Automatic drill changing system and method and aerated concrete production line

Abstract

The present application relates to an automatic drill changing system and method and an aerated concrete production line, the automatic drill changing system comprising a steel drill storage line, a saddle seat conveying line and a drill changing manipulator, the steel drill storage line being adapted to store and convey steel drills, the saddle seat conveying line having a drill changing position and being adapted to receive and convey a saddle seat with a steel drill inserted therein, the drill changing manipulator being adapted to clamp a steel drill on a saddle seat at the drill changing position and place it on the steel drill storage line or clamp a steel drill on the steel drill storage line and place it on the saddle seat at the drill changing position, and the drill changing manipulator being capable of adjusting the spacing of the clamped steel drill and inserting it into the steel drill storage line and / or the saddle seat. The automatic drill changing system provided by the present application can change the number of steel drills and adjust the spacing of the steel drills between the saddle seat conveying line and the steel drill storage line, thereby achieving fully automatic drill changing without the need for manual adjustment of the number of steel drills or the spacing of the steel drills, which is more efficient and has lower labor costs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic drill changing, in particular to an automatic drill changing system and method and an aerated concrete production line. BACKGROUND

[0002] In the production process of autoclaved aerated concrete board, in order to ensure the strength of the aerated board, a steel mesh is needed to be added inside the board. In the processing, the steel mesh is brought into the board blank by a steel drill provided with a plastic buckle. The plastic buckle, the steel drill and the steel mesh are autoclaved together with the board blank. In this process, the plastic buckle melts and the steel mesh remains in the board. Then the steel drill is pulled out for reuse.

[0003] Since there are various thickness specifications of the concrete board to be produced, the distance between the steel drills and the number of the steel drills are different for different specifications. In order to meet the production requirements of different specifications, the number and the distance of the steel drills on the saddle seat removed from the saddle frame need to be adjusted. However, since the existing mechanical hand cannot automatically change the distance, the distance is usually adjusted or the number of the steel drills is increased or decreased manually according to the board specifications. This not only wastes time and labor, but also is low in efficiency and cannot completely realize full-automatic drill changing without manual intervention. SUMMARY

[0004] Therefore, the present application aims to overcome the defects in the prior art that the distance needs to be adjusted or the number of the steel drills needs to be increased or decreased manually according to the board specifications in the production process of autoclaved aerated concrete board, which wastes time and labor and is low in efficiency, so as to provide an automatic drill changing system and method and an aerated concrete production line which can automatically change the distance.

[0005] In order to solve the above problems, in a first aspect, the present application provides an automatic drill changing system, comprising: a steel drill storage line, a saddle seat conveying line, a drill changing mechanical hand, the steel drill storage line is suitable for storing and conveying steel drills, the saddle seat conveying line is arranged on one side of the steel drill storage line, the saddle seat conveying line has a drill changing position, and the saddle seat conveying line is suitable for receiving and conveying a saddle seat with steel drills inserted; the drill changing mechanical hand is arranged correspondingly to the steel drill storage line and the saddle seat conveying line, the drill changing mechanical hand is suitable for clamping the steel drills on the saddle seat at the drill changing position and placing them on the steel drill storage line or clamping the steel drills on the steel drill storage line and placing them on the saddle seat at the drill changing position, and the drill changing mechanical hand can insert the clamped steel drills into the steel drill storage line and / or the saddle seat after adjusting the distance between the clamped steel drills.

[0006] Optionally, the drill rod changing robot comprises a robot body, the robot body comprising a fixed base, a plurality of clamps arranged on the fixed base and sequentially arranged along the length direction of the fixed base, the clamps being adapted to take and place the steel drill rods, and a variable distance driving mechanism arranged on the fixed base and used for adjusting the distance between the plurality of clamps, so as to adjust the distance between the steel drill rods on each clamp.

[0007] Optionally, the drill rod changing robot further comprises an equidistant linkage mechanism comprising a plurality of scissor units sequentially hinged, the scissor units comprising two scissor rods mutually crossing and hinged at the middle part, the distance between the crossing hinge points of the middle parts of the plurality of scissor units being equal, and the plurality of clamps being connected with the plurality of crossing hinge points one by one, and the variable distance driving mechanism being capable of driving the equidistant linkage mechanism to stretch or contract so as to drive the adjacent two clamps to move away from or close to each other, thereby adjusting the distance between each clamp.

[0008] Optionally, the clamps comprise one fixed clamp fixedly arranged on the fixed base and a plurality of movable clamps slidably arranged on the fixed base along the length direction of the fixed base, the variable distance driving mechanism being connected with one of the plurality of movable clamps and being capable of driving the movable clamp to move close to or away from the fixed clamp, so as to drive the equidistant linkage mechanism to stretch or contract.

[0009] Optionally, the fixed clamp is arranged at one end of the fixed base, and the variable distance driving mechanism comprises a power component fixedly arranged at the other end of the fixed base and a transmission component connected with the output end of the power component and connected with the first movable clamp at the other end of the fixed base.

[0010] Optionally, the drill rod changing robot further comprises a mounting bracket, the mounting bracket comprising a support beam arranged above the steel drill rod storage line and the saddle seat conveying line, the robot body being movably arranged on the support beam along the length direction of the support beam, the robot body being transversely movably arranged on the support beam, and the robot body being capable of moving along the support beam between a drill rod taking position on the steel drill rod storage line and a drill rod changing position on the saddle seat conveying line.

[0011] Optionally, the drill rod changing robot further comprises a lifting driving mechanism arranged on the mounting bracket and adapted to drive the robot body to lift in the vertical direction, and a horizontal driving mechanism arranged between the lifting driving mechanism and the robot body and adapted to drive the robot body to move in the conveying direction of the saddle seat conveying line.

