveyor (2), and the inner side of the cylinder shaft of the blocking cylinder (26) in the workpiece tray loading multi-layer destacking device (3) is connected to the blocking block.

6. The plunger automatic hole-drilling machine according to claim 1, characterized in that: The workpiece tray unloading multi-layer stacking device (5) comprises an unloading workpiece tray (34) lifting assembly, a blocking cylinder (26) and multiple layers of unloading workpiece trays (34) not loaded with plungers (18); multiple groups of unloading workpiece tray (34) lifting assemblies are arranged on both sides of the belt conveyor (2) along its transmission direction; each unloading workpiece tray (34) lifting assembly comprises a workpiece tray mounting plate (27), a driving motor (20), a screw rod (21), a screw rod fixing block (28), a slide cylinder (30) and a support plate (32); a group of unloading workpiece trays The motor shaft of the driving motor (20) in the lifting assembly (34) is connected to the transmission gear assembly (33), and the driving gear and the driven gear in the transmission gear assembly (33) are respectively connected to the screw rods (21) on both sides of the lifting assembly of the workpiece tray (34) for unloading; the screw rod fixing blocks (28) on both sides of the screw rods (21) on the lifting assembly of the workpiece tray (34) for unloading are respectively threadedly connected; the screw rod fixing blocks (28) on both sides of the lifting assembly of the workpiece tray (34) for unloading are both slidably connected to the workpiece tray mounting plate (27), and the workpiece tray mounting plate (27) is connected to the lifting assembly of the workpiece tray (34) for unloading. The workpiece tray mounting plates (27) on both sides of the lifting assembly of the workpiece tray (34) are both arranged on the plunger through-hole machine frame (1); the inner sides of the screw rod fixing blocks (28) on both sides of the lifting assembly of the workpiece tray (34) are both provided with slider mounting plates (29); the slider mounting plates (29) on both sides of the lifting assembly of the workpiece tray (34) are both provided with slide cylinders (30); the cylinder shafts of the slide cylinders (30) on both sides of the lifting assembly of the workpiece tray (34) are both connected to the cylinder ejection blocks (31) and the two cylinder ejection blocks are connected to the two cylinder ejection blocks. A support plate (32) is provided above the block (31); multiple layers of unloading workpiece trays (34) without plungers (18) are placed on the support plates (32) on both sides of a group of unloading workpiece tray (34) lifting components; a blocking cylinder (26) is provided in front of each group of unloading workpiece tray (34) lifting components, and the blocking cylinders (26) in the workpiece tray unloading multi-layer stacking device (5) are all arranged on the frame of the belt conveyor (2), and the inner side of the cylinder shaft of the blocking cylinder (26) in the workpiece tray unloading multi-layer stacking device (5) is connected to the blocking block.

Images