Ring plate unit fixture for robots

Abstract

The present invention discloses an annular plate unit clamp for a robot, wherein clamping plates are symmetrically arranged at both ends of one end face of a clamp substrate, and the clamping plates can move toward or away from each other, and a clamping plate driving device is fixed to the end face of the clamp substrate on the side facing away from the clamping plate, and a connector for connecting with a robot is also fixed to the end face of the clamp substrate on the side facing away from the clamping plate, and an active clamping roller and a driven clamping roller are symmetrically arranged on the opposite side end faces of the clamping plates, and the axis of the active clamping roller is parallel to the axis of the driven clamping roller and is perpendicular to the plane surrounded by the clamp substrate and the clamping plate; a camera is fixed to the side end face of the clamp substrate facing the clamping plate. It can be seen from the above structure that the annular plate unit clamp for a robot of the present invention can not only ensure the rapid clamping and rapid separation of the annular plate unit through the annular plate unit clamp of the robot, but also ensure the fixing effect after clamping, and avoid the annular plate unit from sliding between the annular plate unit clamp and the annular plate unit during the clamping and turnover process, thereby affecting the robot's picking and placing of the annular plate unit.

Description

Technical Field

[0001] The invention relates to the technical field of wheel hub processing and production, and in particular to an annular plate unit fixture for a robot. Background Art

[0002] The wheel hub is the rotating part of the wheel core connected to the inner wheel steel of the tire through the column, that is, the metal part that supports the center of the tire and is mounted on the shaft. It is also called rim, steel rim, wheel, and tire bell. There are many types of wheel hubs according to diameter, width, molding method, and material.

[0003] Generally, the wheel hub is connected by the rim and the spokes coaxially. For the wheel rim, the production process is generally to cut the aluminum plate that meets the size requirements according to the model and size of the wheel hub, and then roll the aluminum plate unit and weld it. In fact, the rolling device, bending device, welding device and even rolling device corresponding to this production and processing method need to be adjusted or customized for the different rim blanks produced for the current different models of wheel hubs. As a result, after each change of the wheel hub model, the production equipment corresponding to the rim blank needs to be adjusted, resulting in high labor intensity and reduced production efficiency.

[0004] In order to save production costs, wheel manufacturers hope that different sizes of rims can use as few types of blanks as possible, which can not only shorten production time and advance delivery time by preparing stocks in advance, but also facilitate the purchase of raw materials in advance when the price is low, so as to further reduce production costs, and avoid production equipment downtime losses, and ensure the more efficient operation of production enterprises' inventory and funds. However, at present, the production of wheel hubs is small-batch customized production. Since small-batch customized production requires the replacement of corresponding equipment molds, after replacing the equipment molds, it will involve debugging and trial production, and batch production can only be carried out after ensuring product quality, which leads to a relatively fixed and long production cycle of wheel hubs and high production costs. In addition, in order to avoid the need for replenishment in the later transportation process and after-sales process, small-batch customized products must reserve inventory for customized products, resulting in relatively high inventory costs. All of the above will further increase the final selling price of the product.

[0005] To this end, the patent document with application number 202111230454.4 provides a production process that realizes the use of large-scale production of standard parts of rim blanks to produce rims of different axial widths, thereby reducing production costs and enabling the company's production end to effectively combine mass production mode to reduce costs with small-batch customized production on the sales end.

[0006] However, since the annular plate unit has a heavy deadweight and a relatively smooth surface with residual oil stains, it will slide downward relative to the clamp after being clamped by the current clamp. If it is to be fully clamped to prevent it from slipping, it may cause damage to the surface of the annular plate unit. Therefore, there is currently no clamp on the market that can quickly and completely clamp the annular plate unit in the above production process without causing damage to the annular unit plate. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an annular plate unit clamp for a robot, through the annular plate unit clamp of the robot, not only can the rapid clamping and rapid separation of the annular plate unit be guaranteed, but also the fixing effect after clamping can be guaranteed, so as to avoid the annular plate unit sliding between the annular plate unit clamp and the annular plate unit clamp during the clamping and turnover process, thereby affecting the robot's picking and placing of the annular plate unit; through the camera set by the annular plate unit clamp and the active clamping roller and the driven clamping roller structure used to cooperate with the camera to drive the annular plate unit to rotate around the axis, the annular plate unit can be automatically identified and judged while the turnover is completed after each process is completed, starting from the cylinder finishing process, so as to avoid defective products from continuing to the production of the next process, reduce production costs and delay equipment loss, and avoid damage to equipment or even production accidents due to the processing of defective products.

[0008] The technical solution adopted by the present invention is:

[0009] A ring-shaped plate unit clamp for a robot comprises a clamp base plate, wherein clamp plates are symmetrically arranged at both ends in the length direction of one end face of the clamp base plate, and the clamp plates are simultaneously moved toward or away from each other through a clamp plate driving device, and the clamp plate driving device is fixedly connected to the end face of the clamp base plate on the side facing away from the clamp plate, and the end face of the clamp base plate on the side facing away from the clamp plate is also fixedly connected to a connector for connecting with a robot, and the opposite side end faces of the clamp plates are symmetrically provided with active clamping rollers and driven clamping rollers, and the axes of the active clamping rollers and the driven clamping rollers are parallel and perpendicular to the plane surrounded by the clamp base plate and the clamp plate; a camera is also fixedly provided on the side end face of the clamp base plate facing the clamp plate.

[0010] A further improvement scheme of the present invention is that the clamp driving device is fixedly connected to the clamp base plate through a "C"-shaped plate, the clamp base plate passes through the "C"-shaped plate, and the clamp driving device is fixedly connected between the vertical plate A of the "C"-shaped plate and the clamp base plate, the horizontal top plate and the horizontal bottom plate of the "C"-shaped plate are respectively fixedly connected to the top surface and the bottom surface of the clamp base plate, and the horizontal top plate and the horizontal bottom plate of the "C"-shaped plate extend to the side where the clamp is located, and a vertical plate B is fixedly connected between the horizontal top plate and the horizontal bottom plate of the "C"-shaped plate, located on the side of the clamp base plate facing the clamp, the camera is fixedly connected to the end surface of the vertical plate B facing away from the clamp base plate through the connecting base plate, and the connecting head is fixedly connected to the end surface of the vertical plate A facing away from the clamp base plate.