[0012] Optionally, the steel drill storage line and the saddle seat conveying line are arranged side by side, and the head and tail of the steel drill storage line are staggered with the head and tail of the saddle seat conveying line, and the support cross beam is arranged above the steel drill storage line and the saddle seat conveying line.

[0013] Optionally, the automatic drill changing system further comprises a jacking mechanism, and the drill taking position of the steel drill storage line and the drill changing position of the saddle seat conveying line are respectively provided with a jacking mechanism, and the jacking mechanism is adapted to jack up the steel drill to a preset height.

[0014] Optionally, the jacking mechanism comprises a jacking plate and a jacking driving member, and the jacking driving member is arranged on the steel drill storage line and the saddle seat conveying line, and the jacking driving member is connected with the jacking plate.

[0015] In a second aspect, the present application further provides a drill changing method applied to the automatic drill changing system, and the drill changing method comprises the following steps: S10, receiving a specification switching signal of a pre-produced plate; S20, controlling the saddle seat conveying line to convey a saddle seat with a steel drill inserted to a drill changing position thereof; S30, controlling the drill changing manipulator to clamp the steel drill on the saddle seat at the drill changing position and place the steel drill on the steel drill storage line or clamp a steel drill on the steel drill storage line and place the steel drill on the saddle seat at the drill changing position.

[0016] Optionally, the step S10 comprises: receiving a signal that the specification of the pre-produced plate is switched from an original specification to a new specification; judging parameter change information of the new specification, and the parameter change information comprises: whether the number of steel drills required by the new specification is greater than the number of steel drills required by the original specification, and / or whether the steel drill spacing of the new specification is smaller than the steel drill spacing of the original specification.

[0017] When it is judged that the number of steel drills required by the new specification is greater than the number of steel drills required by the original specification, and / or the steel drill spacing of the new specification is smaller than the steel drill spacing of the original specification, the step S30 specifically comprises the following steps: S3011, controlling the clamp of the drill changing manipulator to clamp all the original steel drills on the saddle seat, and adjusting the spacing of the clamped steel drills; S3012, the drill changing manipulator reinserts the steel drills with changed spacing into the saddle seat; S3013, the drill changing manipulator clamps a set number of steel drills from the steel drill storage line and inserts them into the saddle seat.

[0018] When it is judged that the number of steel drills required by the new specification is less than the number of steel drills required by the original specification, and / or the steel drill spacing of the new specification is greater than the steel drill spacing of the original specification, the step S30 specifically comprises the following steps: S3021: controlling the clamp of the drill changing manipulator to clamp a set number of the steel drills from the saddle seat and transfer to the steel drill storage line to temporarily store the excess steel drills; S3022: the drill changing manipulator grabs the remaining steel drills on the saddle seat and adjusts the spacing of the grabbed steel drills; S3023: the drill changing manipulator reinserts the steel drills with adjusted spacing into the saddle seat.

[0019] In a third aspect, the application further provides an aerated concrete production line, comprising the automatic drill changing system described above.

[0020] The application has the following advantages:

[0021] 1. The automatic drill changing system provided by the application can change the number of steel drills and adjust the spacing of the steel drills between the saddle seat conveying line and the steel drill storage line, so that full-automatic drill changing can be realized without manual intervention in changing the number of steel drills or adjusting the spacing of the steel drills, which is more efficient and has lower labor cost.

[0022] 2. In the application, the saddle seat conveying line is used to receive the saddle seat detached from the saddle frame and convey the saddle seat to a preset drill changing position or a flow transfer position, and the spacing and number of the old steel drills inserted in the saddle seat are adapted to the specification of the previous batch of boards. If the specification of the next batch of boards is not changed, the saddle seat can be directly transferred to the next process by the saddle seat manipulator after the saddle seat is conveyed to the preset flow transfer position. If the specification of the next batch of boards is changed, the saddle seat is conveyed to the preset drill changing position, and the drill changing manipulator changes the number of steel drills and adjusts the spacing of the steel drills according to the production requirements to meet the production requirements of the batch of boards, so that full-automatic drill changing without manual intervention is realized.

[0023] 3. In the application, the drill changing manipulator clamps the steel drills in the air to adjust the spacing, which is not easy to interfere with other components, is convenient to operate, and can realize the spacing adjustment of the steel drills without improving the structure of the saddle seat and the like, which has lower improvement cost. Moreover, the drill changing manipulator adjusts the spacing of the steel drills by using the equidistant connecting rod mechanism to assist the variable-spacing driving mechanism, and the spacing of the steel drills is consistent after the spacing adjustment.

[0024] 4. In this invention, the rod-changing robot further includes an equidistant linkage mechanism. This mechanism comprises multiple scissor units hinged sequentially. Each scissor unit includes two scissor rods that cross and hinge at their center. The distance between the cross hinge points of the multiple scissor units is equal, and multiple clamps are connected one-to-one to each of the cross hinge points. This allows the equidistant linkage mechanism to extend or retract, thereby moving adjacent clamps closer or further apart, adjusting the distance between the clamps and consequently the distance between the rods on each clamp. The equidistant linkage mechanism not only enables synchronous, equidistant movement of the clamps for easy control but also effectively ensures equal distances between the rods, guaranteeing the quality of the sheet metal forming.