[0011] A further improvement of the present invention is that a transmission gear which is transmission-connected to a clamp driving device is provided on the end face of the clamp base plate facing the vertical plate B, and a transmission cross bar which is arranged parallel to the clamp base plate is provided on one end of the clamp base plate corresponding to the clamp base plate, wherein the transmission cross bar of one clamp base plate is located at the upper edge of the clamp base plate, and the transmission cross bar of the other clamp base plate is located at the lower edge of the clamp base plate, and the transmission gear is located between the two transmission cross bars, and the facing end faces of the transmission cross bars are provided with racks which mesh with the transmission gear, one end of the transmission cross bar is fixed to the corresponding clamp base plate, and the other end continues to extend toward the other clamp base plate, and when the clamp base plate moves back to back to the maximum stroke, the transmission cross bars are still meshed with the transmission gear.

[0012] A further improvement of the present invention is that the clamp base plate is provided with strip guide grooves corresponding to the transmission cross bar along the moving direction of the transmission cross bar, and the end surface of the transmission cross bar facing the clamp base plate is provided with matching convex guide rods corresponding to the strip guide grooves, the end surface of the transmission gear facing away from the clamp base plate is flush with the end surface of the transmission cross bar facing away from the clamp base plate, and both are in contact with the vertical plate B, and the strip guide grooves are dovetail grooves; the clamp plate driving device is transmitted to the transmission gear through a reduction gear box, and the clamp plate driving device is fixedly connected to the clamp base plate through the reduction gear box.

[0013] A further improvement of the present invention is that the horizontal top plate and the horizontal bottom plate of the "C"-shaped plate are respectively provided with vertical plates C facing each other, and a gap is provided between the vertical plates C. The camera extends out from the gap between the vertical plates C. The end surface of the vertical plate C facing away from the fixture base plate is also fixedly connected with a ring light. The ring light is coaxially arranged with the camera, and the irradiation direction of the ring light is consistent with the shooting direction of the camera.

[0014] The cam is connected with the drive gear of the driving gear of the driving gear.The cam is connected with the drive gear of the driving gear of the driving gear by the spring, and the cam has the outer end of the driving gear of the driving gear to be connected with the drive gear of the driving gear.

[0015] A further improvement of the present invention is that a clamping roller transmission wheel B is coaxially fixedly connected to the wheel output shaft of the wheel driving device, a clamping roller transmission wheel A is coaxially fixedly connected to the clamping roller shaft, and the clamping roller transmission wheel A is transmission-connected to the clamping roller transmission wheel B; a clamping roller transmission wheel C is rotationally connected to the connecting plate and is transmission-connected to the clamping roller transmission wheel A and the clamping roller transmission wheel B respectively; the clamping roller includes a cylindrical groove coaxially fixedly connected to one end of the clamping roller shaft extending out of the connecting plate, the notch of the cylindrical groove faces away from the clamping roller shaft, the circumferential outer wall of the cylindrical groove is coaxially covered and fixed with an anti-skid pad layer, and the circumferential outer wall of the anti-skid pad layer is provided with a plurality of anti-skid convex rings equidistantly distributed along the axial direction; the surface of the circumferential outer wall of the cylindrical groove is evenly spaced and even has an annular corrugated structure formed by annular protrusions and annular recesses, and the contact surface between the anti-skid pad layer and the circumferential outer wall of the cylindrical groove is also provided with a matching annular corrugated structure.

[0016] A further improvement of the present invention is that a plurality of annular grooves coaxially arranged with the anti-slip pad layer are provided on the circumferential outer wall of the anti-slip pad layer at equal intervals along the axial direction, and an annular strip is coaxially arranged on the groove wall on the side of the annular groove away from the clamping roller shaft, and the free end of the annular strip is connected to the bottom of the annular groove by an annular spring sheet, one side edge of the annular spring sheet is fixedly connected to the annular strip, and the other side edge of the annular spring sheet is fixedly connected to the bottom of the annular groove, and the annular spring sheet pushes the annular strip out of the notch of the annular groove to form an anti-slip convex ring.

[0017] A further improvement of the present invention is that the anti-slip pad layer is provided with an annular flange extending inwardly corresponding to the notch of the cylindrical groove, the annular flange extends inwardly to the inner side wall of the cylindrical groove, and is provided with a connecting sleeve matching the inner side wall of the groove, a plug body is also provided in the groove of the cylindrical groove, the inner wall of the tube cavity of the connecting sleeve matches the side wall of the plug body, and the plug body clamps and fixes the connecting sleeve to the inner side wall of the groove; a center screw is provided at the center of the groove bottom in the cylindrical groove, a threaded hole matching the center screw is provided at the axial center of one end of the plug body extending into the tube cavity of the connecting sleeve, the inner wall of the tube cavity of the connecting sleeve is a conical hole, the circumferential side wall of the plug body corresponding to one side of the threaded hole is a conical arc surface matching the conical hole, and the conical arc surface and the conical hole are interference fit.

[0018] A further improvement of the present invention is that a clamping roller limiting frame with a "Z"-shaped structure is fixedly connected to the side of the connecting plate facing away from the clamping roller wheel, one end of the clamping roller limiting frame is provided with a mounting plate for fixing to the connecting plate, the mounting plate extends away from the corresponding clamping roller side, the other end of the clamping roller limiting frame is provided with a support block extending towards the clamping roller side, the support block is provided with a guide groove corresponding to the plug body, the circumferential surface of the plug body and the edge of the end away from the clamping roller are coaxially provided with an operating convex ring, the guide groove matches the operating convex ring and passes through the end surfaces of the support block facing and away from the connecting plate, and when the plug body fixes the connecting sleeve to the inner side wall of the groove, the operating convex ring is located in the guide groove.

[0019] The beneficial effects of the present invention are:

[0020] First, the annular plate unit clamp for the robot of the present invention can not only ensure the rapid clamping and rapid separation of the annular plate unit, but also ensure the fixing effect after clamping, thereby preventing the annular plate unit from sliding between the annular plate unit clamp and the annular plate unit clamp during the clamping turnover process, thereby affecting the robot's picking and placing of the annular plate unit.

[0021] Secondly, the annular plate unit clamp for the robot of the present invention, through the camera provided on the annular plate unit clamp and the active clamping roller and the driven clamping roller structure used to cooperate with the camera to drive the annular plate unit to rotate around the axis, can make the annular plate unit start from the cylinder finishing process and automatically identify and judge the annular plate unit while turning over after each process is completed, so as to avoid defective products from continuing to the production of the next process, reduce production costs, delay equipment loss, and avoid damage to equipment or even production accidents due to the processing of defective products. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a top view schematic diagram of the rim blank standard parts processing production line.

[0023] Figure 2 It is an enlarged top view schematic diagram of the connecting strip unit curling device.

[0024] Figure 3 It is an enlarged top view schematic diagram of the curled material welding device.

[0025] Figure 4 This is an enlarged schematic diagram of the right side view of the curled material welding device.

[0026] Figure 5 It is an enlarged top view schematic diagram of the rim tube dressing device.

[0027] Figure 6 It is an enlarged schematic diagram of the front view of the rim barrel dressing device.

[0028] Figure 7 This is an enlarged top view of the robot's annular plate unit fixture.

[0029] Figure 8 This is an enlarged schematic diagram of the front view of the robot's annular plate unit fixture.

[0030] Fig. 9 A magnified left view of the robot's annular plate unit fixture with the left clamp hidden.

[0031] Fig.10 This is an enlarged schematic diagram of the front view of the robot's clamping roller. DETAILED DESCRIPTION

[0032] Combination Figure 1 to Figure 10 It can be seen that the rim blank standard parts processing production line includes a plate sawing device 1, a plate unit rolling device 5, an annular plate unit trimming device 6, an annular plate unit expanding device 7, a rim flanging device 8, a rim tube trimming device 9, a rim curling device 10 and a tread shaping device 11 in sequence along the material production and transmission direction, and a curling material welding device 4 is also provided on one side of the plate unit rolling device 5; between the annular plate unit trimming device 6 and the annular plate unit expanding device 7, between the annular plate unit expanding device 7 and the rim flanging device 8, between the rim flanging device 8 and the rim tube trimming device 9, between the rim tube trimming device 9 and the rim curling device 10, and between the rim curling device 10 and the tread shaping device 11, the annular unit plates are circulated by robots respectively, and the robots are located on the side of the curling material welding device 4 corresponding to the plate unit rolling device 5.

[0033] The sheet material sawing device 1 includes a sawing table 30, and a sheet material loading rack 33 is fixedly connected to the sawing table 30 on one side away from the sheet material unit rolling device 5. The top surface of the sawing table 30 is provided with a strip hole in a direction perpendicular to the sheet material loading rack 30. A vertically arranged saw blade is rotatably connected inside the sawing table 30. The top of the saw blade extends upwardly to the strip hole and reciprocates along the strip hole. A horizontal cross bar 31 is fixedly connected above the top surface of the sawing table 30 corresponding to the strip hole. Horizontal pressure strips are respectively provided at the bottom of the horizontal cross bar 31 corresponding to the two sides of the strip hole. The horizontal pressure strips are movably connected to the horizontal cross bar 21 up and down through a pneumatic piston cylinder 32.

[0034] The curled sheet unit welding device 4 includes a base frame 58, and the two opposite side walls of the base frame 58 are open to form a frame inner cavity 77. The top of the base frame 58 includes longitudinal horizontal top rods 59 arranged in parallel and symmetrically on both sides, and a longitudinal strip-shaped through hole 63 is formed between the longitudinal horizontal rods 59. The longitudinal horizontal top rods 59 are also provided with a weld scar removal device 60 and a welding device 62 driven by a longitudinal drive device A65 to reciprocate along the longitudinal horizontal direction. The weld scar removal device 60 and the welding device 62 are fixedly connected, and a milling cutter and a welding head are respectively provided at the bottom of the weld scar removal device 60 and the bottom of the welding device 62 corresponding to the position of the strip-shaped through hole 63. The milling cutter corresponds to being located in the strip-shaped through hole 63, and is horizontally rotated around a vertical axis by a milling cutter driving motor, and the milling cutter driving motor is connected to the weld scar removal device 60 up and down through a milling cutter lifting device. The welding head is movably connected, and is located in the strip through hole 63. It is movably connected to the welding device 62 up and down through the welding head lifting device. The longitudinal driving device A65 is fixedly connected to the base frame 58. The base frame 58 is also movably connected with a longitudinally arranged horizontal fixing plate 61. The horizontal fixing plate 61 reciprocates horizontally relative to the base frame 58 through the transverse driving device A69. The transverse driving device A69 is fixedly connected to the base frame 58. When the horizontal fixing plate 61 moves horizontally to the maximum stroke on one side, the horizontal fixing plate 61 is located outside the base frame 58. When the horizontal fixing plate 61 moves horizontally to the maximum stroke on the other side, the horizontal fixing plate 61 is located directly below the strip through hole 63 and corresponds to the milling cutter and the welding head. The longitudinal movement range of the milling cutter and the welding head is greater than the longitudinal range of the horizontal fixing plate 61.

[0035] The horizontal top rod 59 is rotatably connected to a longitudinal screw rod A64 which is transmission-connected to the longitudinal driving device A65. The weld scar device 60 and the welding device 62 are respectively provided with a nut pair A matching the longitudinal screw rod A64. The two ends of the horizontal top rod 59 corresponding to the longitudinal screw rod A64 are rotatably connected to the longitudinal screw rod A64 through a bearing seat A66.

[0036] The horizontal fixed plate 61 reciprocates along the horizontal transverse frame 79 through the horizontal transverse moving frame 68. The horizontal transverse frame 79 is fixedly connected to the inner bottom of the base frame 58. The top surface of the horizontal transverse frame 79 is rotatably connected to a horizontal screw rod A80. The two ends of the horizontal screw rod A80 are rotatably connected to the horizontal transverse frame 79 through bearing seats B70 respectively. The bottom of the horizontal fixed plate 61 is fixedly connected to the horizontal transverse moving frame 68. The horizontal transverse moving frame 68 is provided with a nut pair B matching the horizontal screw rod A80. The horizontal drive device A69 is transmission-connected to one end of the horizontal screw rod A80.