[0025] 5. In this invention, the automatic rod changing system further includes a lifting mechanism. The rod picking position of the rod storage line and the rod changing position of the saddle seat conveyor line are respectively provided with lifting mechanisms. The lifting mechanisms can lift the rod to a preset height, thereby facilitating the rod changing robot to pick up the rod. Attached Figure Description

[0026] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 A schematic diagram of the entire automatic rod changing system in the embodiment is shown;

[0028] Figure 2 It shows Figure 1 Schematic diagram of the drill bit changing robot;

[0029] Figure 3 It shows Figure 2 A magnified view of a portion of the image;

[0030] Figure 4 A schematic diagram of the structure of the manipulator for changing steel rods in the embodiment is shown;

[0031] Figure 5 A schematic diagram of the movement orientation of the drill bit changing robot in the embodiment is shown;

[0032] Figure 6 A schematic diagram of the manipulator body and horizontal drive mechanism in the embodiment is shown;

[0033] Figure 7 It shows Figure 6 A top view of the robotic arm itself;

[0034] Figure 8 A structural schematic diagram of the jacking mechanism in the embodiment is shown;

[0035] Figure 9 A structural schematic diagram of the saddle seat inserted with a steel drill rod in the embodiment is shown;

[0036] Figure 10 A flow chart of one implementation of the drill rod changing method in the embodiment three is shown;

[0037] Explanation of reference signs:

[0038] 1, steel drill rod storage line; 11, drill rod carrying beam;

[0039] 2, saddle seat conveying line; 20, drill rod changing position; 21, saddle seat;

[0040] 3, drill rod changing manipulator;

[0041] 31, manipulator body; 311, clamp; 3111, fixed clamp; 3112, movable clamp; 31101, clamping jaw; 31102, clamping jaw driving cylinder;

[0042] 312, fixed seat; 3121, limiting block;

[0043] 313, equidistance linkage mechanism; 3131, scissor lever; 3132, cross hinge point;

[0044] 314, variable distance driving mechanism; 3141, power component; 3142, transmission component; 314211, screw rod; 314212, nut;

[0045] 315, connecting block;

[0046] 32, mounting bracket; 321, support beam; 3211, linear guide rail;

[0047] 33, lifting driving mechanism;

[0048] 34, horizontal driving mechanism;

[0049] 35, transverse driving mechanism;

[0050] 36, moving base;

[0051] 4, jacking mechanism; 41, jacking plate; 42, jacking driving member; 43, mounting seat. DETAILED DESCRIPTION

[0052] The technical solutions of the present application will be clearly and completely described below with reference to the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts should fall within the scope of the present application.

[0053] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0054] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. For those of ordinary skill in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0055] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0056] Example One

[0057] As Figures 1 to 9 shown, the present application provides an automatic drill changing system, comprising: a steel drill storage line 1, a saddle seat conveying line 2, a drill changing manipulator 3, the steel drill storage line 1 is suitable for storing and conveying steel drills; the saddle seat conveying line 2 is arranged on one side of the steel drill storage line 1, the saddle seat conveying line 2 has a drill changing position, the saddle seat conveying line 2 is suitable for receiving and conveying a saddle seat 21 with a steel drill inserted; the drill changing manipulator 3 is arranged corresponding to the steel drill storage line 1 and the saddle seat conveying line 2, the drill changing manipulator 3 is suitable for clamping the steel drill on the saddle seat 21 at the drill changing position and placing it on the steel drill storage line 1, or clamping the steel drill on the steel drill storage line 1 and placing it on the saddle seat 21 at the drill changing position, and the drill changing manipulator 3 can insert the clamped steel drill into the steel drill storage line 1 and / or the saddle seat 21 after adjusting the spacing of the clamped steel drill.

[0058] The automatic drill changing system provided by the embodiment can change the number of steel drills and adjust the spacing of the steel drills between the saddle seat conveying line and the steel drill storage line by the drill changing manipulator, so that the automatic drill changing can be realized without manual adjustment of the number of steel drills or the spacing of the steel drills, the efficiency is higher, and the labor cost is lower.

[0059] Further, the steel drill storage line 1 is provided with a drill carrying beam 11 at equal intervals, the drill carrying beam 11 is provided with drill holes, the steel drill storage line 1 has drill taking positions for taking and placing the steel drills, and the drill changing manipulator 3 takes the steel drills from the drill carrying beam 11 at the preset drill taking positions or places the excess steel drills back on the drill carrying beam 11 for temporary storage. The steel drills are stored on the steel drill storage line 1, and after the steel drills are loaded once, the subsequent drill changing system automatically changes the drills without manual adjustment of the positions of the steel drills. The saddle seat conveying line 2 receives the saddle seat 21 detached from the saddle frame by the manipulator of the previous station, continuously conveys the saddle seat 21 to the drill changing position 20, and when the production specification is switched and the corresponding drill changing is required, the drill changing manipulator 3 changes the drills at the drill changing position 20.

[0060] Specifically, the saddle seat conveying line 2 is used to receive the saddle seat 21 detached from the saddle frame and convey the saddle seat 21 to the preset drill changing position 20 or a flow transfer position. The spacing and number of the old steel drills inserted in the saddle seat 21 are adapted to the specification of the previous batch of plates. If the specification of the plates produced in the next batch is not switched, the saddle seat 21 can be directly transferred to the next process by the saddle seat manipulator after being conveyed to the preset flow transfer position. If the specification of the plates produced in the next batch is changed, the saddle seat 21 is conveyed to the preset drill changing position 20, the drill changing manipulator 3 increases or reduces the number of steel drills and adjusts the spacing of the steel drills according to the production requirement to meet the production requirement of the batch of plates, so that the automatic drill changing without manual participation is realized.

[0061] Optionally, the flow transfer position and the drill changing position 20 of the saddle seat conveying line 2 can be different positions or the same position. Preferably, the saddle seats 21 are all transferred to the drill changing position 20, that is, the flow transfer position and the drill changing position 20 are the same position, the drill changing manipulator 3 changes the drills at the position when the drill changing is required, and the saddle seat 21 is directly moved to the next process by the saddle seat manipulator when the drill changing is not required.