[0037] The horizontal fixed plate 61 is fixedly connected to the top surface of the horizontal connecting pad 67, and the transverse movable frame 68 is fixedly connected to one end of the bottom of the horizontal connecting pad 67. A support block 73 is fixed to the side wall of the base frame 58 on the side of the horizontal connecting pad 67 away from the transverse movable frame 68. When the horizontal fixed plate 61 moves to the position of the longitudinal strip through hole 63, the support block 73 fits with the bottom surface of the horizontal connecting pad 67 at the bottom of the horizontal fixed plate 61 at the position of the longitudinal strip through hole 63.

[0038] The bottom of the horizontal connecting pad 67 is fixedly connected with a longitudinal vertical rib 71, and the longitudinal vertical rib 71 extends to be fixedly connected with the transverse movable frame 68 and extends downward to the bottom of the side wall of the transverse movable frame 68 facing the horizontal connecting pad 67. The end surface of the longitudinal vertical rib 71 away from the transverse movable frame 68 is an inclined surface inclined upward in the direction away from the transverse movable frame 68, and the connection between the longitudinal vertical rib 71 and the horizontal connecting pad 67 is located on the side of the horizontal fixed plate 61 facing away from the transverse movable frame 68. A plurality of transverse vertical ribs distributed at equal intervals are symmetrically fixed to the bottom of the horizontal connecting pad 67 and correspond to the end surfaces on both sides of the longitudinal vertical rib 71, and the transverse vertical ribs are fixedly connected to the longitudinal vertical rib 71.

[0039] A pad block 72 is fixedly disposed at the bottom of the horizontal connection pad plate 67 corresponding to the support block 73 .

[0040] The bottom surface of the longitudinal horizontal push rod 59 is located on both sides of the strip-shaped through hole 63, and pressure plates 74 are symmetrically provided. The pressure plates 74 are movably connected to the longitudinal horizontal push rod 59 up and down through a pressure plate lifting device 75. The pressure plates 74 correspond to the middle position of the longitudinal direction of the horizontal fixed plate 61.

[0041] A plurality of pressing plates 74 are disposed on one side of the strip-shaped through hole 63 , and the pressing plates 74 are evenly distributed within the range of the horizontal fixing plate 61 along the length direction of the strip-shaped through hole 63 .

[0042] The two longitudinal ends of the top surface of the horizontal fixing plate 61 are respectively provided with locking clamps 76 for fixing the two ends of the material plate.

[0043] The top surface of the horizontal fixing plate 61 is also provided with a strip-shaped marking groove (not shown in the drawings of the specification). When the horizontal fixing plate 61 moves to the position of the strip-shaped through hole 63, the marking groove is located directly below the walking track of the welding head, and the two ends of the sheet material unit fixedly connected to the horizontal fixing plate 61 correspond to the marking groove.

[0044] The length of the marking groove is greater than the welding length of the sheet material unit.

[0045] The sheet material unit rolling device 5 includes a horizontal base 34, a horizontally arranged driving roller 35 is provided in the middle of the horizontal base 34, one end of the driving roller 35 is transmission-connected to a roller driving device 39 fixedly connected to the horizontal base 34 through a roller transmission device, and a bearing seat D37 swingingly connected to the horizontal base 34 is provided at the other end, and the bearing seat D37 swings in a direction facing or away from the driving roller 35. When the bearing seat D37 rotates to the maximum stroke facing the driving roller 35, the bearing seat D37 is vertical and rotationally connected to the driving roller 35 located above. When the bearing seat D37 rotates to the maximum stroke facing away from the driving roller 35, the bearing seat D37 is vertical and rotationally connected to the driving roller 35 located above. When the driving roller 35 is at the upper end, the bearing seat D37 is separated from the driving roller 35 located above; the horizontal base 34 is located below the driving roller 35 and is provided with a driven roller A in parallel, and the two ends of the driven roller A are rotatably connected to the horizontal base 34 through bearing seats C respectively, and the bearing seat C is connected to the horizontal base 34 through a roller lifting and adjusting device A, and the horizontal base 34 is provided with driven rollers B36 arranged parallel to the driving roller 35 on both sides of the driving roller 35, and the two ends of the driven roller B36 are rotatably connected to their own bearing seats E38 respectively, and the bearing seats E38 are movably connected to the horizontal base 34 up and down through the roller lifting and adjusting device B.

[0046] A lever 40 is provided on the top surface of the horizontal base 34 and is capable of reciprocating horizontal movement along an axial direction parallel to the driving roller 35. One end of the lever 40 extends to the position of the driving roller 5 located above. The other end of the lever 40 is fixedly connected to a nut pair C. The nut pair C is transmission-connected to a transverse screw rod B41 provided on the top surface of the horizontal base 34. Both ends of the transverse screw rod B41 are rotationally connected to the horizontal base 34 through a bearing seat F. One end of the transverse screw rod B41 is driven and connected by a lever driving device fixedly connected to the horizontal base 34. When the transverse screw rod B41 drives the lever 40 to move to the maximum stroke facing the roller driving device 39 through the nut pair C, the lever 40 fits with the roller driving device 39. When the transverse screw rod B41 drives the lever 40 to move to the maximum stroke facing the roller driving device 39 through the nut pair C, the lever 40 is separated from the driving roller 35 located above.

[0047] The annular plate unit dressing device 6 includes a horizontal base 81 with a supporting device 107 at the bottom, and an annular plate tightening device 82 rotatably connected around a vertical axis is provided on the top surface of the horizontal base 81. A cutting knife 101 is also provided on the top surface of the horizontal base 81, located on one side of the annular plate tightening device 82, and the blade of the cutting knife 101 points to the annular plate tightening device 82. The cutting knife 101 is fixedly connected to a tool holder 100, and the tool holder 100 is connected to a tool holder lifting and adjusting device for up and down adjustment, and the tool holder lifting and adjusting device is connected to a tool holder horizontal adjusting device, and the tool holder horizontal adjusting device is arranged on the horizontal base 81, and the tool holder lifting and adjusting device is arranged on the tool holder horizontal adjusting device, and the tool holder 100 is arranged on the side of the tool holder lifting and adjusting device facing the annular plate tightening device 82, and the rotating driving device 83 of the annular plate tightening device 82 is connected to the bottom of the horizontal base 81.