[0062] Further, the drill changing manipulator 3 includes a manipulator body 31, the manipulator body 31 includes a fixing seat 312, a plurality of clamps 311, and a spacing adjusting driving mechanism 314. The clamps 311 are arranged on the fixing seat 312 and sequentially arranged along the length direction of the fixing seat 312, and the clamps 311 are suitable for taking and placing the steel drills. The spacing adjusting driving mechanism 314 is arranged on the fixing seat 312 and is used to adjust the spacing of the clamps 311 to adjust the spacing of the steel drills clamped on the clamps 311.

[0063] When the specification of the pre-produced plate is switched, the drill changing robot 3 can change the number of steel drills between the saddle seat conveying line 2 and the steel drill storage line 1, and can be re-inserted into the saddle seat 21 after adjusting the spacing of the steel drills on the adjusting clamp 311, realizing full-automatic drill changing, without the need for manual increase or decrease of the number of steel drills or adjustment of the spacing of the steel drills, higher efficiency and lower labor cost.

[0064] In the above scheme, as shown in Figure 4 、 Figure 6 and Figure 7 , the clamp 311 includes two oppositely arranged clamping jaws 31101, and a clamping jaw driving cylinder 31102 for driving the two clamping jaws 31101 to approach or move away from each other to realize clamping or releasing the steel drills. The fixed seat 312 includes a long strip-shaped fixed plate, and a plurality of clamps 311 are arranged on one side of the fixed plate in the length direction of the fixed plate.

[0065] Optionally, as shown in Figures 2 to 4 and Figure 6 and Figure 7 , the drill changing robot 3 further includes an equidistant linkage mechanism 313, which is adapted to link each clamp 311 to realize synchronous equidistant movement of each clamp 311.

[0066] Specifically, the equidistant linkage mechanism 313 includes a plurality of scissor units sequentially hinged, the number of the scissor units is the same as the number of the clamps 311, and is arranged one-to-one. Further, the scissor unit includes two scissor rods 3131 which are crossed and hinged in the middle, the spacing of the cross hinge points 3132 in the middle of the plurality of scissor units is equal, and the plurality of clamps 311 are connected one-to-one with the plurality of cross hinge points 3132; the variable spacing driving mechanism 314 can drive the equidistant linkage mechanism 313 to expand or contract to drive the adjacent two clamps 311 to move away from or approach each other, thereby adjusting the spacing between each clamp 311. By arranging the equidistant linkage mechanism 313, not only can it realize synchronous equidistant movement of each clamp 311, which is convenient to control, but also can effectively ensure that the distance between each steel drill is equal, ensuring the quality of plate forming.

[0067] Optionally, as shown in Figure 6 and Figure 7 , along the length direction of the fixed seat 312, one side end of the two scissor rods 3131 of the middle scissor unit is hinged with the one side end of the two scissor rods 3131 of the adjacent previous scissor unit, and the other side end is hinged with the one side end of the two scissor rods 3131 of the adjacent next scissor unit, to realize the connection between each scissor unit.

[0068] Optionally, in the embodiment, the length and the angle of inclination of each scissor lever 3131 of the plurality of scissor units are the same.

[0069] Preferably, in order to avoid the end of the scissor lever 3131 of the scissor unit at both ends of the equidistant linkage 313 from protruding, interfering or scratching other components when unfolded, the length of the scissor lever 3131 of the scissor unit at both ends is set to be half of the length of the scissor lever 3131 of the scissor unit in the middle, and the ends of the two scissor levers 3131 are hinged to ensure that the distance between each clamp 311 is the same. In this way, not only can the scissor levers 3131 at both ends be prevented from protruding, interfering or scratching other components, but the occupied space of the whole manipulator can also be reduced. Figure 6 As shown in the drawings, in the embodiment, the length of the scissor lever 3131 of the scissor unit at both ends is set to be half of the length of the scissor lever 3131 of the scissor unit in the middle, and the ends of the two scissor levers 3131 are hinged to ensure that the distance between each clamp 311 is the same. In this way, not only can the scissor levers 3131 at both ends be prevented from protruding, interfering or scratching other components, but the occupied space of the whole manipulator can also be reduced.

[0070] Further, as shown in the drawings, in the above scheme, the two hinge points connecting the two adjacent scissor units up and down, and the two hinge points connecting the two scissor units with the corresponding clamps 311, form a parallelogram. Figure 6

[0071] The steel rod spacing adjusting manipulator 3 provided by the embodiment adjusts the spacing of the steel rods by using the equidistant linkage 313 and the variable spacing driving mechanism 314, and after the spacing is adjusted, the spacing of each steel rod is consistent and has better consistency. The steel rod spacing adjusting manipulator 3 clamps the steel rods in the air to adjust the spacing, which is not easy to interfere with other components, is easy to operate, and does not need to improve the structure of the saddle seat 21 and the like to realize the spacing adjustment of each steel rod, so the improvement cost is lower.

[0072] Optionally, in the embodiment, the clamp 311 includes a longitudinal base plate, and the clamp jaw 31101 and the clamp jaw driving cylinder 31102 are fixedly arranged on the longitudinal base plate, and the cross hinge points 3132 of the plurality of scissor units are connected with the longitudinal base plate through a hinge shaft respectively.

[0073] Optionally, as shown in the drawings, the clamp 311 includes a fixed clamp 3111 and a plurality of movable clamps 3112, the fixed clamp 3111 is one and is fixedly arranged on the fixed seat 312, and the movable clamps 3112 are slidably arranged on the fixed seat 312 along the length direction of the fixed seat 312, and the variable spacing driving mechanism 314 is connected with one of the movable clamps 3112 and can drive the movable clamp 3112 to move close to or away from the fixed clamp 3111 to drive the equidistant linkage 313 to stretch or contract. Figure 6 Figure 7

[0074] ​​​In the above scheme, the variable distance driving mechanism 314 can be connected with any one of the plurality of mobile clamps 3112, and the variable distance driving mechanism 314 drives the mobile clamp 3112 to move close to or away from the fixed clamp 3111. Alternatively, the fixed clamp 3111 is arranged in the middle, the variable distance driving mechanism 314 is connected with one mobile clamp 3112 on one side of the fixed clamp 3111, so that the mobile clamps 3112 on both sides of the fixed clamp 3111 can be retracted or extended relative to the fixed clamp 3111 in the middle. The present embodiment does not limit the position of the fixed clamp 3111, and the fixed clamp 3111 can be arranged at the end position or any position between the two end positions.

[0075] Alternatively, as shown in Figure 7 The fixed clamp 3111 is arranged at one end of the fixed seat 312, the variable distance driving mechanism 314 includes a power component 3141 and a transmission component 3142, the power component 3141 is fixedly arranged at the other end of the fixed seat 312; the transmission component 3142 is connected with the output end of the power component 3141 and is connected with the first mobile clamp 3112 at the other end of the fixed seat 312. By adopting the above design, the equal-distance synchronous movement of each clamp 311 can be ensured, and the cost can be saved.

[0076] Further, the fixed clamp 3111 is connected and fixed to the fixed seat 312 through a connecting block 315, the fixed seat 312 is provided with two straight linear guides extending along the length direction of the fixed seat 312 and arranged at intervals on one side of the fixed seat 312 close to the clamp 311, the two straight linear guides are arranged at intervals in the up-down direction, and the mobile clamp 3112 is slidably connected to the straight linear guides through a sliding block and is adapted to move along the length direction of the straight linear guides.

[0077] Alternatively, the clamping jaw 31101 and the clamping jaw driving cylinder 31102 are fixedly arranged on one side of a longitudinal base plate, and there is one sliding block on the other side of the longitudinal base plate, the two sliding blocks slide in parallel on the two straight linear guides, and the cooperation of the two groups of sliding block guides effectively ensures the parallel and equal-distance movement between the groups of clamps 311.

[0078] Further, the transmission component 3142 comprises a screw rod 314211 connected with the output end of the power component 3141 and extending along the length direction of the fixed base, and a nut 314212 connected with the first moving clamp 3112 at the other end of the fixed base. The power component 3141 drives the screw rod 314211 to rotate and drive the nut 314212 to move, and further drive the moving clamp 3112 connected with the nut 314212 to move, so as to make the equidistance linkage mechanism 313 contract or expand, and further drive the remaining moving clamps 3112 to move, thereby adjusting the distance between the clamps 311.

[0079] Further, as shown in Figure 7 the middle part of the fixed base 312 is further provided with a limiting block 3121 corresponding to the position of the end of the screw rod 314211, and the other end of the screw rod 314211 is rotatably connected in the limiting block 3121.

[0080] Optionally, in the embodiment, the power component 3141 is a variable distance driving motor fixed on the fixed base 312.

[0081] In the embodiment, the equidistance linkage mechanism 313 comprises a plurality of links with equal distance between the hinge points and connected between the clamps 311, and forms an X-shaped structure. When one of the clamps 311 moves, the angles of the links change equally, and the distance between the clamps 311 also changes equally. The equidistance adjustment is achieved as follows: the clamp 311 at one end is fixed with the fixed base 312 through the connecting block 315, the clamp 311 at the other end is connected with the nut 314212, the clamps 311 are connected through the links with equal distance between the hinge points, and when the variable distance driving motor drives the screw rod to rotate, the clamp 311 connected with the nut 314212 moves, drives the equidistance linkage mechanism 313 to expand or contract, and drives the middle clamps 311 to move equally.

[0082] In other alternative embodiments, the equidistance variable distance of the clamps 311 can also be achieved by camshaft guiding and the like. The camshaft guiding means that a guide groove is processed on the guide shaft, the contact positions of the guide groove and the guide rod on the clamp 311 are different when the guide shaft rotates to different angles, thereby adjusting the distance between the clamps 311.

[0083] Optionally, as shown in Figure 1 and Figure 2As shown, the drill rod changing robot 3 further comprises a mounting bracket 32, the mounting bracket 32 comprises a support beam 321 above the steel drill rod storage line 1 and the saddle seat conveying line 2; the robot body 31 is movably arranged on the support beam 321, and the robot body 31 can move between the drill rod taking position of the steel drill rod storage line 1 and the drill rod changing position of the saddle seat conveying line 2 along the support beam 321. The drill rod changing robot 3 further comprises a transverse driving mechanism 35 arranged on the support beam 321, and the transverse driving mechanism 35 is adapted to drive the robot body 31 to move transversely along the support beam 321.

[0084] In the embodiment, as shown in Figure 1 , the steel drill rod storage line 1 and the saddle seat conveying line 2 are arranged side by side, and the head and tail of the steel drill rod storage line 1 and the head and tail of the saddle seat conveying line 2 are staggered, and the support beam 321 is arranged above the steel drill rod storage line 1 and the saddle seat conveying line 2. The drill rod taking position of the steel drill rod storage line 1 and the drill rod changing position 20 of the saddle seat conveying line 2 are both below the support beam 321, so as to facilitate the robot body 31 on the support beam 321 to change the steel drill rod between the steel drill rod storage line 1 and the saddle seat conveying line 2.

[0085] Optionally, the mounting bracket 32 further comprises two vertical columns fixedly arranged at both ends of the support beam 321, and the support beam 321 is supported at a certain height above the steel drill rod storage line 1 and the saddle seat conveying line 2.