[0048] The annular plate expansion device 82 includes a vertical sleeve 89 fixedly connected to the top surface of the horizontal base 84, the output shaft 93 of the rotation drive device 83 passes through the horizontal base 84 upward and then extends into the vertical sleeve 89, and then extends upward from the vertical sleeve 89 and contacts with a plurality of expansion unit blocks uniformly distributed coaxially, the expansion unit block includes an annular plate expansion unit 85 and an output shaft contact unit 86 fixed coaxially by connecting the vertical plate 87, the annular plate expansion unit 85 is a plurality of petal structures formed by uniformly dividing the same cylindrical side wall, the output shaft contact unit 86 is a plurality of petal structures formed by uniformly dividing the same cone side wall, the upper side wall of the output shaft 93 is a vertebral structure matching and contacting with the output shaft contact unit 86, the top diameter of the vertebral body is greater than the bottom diameter of the vertebral body, the inner diameter of the vertical sleeve 89 is greater than or equal to the maximum diameter of the vertebral body, and the rotation drive device 83 is movably connected to the horizontal base 54 up and down through the lifting drive device A91 fixed to the bottom surface of the horizontal base 54.

[0049] The lifting drive device A91 is a lifting cylinder and is fixedly connected to the bottom of the horizontal base 81 through a connecting frame 98. The end of the telescopic rod 92 of the lifting drive device A91 is fixedly connected to the rotating drive device 83.

[0050] A conical sleeve 88 is coaxially sleeved and fixed on the top of the side wall of the output shaft 93, and the axial hole of the conical sleeve 88 matches the connecting shaft 94 coaxially arranged on the top of the output shaft 93. The boss formed around the connecting shaft 94 at the top of the output shaft 93 is the limiting boss of the conical sleeve 88. The connecting shaft 94 is detachably fixedly connected to a fastening plate 95 at one end facing away from the output shaft 93 by a fastening bolt 99. The fastening plate 95 fixes the conical sleeve 88 axially to the limiting boss.

[0051] The top pipe opening of the vertical sleeve 89 is provided with an annular horizontal plate 90 outwardly, and the bottom edges of the connecting vertical plate 87 and the annular plate expansion unit 85 are flush and in contact with the top surface of the annular horizontal plate 90.

[0052] On the top surface of the horizontal base 81, there are multiple horizontal support plates 84 evenly distributed on the outside of the vertical pipe sleeve 89 and centered on the axis of the vertical pipe sleeve 89. The horizontal support plates 84 are connected to the horizontal base 81 through a support frame 96. The top surface of the horizontal support plate 84 is lower than the bottom of the annular plate expansion device 82. The distance between the side edge of the horizontal support plate 84 facing away from the vertical sleeve 89 and the axis of the vertical sleeve 89 is greater than the outer diameter of the annular plate unit.

[0053] The support frame 96 is connected to the horizontal support plate 84 through a lifting drive device B97. The lifting drive device B97 is fixedly connected to the support frame 96 and drives the horizontal support plate 84 to be movably connected up and down. When the horizontal support plate 84 moves upward to the maximum stroke, the top surface of the horizontal support plate 84 is flush and lower than the bottom of the annular plate expansion device 82.

[0054] The tool holder horizontal adjustment device includes a horizontal seat 103, in which a horizontal screw is rotatably connected, and the axial direction of the horizontal screw is the same as that of the blade of the cutting tool 101. One end of the horizontal seat 103 is fixedly connected to a translation drive device 105 for driving the horizontal screw to rotate. The tool holder lifting and adjusting device includes a lifting seat 104, and the bottom of the lifting seat 104 is fixedly connected to a nut pair D that is transmission-connected to the horizontal screw and reciprocates along the axial direction of the horizontal screw. A vertical screw is rotatably connected to the lifting seat 104, and the top of the lifting seat 104 is fixedly connected to a lifting drive device C106 that drives the vertical screw to rotate. The tool holder 100 is fixed with a matching nut pair E corresponding to the vertical screw, and reciprocates along the axial direction of the vertical screw.

[0055] The cutting knife 101 is fixedly connected to the knife holder 100 via a knife seat 102 . The cutting knife 101 can be fixedly connected to the knife seat 102 in an adjustably manner along the direction in which the cutting edge of the cutting knife 101 points.

[0056] Two cutting knives 101 are fixedly connected to the tool holder 100 . The cutting knives 101 are fixed to the tool holder 100 through respective tool seats 102 so as to be adjustable up and down. The cutting knives 101 are located in the same vertical plane.

[0057] Vertical baffles 108 are fixedly provided on the edge of the top surface of the horizontal base 81 close to the annular plate expansion device 82, the edge close to the cutting blade 101, and the edge facing away from the robot.

[0058] The annular plate unit trimming device 6 is located on the side where the curling material welding device 4 is located and is provided with a robot A12, the annular plate unit expanding device 7 is located on the side where the curling material welding device 4 is located and is provided with a robot B14, the rim flanging device 8 is located on the side where the curling material welding device 4 is located and is provided with a robot C16, the rim barrel trimming device 9 is located on the side where the curling material welding device 4 is located and is provided with a robot D18, the rim curling device 10 is located on the side where the curling material welding device 4 is located and is provided with a robot E20, the tread shaping device 11 is located on the side where the curling material welding device 4 is located and is provided with a robot There is a robot F22; a turntable A is provided on the side of the robot A12 facing away from the robot B14, a turntable B13 is provided between the robot A12 and the robot B14, a turntable C15 is provided between the robot B14 and the robot C16, a turntable D17 is provided between the robot C16 and the robot D18, a turntable E19 is provided between the robot D18 and the robot E20, a turntable F21 is provided between the robot E20 and the robot F22, and a turntable G23 is provided on the side of the robot F22 facing away from the robot E20.

[0059] The ends of the robots A12, B14, C16, D18, E20 and F22 are respectively provided with annular plate unit fixtures, and the annular plate unit fixtures include a fixture base plate 109, and clamps 110 are symmetrically provided at both ends of the length direction of the end surface of one side of the fixture base plate 109, and the clamps 110 are moved toward or away from each other at the same time through a clamp driving device 114, and the clamp driving device 114 is fixedly connected to the clamp base plate 109 and the clamps 110 are moved away from the clamps 110. 10, one side end face of the clamp substrate 109 facing away from the clamp plate 110 is also fixedly connected with a connector 118 for connecting to a robot, and the opposite side end faces of the clamp plate 110 are symmetrically provided with an active clamping roller 111 and a driven clamping roller 112, the axis of the active clamping roller 111 is parallel to the axis of the driven clamping roller 112, and is perpendicular to the plane surrounded by the clamp substrate 109 and the clamp plate 110; a camera 119 is also fixedly provided on the side end face of the clamp substrate 109 facing the clamp plate 110.

[0060] The clamp driving device 114 is fixedly connected to the clamp base plate 109 through the "C"-shaped plate 117, and the clamp base plate 109 passes through the "C"-shaped plate 117. The clamp driving device 114 is fixedly connected between the vertical plate A120 of the "C"-shaped plate 117 and the clamp base plate 109. The horizontal top plate and the horizontal bottom plate of the "C"-shaped plate 117 are respectively fixedly connected to the top surface and the bottom surface of the clamp base plate 109, and the horizontal top plate and the horizontal bottom plate of the "C"-shaped plate 117 extend to the side where the clamp 110 is located. A vertical plate B121 is fixedly connected between the horizontal top plate and the horizontal bottom plate of the "C"-shaped plate 117, and is located on the side of the clamp base plate 109 facing the clamp 110. The camera 119 is fixedly connected to the end surface of the vertical plate B121 facing away from the clamp base plate 109 through the connecting base plate 125, and the connecting head 118 is fixedly connected to the end surface of the vertical plate A120 facing away from the clamp base plate 109.

[0061] The end face of the clamp base plate 109 facing the vertical plate B121 is provided with a transmission gear 115 which is transmission-connected to the clamp driving device 114; the clamp plate 110 is provided with a transmission cross bar 113 which is arranged parallel to the clamp base plate 109 at one end corresponding to the clamp base plate 109, wherein the transmission cross bar 113 of one clamp plate 110 is located at the upper edge of the clamp base plate 109, and the transmission cross bar 113 of the other clamp plate 110 is located at the lower edge of the clamp base plate 109; the transmission gear 115 is located between the two transmission cross bars 113; the facing end faces of the transmission cross bars 113 are provided with racks 116 which are meshed with the transmission gear 115 for transmission; one end of the transmission cross bar 113 is fixed to the corresponding clamp plate 110, and the other end continues to extend toward the other clamp plate 110; when the clamp plate 110 moves back to the maximum stroke, the transmission cross bars 113 are still meshed with the transmission gear 115.

[0062] The clamp base plate 109 is provided with a strip guide groove 133 corresponding to the transmission cross bar 113 along the moving direction of the transmission cross bar 113, and the end surface of the transmission cross bar 113 facing the clamp base plate 109 is provided with a matching convex guide rod corresponding to the strip guide groove 133. The end surface of the transmission gear 115 facing away from the clamp base plate 109 is flush with the end surface of the transmission cross bar 113 facing away from the clamp base plate 109, and both are in contact with the vertical plate B121. The strip guide groove 133 is a dovetail groove.

[0063] The clamping plate driving device 114 is driven by the transmission gear 115 through the reduction gear box 124 , and the clamping plate driving device 114 is fixedly connected to the fixture base plate 109 through the reduction gear box 124 .

[0064] The horizontal top plate and the horizontal bottom plate of the "C"-shaped plate 117 are respectively provided with vertical plates C122 facing each other, and a gap is provided between the vertical plates C122. The camera 119 extends out from the gap between the vertical plates C122. The end surface of the vertical plate C122 facing away from the fixture base plate 109 is also fixedly connected with a ring light 123. The ring light 123 is coaxially arranged with the camera 119, and the irradiation direction of the ring light 123 is consistent with the shooting direction of the camera.

[0065] The active clamping roller 111 and the driven clamping roller 112 both include a clamping roller shaft 138, and the clamping roller shaft 138 is connected to the clamping plate 10 through a group of parallel connecting plates 128, one end of the connecting plate 128 is fixedly connected to the clamping plate 110, and the other end of the connecting plate 128 is rotatably connected to the clamping roller shaft 138, and the two ends of the clamping roller shaft 138 pass through the corresponding connecting plates 128 upward and downward respectively, and the clamping roller shaft 138 is coaxially fixedly connected to the clamping roller wheel 127 at the position between the connecting plates 128, and the clamping roller shaft 138 is located at The parts of the connecting plates 128 extending outward are respectively coaxially fixedly connected with the clamping rollers 126, the diameters of the clamping roller wheel 127 and the clamping roller 126 are equal, the circumferential side walls of the clamping roller 126 and a plurality of anti-skid convex rings 151 are evenly distributed along the axial direction, the anti-skid convex rings 151 are coaxially arranged with the clamping roller 126, and the circumferential side wall surface of the clamping roller wheel 127 is provided with anti-skid grooves; a wheel driving device 134 is fixedly connected between the connecting plates 128 corresponding to the active clamping roller 111, and the wheel driving device 134 is transmission-connected to the clamping roller shaft 138.

[0066] A pinch roller transmission wheel B136 is coaxially fixedly connected to the wheel output shaft of the wheel driving device 134, and a pinch roller transmission wheel A135 is coaxially fixedly connected to the pinch roller shaft 138. The pinch roller transmission wheel A135 is transmission-connected to the pinch roller transmission wheel B136.

[0067] The connecting plate 128 is rotatably connected with a pinch roller transmission wheel C137 which is respectively connected to the pinch roller transmission wheel A135 and the pinch roller transmission wheel B136.