[0086] Optionally, the drill rod changing robot 3 further comprises a lifting driving mechanism 33 arranged on the mounting bracket 32 and adapted to drive the robot body 31 to move vertically. When the robot body 31 grabs or inserts the steel drill rod from or to the steel drill rod storage line 1 and the saddle seat conveying line 2, the robot body 31 is controlled to move downward, and after the steel drill rod is grabbed or inserted, the robot body 31 is controlled to move upward.

[0087] Optionally, the drill rod changing robot 3 further comprises a horizontal driving mechanism 34 arranged between the lifting driving mechanism 33 and the robot body 31 and adapted to drive the robot body 31 to move in the conveying direction of the saddle seat conveying line 2. By the horizontal driving mechanism 34, the relative position between the robot body 31 and the saddle seat 21 to be changed can be finely adjusted, so that the robot body 31 can be precisely connected with the saddle seat 21 to take or place the steel drill rod.

[0088] In combination with Figures 1 to 6 , the drill rod changing robot 3 in the embodiment can realize the following four directions of movement, which can be seen from Figures 3 to 5 :

[0089] The first direction: lateral movement (X direction), the lateral driving mechanism 35 includes a lateral driving motor and a gear and rack transmission assembly, which is driven by the lateral driving motor fixed on the moving base 36, a linear guide rail 3211 is arranged on the support beam 321 to slide and limit the cooperation of the moving base 36, the moving base 36 is used to realize the connection of the manipulator body 31 and the support beam 321, a gear is installed on the motor shaft of the lateral driving motor, a rack is installed on the support beam 321, and the lateral movement of the manipulator body 31 is realized through the gear and rack cooperation, so that the manipulator body 31 can walk back and forth at the butt joint position of the steel drill storage line 1 and the saddle seat conveying line 2.

[0090] The second direction: vertical movement (Z direction), the lifting driving mechanism 33 includes a vertical driving motor and a vertical movement module, the fixed part of the vertical movement module is connected with the moving base 36, and the moving part is connected with the manipulator body 31, the vertical driving motor drives the moving part to move, and drives the manipulator body 31 to move up and down in the vertical direction.

[0091] The third direction: horizontal movement (Y direction), the horizontal driving mechanism 34 includes a horizontal driving motor and a horizontal movement module, the fixed part of the horizontal movement module is installed at the lower end of the moving part of the vertical movement module, the moving part of the horizontal movement module is connected with the fixed seat 312 of the manipulator body 31, the horizontal driving motor drives the moving part to move, and drives the whole manipulator body 31 to move in the Y direction, so as to walk to the pick-and-place drill position.

[0092] The fourth direction: distance changing movement direction (△x direction), the distance changing driving motor controls the simultaneous movement of the clamps 311 by a distance of △x, so as to realize the equal distance adjustment of the distances between the steel drills.

[0093] The distance between the clamps 311 of the drill changing manipulator 3 provided in the embodiment can be automatically adjusted, the drill changing manipulator 3 can realize the multiple removal and position adjustment of the steel drills during the drill changing, and the automatic drill changing system can realize the full-automatic drill changing by cooperating with the steel drill storage line 1.

[0094] Optionally, as shown in Figure 1 and Figure 8 The automatic drill changing system further includes a jacking mechanism 4, the drill taking position of the steel drill storage line 1 and the drill changing position of the saddle seat conveying line 2 are respectively provided with the jacking mechanism 4, and the jacking mechanism 4 is suitable for jacking the steel drill to a preset height. One set of the jacking mechanism 4 is arranged at the drill taking position of the steel drill storage line 1 and the drill changing position 20 of the saddle seat conveying line 2. The function is to jack the steel drill to a certain height, so as to facilitate the clamp of the drill changing manipulator 3.

[0095] Further, the jacking mechanism 4 specifically comprises a jacking plate 41 and a jacking drive 42, the steel drill storage line 1 and the saddle seat conveying line 2 are provided with the jacking drive, the jacking drive is connected with the jacking plate 41 and is adapted to drive the jacking plate 41 to move upward. The jacking mechanism 4 further comprises a mounting seat 43, one jacking drive 42 is connected to each end of the jacking plate 41, and the mounting seat 43 is two, and the two jacking drives 42 are installed on the two mounting seats 43 one by one.

[0096] Preferably, the jacking drive 42 is a pneumatic cylinder, the jacking drive 42 is located above the jacking plate 41, the lower end of the piston rod of the jacking drive 42 is connected with the jacking plate 41, when it is needed to take out the steel drill, the jacking drive 42 controls the piston rod to retract, the jacking plate 41 is pulled upward, the upper surface of the jacking plate 41 is in contact with the lower end of a row of steel drills, and then the steel drills are jacked up, so that the steel drill changing robot 3 can clamp and take.

[0097] Of course, in other embodiments, the jacking drive 42 can also be arranged below the jacking plate 41, and the jacking plate 41 is pushed upward from below.

[0098] The automatic steel drill changing system provided by the embodiment can automatically adjust the distance between the steel drills according to the needs after the robot clamps the steel drills, take and place the steel drills, cooperate with the steel drill storage and the saddle seat conveying line 2 and related auxiliary devices to realize full-automatic steel drill changing, and effectively solve the problems of low efficiency and high labor intensity caused by the fact that the existing steel drill changing robot cannot automatically change the distance, the distance needs to be manually adjusted according to the specifications of the plate, and the steel drills need to be manually placed.