[0068] The clamping roller 126 includes a cylindrical groove 140 which is coaxially fixedly connected to the clamping roller shaft 138 and extends out of one end of the connecting plate 128, the notch of the cylindrical groove 140 faces away from the clamping roller shaft 138, and the circumferential outer wall of the cylindrical groove 140 is coaxially covered with an anti-skid pad layer 141, and the circumferential outer wall of the anti-skid pad layer 141 is axially equidistantly distributed with a plurality of anti-skid convex rings 151.

[0069] The circumferential outer wall of the anti-slip pad layer 141 is axially and evenly spaced with a plurality of annular grooves 150 coaxially arranged with the anti-slip pad layer 141, and an annular strip is coaxially arranged on the groove wall of the annular groove 150 away from the clamping roller shaft 138, and the free end of the annular strip is connected to the bottom of the annular groove 150 via an annular spring piece 152, one side edge of the annular spring piece 152 is fixedly connected to the annular strip, and the other side edge of the annular spring piece 152 is fixedly connected to the bottom of the annular groove 150, and the annular spring piece 152 pushes the annular strip out of the notch of the annular groove 150 to form an anti-slip convex ring 151.

[0070] The anti-slip pad layer 141 corresponds to the groove opening of the cylindrical groove 140 and is provided with an annular flange 145 extending inwardly, and the annular flange 145 extends inwardly to the inner side wall 142 of the cylindrical groove 140, and is provided with a connecting sleeve 146 matching the inner side wall 142 of the groove. A plug body 129 is also provided in the groove of the cylindrical groove 140, and the inner wall of the tube cavity 148 of the connecting sleeve 146 matches the side wall of the plug body 129, and the plug body 129 clamps and fixes the connecting sleeve 146 to the inner side wall 142 of the groove.

[0071] A center screw 143 is provided at the center of the bottom of the cylindrical groove 140, and a threaded hole 149 matching the center screw 143 is provided at the axial center of one end of the plug body 129 extending into the tube cavity 148 of the connecting sleeve 146. The inner wall of the tube cavity 148 of the connecting sleeve 146 is a conical hole, and the circumferential side wall of the plug body 129 corresponding to one side of the threaded hole 149 is a conical arc surface 147 matching the conical hole, and the conical arc surface 147 and the conical hole are interference fit.

[0072] A clamping roller limiting frame 130 with a "Z"-shaped structure is fixedly connected to the side of the connecting plate 128 facing away from the clamping roller wheel 127, and one end of the clamping roller limiting frame 130 is provided with a mounting plate for fixing to the connecting plate 128, and the mounting plate extends away from the corresponding clamping roller 126. The other end of the clamping roller limiting frame 130 is provided with a support block 131 extending toward the side of the clamping roller 126, and the support block 131 is provided with a guide groove 139 corresponding to the plug body 129. An operating convex ring 153 is coaxially provided on the circumferential surface of the plug body 129 and the edge of the end away from the clamping roller 126. The guide groove 139 matches the operating convex ring 153 and passes through the end surfaces of the support block 13 facing and facing away from the connecting plate 128. When the plug body 129 fixes the connecting sleeve 146 to the inner side wall 142 of the groove, the operating convex ring 153 is located in the guide groove 139.

[0073] The clamping roller limiting frame 130 is further provided with a rib plate 132 on the side facing the mounting plate.

[0074] The outer circumferential wall surface of the cylindrical groove 140 is evenly spaced with annular protrusions and annular depressions to form an annular corrugated structure 144, and the contact surface between the anti-slip pad layer 141 and the outer circumferential wall of the cylindrical groove 140 is also correspondingly provided with a matching annular corrugated structure 144.

[0075] The clamping roller shaft 138 is rotatably connected to the connecting plate 128 via a bearing 154 .

[0076] An annular plate unit positioning groove is provided at the center of the top surface of the turnover table A, turnover table B13, turnover table C15, turnover table D17, turnover table E19, turnover table F21 and turnover table G23.

[0077] The robot A12 is provided with a defective product placement table A24 on the side facing away from the annular plate unit trimming device 6, the robot B14 is provided with a defective product placement table B25 on the side facing away from the annular plate unit expanding device 7, the robot C16 is provided with a defective product placement table C26 on the side facing away from the rim flanging device 8, the robot D18 is provided with a defective product placement table D27 on the side facing away from the rim barrel trimming device 9, the robot E20 is provided with a defective product placement table E28 on the side facing away from the rim curling device 10, and the robot F22 is provided with a defective product placement table F29 on the side facing away from the tread shaping device 11.

[0078] The sheet material sawing device 1 is also provided with a sheet material unit punching and curling device 3 on one side corresponding to the curling material welding device 4 .

[0079] The sheet material sawing device 1 is also provided with a connecting strip unit curling device 2 on one side corresponding to the curling material welding device 4 .

[0080] The connecting strip unit curling device 2 includes a base 42, one side of the top surface of the base 42 is fixedly connected to a guide inclined plate 43, a row of curling guide pressing wheels is provided on the top surface of the base 42, located on one side of the guide inclined plate 43, the curling guide pressing wheels include a plurality of curling guide pressing wheels A45 arranged in a row and a curling guide pressing wheel B46 located at one end of the row where the curling guide pressing wheel A45 is located, and a row of curling guide base wheels 44 is also provided on the base 42, located between the guide inclined plate 43 and the curling guide pressing wheel The distance between the curling guide base wheel 44 corresponding to one end of the curling guide pressure wheel B46 and the adjacent curling guide base wheel 44 is greater than the distance between the other two adjacent curling guide base wheels 44, and the distances between the other two adjacent curling guide base wheels 44 are equal, and the curling guide base wheel 44 corresponding to the curling guide pressure wheel B46 is located between the curling guide pressure wheel B46 and the curling guide pressure wheel A45 adjacent to the curling guide pressure wheel B46, and the curling guide pressure wheel A45 surface The line connecting the curling guide base wheel 44 to the curling guide base wheel 44 is parallel to the line connecting the curling guide base wheel 44 to the curling guide pressure wheel A45, and the distance between the line connecting the curling guide pressure wheel B46 to the curling guide base wheel 44 and the line connecting the curling guide pressure wheel A45 to the curling guide base wheel 44 is smaller than the distance between the line connecting the curling guide pressure wheel A45 to the curling guide base wheel 44 and the line connecting the curling guide base wheel 44 to the curling guide pressure wheel A45. The curling guide pressure wheel A45 is tilted upward in the arrangement direction away from the curling guide pressure wheel B46, the lowest point of the guide inclined plate 43 is lower than the curling guide pressure wheel B46, and the highest point of the guide inclined plate 43 is higher than the curling guide pressure wheel A45, the curling guide base wheel 44, the curling guide pressure wheel A45 and the curling guide pressure wheel B46 all rotate horizontally around the vertical axis, the curling guide base wheel 44 is connected to the base wheel driving device through the base wheel transmission device, and the curling guide base wheel 44 rotates at the same speed and in the same direction.