[0099] Example Two

[0100] In combination Figures 1 to 10 The embodiment further provides a steel drill changing method applied to the automatic steel drill changing system of the second embodiment, and the steel drill changing method comprises the following steps:

[0101] S10: receiving a specification switching signal of a pre-produced plate;

[0102] S20: controlling the saddle seat conveying line 2 to convey the saddle seat 21 with the steel drill inserted into a preset steel drill changing position 20;

[0103] S30: controlling the steel drill changing robot 3 to clamp the steel drill on the saddle seat 21 at the steel drill changing position and place the steel drill on the steel drill storage line 1 or clamp the steel drill on the steel drill storage line 1 and place the steel drill on the saddle seat 21 at the steel drill changing position.

[0104] The drill changing method provided by the embodiment is realized by using the automatic drill changing system of the first embodiment, so that the distance between each clamp 311 on the drill changing manipulator 3 can be automatically adjusted, and the automatic drill changing method for steel drill multiple removal and position adjustment using the drill changing manipulator 3.

[0105] Optionally, the step S10 comprises:

[0106] receiving a signal of switching the specification of the pre-produced plate from an original specification to a new specification;

[0107] judging parameter change information of the new specification, the parameter change information comprising: whether the number of steel drills required by the new specification is greater than the number of steel drills required by the original specification, and / or whether the distance between steel drills of the new specification is less than the distance between steel drills of the original specification.

[0108] When it is judged that the number of steel drills required by the new specification is greater than the number of steel drills required by the original specification, and / or the distance between steel drills of the new specification is less than the distance between steel drills of the original specification, the step S30 specifically comprises the following steps:

[0109] S3011: controlling the clamp 311 of the drill changing manipulator 3 to clamp all the original steel drills on the saddle seat 21, and adjusting the distance between the clamped steel drills;

[0110] S3012: the drill changing manipulator 3 reinserts the steel drills with the adjusted distance into the saddle seat 21;

[0111] S3013: the drill changing manipulator 3 clamps a set number of steel drills from the steel drill storage line 1 and inserts them into the saddle seat 21.

[0112] In the above step S3012, the drill changing manipulator 3 controls each clamp 311 to maintain the distance after the distance is adjusted, and then grasps new steel drills on the steel drill storage line 1 at the distance, so that the distance between the steel drills clamped by the drill changing manipulator 3 from the steel drill storage line 1 in step S3013 is the same as the distance between each steel drill after the distance is adjusted in step S3011, without the need for multiple distance adjustment, thereby simplifying the control steps.

[0113] Alternatively, in other alternative embodiments, in the step S3013, it is first judged whether the distance between the steel drills clamped on the steel drill storage line 1 meets the distance between steel drills of the new specification, if yes, the drill changing manipulator 3 directly clamps a set number of steel drills from the steel drill storage line 1 without distance adjustment and directly inserts them into the saddle seat 21, if not, the drill changing manipulator 3 clamps a set number of steel drills from the steel drill storage line 1, adjusts the distance and then inserts them into the saddle seat 21.

[0114] When it is judged that the number of steel drills required by the new specification is less than the number of steel drills required by the original specification, and / or the steel drill spacing of the new specification is greater than the steel drill spacing of the original specification, the step S30 specifically comprises the following steps:

[0115] S3021: The clamp 311 of the drill changing robot 3 clamps a set number of the steel drills from the saddle seat 21 and moves to the steel drill storage line 1 to temporarily store the excess steel drills.

[0116] S3022: The drill changing robot 3 grabs the remaining steel drills on the saddle seat 21 and adjusts the spacing of the grabbed steel drills.

[0117] S3023: The drill changing robot 3 reinserts the steel drills with adjusted spacing into the saddle seat 21.

[0118] After the drill changing is completed, the saddle seat robot moves the completed saddle seat 21 to the next process. Then the saddle seat conveying line 2 continues to move to the drill changing position 20 to convey the next saddle seat 21 to be changed to the drill changing position 20.

[0119] The present application provided in the embodiment can realize automatic drill changing after the steel drills are stored once, without manual intervention throughout the process, and has a higher degree of automation.

[0120] For the convenience of understanding, the above drill changing method is exemplified by the following implementation mode:

[0121] When the specification of the next batch of produced plates becomes smaller, such as switching from 200 plates to 100 plates, the number of required steel drills increases from 6 to 12, and the steel drill spacing decreases from 200 to 100. The drill changing robot 3 first grabs all the original 6 steel drills on the pre-drill changing saddle seat 21, adjusts the grabbed steel drills from 200 spacing to 100 spacing through its spacing changing function, and inserts the original 6 steel drills after walking to the new corresponding position. Then, the drill changing robot 3 walks to the drill taking position of the steel drill storage line 1 or the drill storage, grabs 6 new steel drills from the steel drill storage line 1 with a spacing of 100, or adjusts the spacing of the grabbed 6 new steel drills to 100, and then moves them to above the saddle seat 21, and finally inserts the new 6 steel drills.

[0122] When the next batch of production of the plate specification becomes larger, such as from 100 plates to 200 plates, the number of steel drills required is reduced from 12 to 6, and the steel drill spacing is increased from 100 to 200. The drill changing manipulator 3 first picks up the extra 6 steel drills, walks above the steel drill storage line 1 to store the extra steel drills. Then empty back to the saddle seat 21 above, pick up the remaining 6 steel drills, change the spacing of the picked up steel drills from 100 to 200 through the variable spacing function of itself, and then insert the 6 steel drills into the saddle seat 21.

[0123] It should be noted that in the present embodiment, "plate" refers to autoclaved aerated concrete plate applicable to the present drill changing system, and 200 / 100 refers to different width size specifications of aerated concrete plate. In the production of autoclaved aerated concrete plate, different specifications of plates require different steel drill spacings and numbers of steel drills to be produced, and there are set standards in the industry.

[0124] Example Three

[0125] The present embodiment provides an aerated concrete production line, comprising the automatic drill changing system of the above embodiment one.

[0126] Obviously, the above embodiments are only examples for the purpose of clear illustration, and are not intended to limit the embodiments. Based on the above description, those skilled in the art can also make other different forms of changes or variations. Here, it is not necessary and impossible to exhaust all the embodiments. The obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A method for changing a solder joint, applied to an automatic solder joint changing system, characterized in that, The automatic wire changing system includes: A steel rod storage line (1) is suitable for storing and transporting steel rods; A saddle seat conveyor line (2) is provided on one side of the steel rod storage line (1). The saddle seat conveyor line (2) has a rod changing position and is adapted to receive and convey a saddle seat (21) with a steel rod inserted. A rod changing robot (3) is provided corresponding to the rod storage line (1) and the saddle seat conveyor line (2). The rod changing robot (3) is adapted to clamp the rod on the saddle seat (21) at the rod changing position and place it on the rod storage line (1) or clamp the rod on the rod storage line (1) and place it on the saddle seat (21) at the rod changing position. The rod changing robot (3) can insert the clamped rod into the rod storage line (1) and / or the saddle seat (21) after adjusting the spacing of the clamped rod. The drill bit changing robot includes: a robot body (31), and the robot body (31) includes: Fixture (312); Multiple clamps (311) are disposed on the fixed base (312) and arranged sequentially along the length direction of the fixed base (312), and the clamps (311) are suitable for picking up and placing steel rods; A variable pitch drive mechanism (314) is provided on the fixed base (312) and is used to adjust the spacing of the plurality of clamps (311) so as to adjust the spacing of the steel rods clamped on each clamp (311); The method for replacing the probe includes the following steps: S10: Receive the specification switching signal for the pre-produced sheet material; S20: Control the saddle seat conveyor line (2) to convey the saddle seat (21) with the steel rod inserted to its rod changing position (20); S30: Control the rod changing robot (3) to pick up the rod on the saddle seat (21) at the rod changing position and place it on the rod storage line (1) or pick up the rod on the rod storage line (1) and place it on the saddle seat (21) at the rod changing position; Step S10 includes: Receive a signal that the specifications of the pre-produced board have been switched from the original specifications to the new specifications; Determine the parameter change information of the new specification, the parameter change information including: whether the number of steel rods required for the new specification is greater than the number of steel rods required for the original specification, and / or whether the steel rod spacing of the new specification is less than the steel rod spacing of the original specification. When it is determined that the number of steel rods required for the new specification is greater than the number of steel rods required for the original specification, and / or the spacing between steel rods for the new specification is less than the spacing between steel rods for the original specification, step S30 specifically includes the following steps: S3011: The clamp (311) of the control rod changing robot (3) will clamp all the original steel rods on the saddle seat (21) and adjust the spacing of the clamped steel rods; S3012: The rod changing robot (3) reinserts the rod after the pitch change into the saddle seat (21); S3013: The rod changing robot (3) picks up a set number of rods from the rod storage line (1) and inserts them into the saddle seat (21); When it is determined that the number of steel rods required for the new specification is less than the number of steel rods required for the original specification, and / or, the spacing between steel rods for the new specification is greater than the spacing between steel rods for the original specification, step S30 specifically includes the following steps: S3021: Control the gripper (311) of the rod changing robot (3) to pick up a set number of rods from the saddle seat (21) and transfer them to the rod storage line (1) to temporarily store the excess rods; S3022: The rod changing robot (3) picks up the remaining rods on the saddle seat (21) and adjusts the spacing of the picked-up rods; S3023: The rod changing robot (3) re-inserts the rod after the pitch change into the saddle seat (21).

2. The method for replacing the drill bit according to claim 1, characterized in that, The drill bit changing robot (3) also includes: Mounting bracket (32), including a support beam (321) located above the steel rod storage line (1) and the saddle seat conveyor line (2); The robotic arm body (31) is movably disposed on the support beam (321) along the length direction of the support beam (321). The robotic arm body (31) can move along the support beam (321) between the rod picking position on the rod storage line (1) and the rod changing position on the saddle seat conveyor line (2).

3. The method for replacing the drill bit according to claim 2, characterized in that, The drill bit changing robot (3) also includes: A lifting drive mechanism (33) is provided on the mounting bracket (32) and is adapted to drive the robot body (31) to lift in the vertical direction; A horizontal drive mechanism (34) is disposed between the lifting drive mechanism (33) and the robot body (31), and is adapted to drive the robot body (31) to move in the conveying direction of the saddle seat conveyor line (2).

4. The method for replacing the drill bit according to claim 2, characterized in that, The steel rod storage line (1) and the saddle seat conveyor line (2) are arranged side by side, with the beginning and end of the steel rod storage line (1) and the beginning and end of the saddle seat conveyor line (2) staggered. The support beam (321) spans over the steel rod storage line (1) and the saddle seat conveyor line (2).

5. The method for replacing the drill bit according to any one of claims 1 to 4, characterized in that, The automatic rod changing system also includes a lifting mechanism (4). The lifting mechanism (4) is provided at the rod picking position of the rod storage line (1) and the rod changing position of the saddle seat conveyor line (2). The lifting mechanism (4) is adapted to lift the rod to a preset height.

6. The method for replacing the drill bit according to claim 5, characterized in that, The lifting mechanism (4) includes a lifting plate (41) and a lifting drive. The lifting drive is provided on the steel rod storage line (1) and the saddle seat conveying line (2), and the lifting drive is connected to the lifting plate (41).

7. An aerated concrete production line, characterized in that, The system includes an automatic rod changing system, wherein the automatic rod changing system performs rod changing using the rod changing method described in any one of claims 1 to 6.

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