[0081] The guide inclined plate 43 extends out of the base 42 corresponding to one side edge of the curling guide pressing wheel B46, and the guide inclined plate 43 extends away from the side of the curling guide pressing wheel B46 to the position of the curling guide pressing wheel A45 farthest from the curling guide pressing wheel B46.

[0082] The axes of the curling guide pressing wheel A45 and the curling guide pressing wheel B46 are fixedly connected to the top surface of the slider 47, and the slider 47 is adjusted in the corresponding sliding groove 48 of the base 42 along the direction facing or facing away from the curling guide base wheel 44.

[0083] The side wall of the base 42 near the side where the curling guide pressure wheel A45 is located and the position of the slide groove 48 corresponding to the curling guide pressure wheel A45 are respectively threadedly connected with an adjusting screw A51, and one end of the adjusting screw A51 extends into the slide groove 48 and is rotatably connected to the slider 47 of the curling guide pressure wheel A45. The side wall of the base 42 near the side where the curling guide pressure wheel B46 is located and the position of the slide groove 48 corresponding to the curling guide pressure wheel B46 is fixedly provided with a piston cylinder 54, and the end of the piston rod 55 of the piston cylinder 54 extends into the slide groove 48 of the curling guide pressure wheel B46 and is fixedly connected to the slider 47 of the curling guide pressure wheel 46.

[0084] The sliding block 47 is fixedly connected to the connecting block 50 , the adjusting screw A51 is rotatably connected to the connecting block 50 , and the piston rod 55 is fixedly connected to the connecting block 50 .

[0085] The adjusting screw A51 is coaxially fixedly connected to a hand wheel 52 at one end located on the outer side of the base 42, and the piston rod 55 extends out of the piston cylinder 54 at one end facing away from the curling guide pressure wheel B46 to form an adjusting screw B56. An adjusting nut 57 is provided on the adjusting screw B56. When the piston rod 55 drives the curling guide pressure wheel B46 to move toward the curling guide base wheel 44 to the maximum stroke, the adjusting nut 57 contacts the piston cylinder 54 to limit the position.

[0086] The portion of the adjusting screw A51 extending into the slide slot 48 is connected to a locking nut 53. When the adjusting screw A51 adjusts the slider 47 to a specified position, the locking nut 53 is screwed and moved by the adjusting screw A51 to fit and fix with the connecting block 50.

[0087] The two opposite side groove walls of the slide groove 48 are respectively provided with slide rails 49 , and the two side groove walls of the slider 47 are provided with matching track grooves corresponding to the slide rails 49 . The slider 47 moves along the slide groove 48 through the track grooves and the slide rails 49 .

[0088] The connecting strip unit curling device 2 is located on the side of the sheet material unit stamping and curling device 3 facing away from the curling material welding device 4 .

[0089] When the present application produces standard parts for rim blanks, the sheet material is first placed along the length direction of the sheet material loading rack 33 of the sheet material sawing device 1, and then a sheet material limiting device is fixedly connected to the side of the sawing table 30 facing away from the sheet material loading rack 33 according to the size of the standard parts for rim blanks to be produced, and the distance between the sheet material limiting device and the saw blade is equal to the circumference of the standard parts for rim blanks to be produced; then the sheet material is moved toward the sawing table 30 until it contacts the sheet material limiting device; then the horizontal cross bar 21 is moved upward The pneumatic piston cylinder 32 drives the horizontal pressure bars to move downward respectively, so that the horizontal pressure bars respectively press and fix the sheet materials on both sides of the saw blade; finally, the saw blade starts and moves from one side of the sawing table 30 to the other side along the strip hole, and then the sheet material unit is sawed off from the sheet material, and then the saw blade returns to the starting position, and the piston rod 32 is started to drive the horizontal pressure bar to move upward to the maximum stroke. At this time, the sawed sheet material unit is circulated to the next process, and the above action is repeated for the sheet material to continue cutting the sheet material.

[0090] The cut sheet material can be processed by a sheet unit rolling device 5 or a sheet unit stamping and curling device 3 into a structure similar to that processed before welding in step S4 recorded in the specification and drawings of the patent document with application number 202111230454.4, that is, a similar annular structure at the connection of the two ends of the sheet unit, and both ends of the sheet unit are provided with flanges located in the same plane, which is convenient for the next welding process.

[0091] If the sheet material unit rolling device 5 processes the sheet material unit, the lever 40 is moved to the side of the roller driving device 39, and the bearing seat D37 is swung upward to connect with the driving roller 35; then the driven roller A is driven by the roller lifting and adjusting device A to adjust the vertical distance between it and the driving roller 35 to be equal to the thickness of the sheet material unit, and the driven roller B36 is driven by the roller lifting and adjusting device B to adjust it to be flush with the driven roller A; then the roller driving device 39 is started, and one end of the sheet material unit is placed on the driven roller B36, and the sheet material unit is passed under the driving roller 35 in the order of driven roller B36, driven roller A, and another driven roller B36; when one end of the sheet material unit needs to be folded to form a flange, the driven roller B36 on the side away from the feeding end of the sheet material unit rises upward under the action of the roller lifting and adjusting device B, causing the sheet material unit to pass through the driven roller. A flange is formed at the end of the sheet material unit of roller B36, and the angle between the flange and the sheet material unit is a right angle or an obtuse angle; when the end flanging of one end of the sheet material unit is completed, the driven roller B36 is then moved downward by the action of the roller lifting and adjusting device B, and the sheet material unit is rolled; when the other end of the sheet material unit passes through the driven roller B36 away from the feeding end of the sheet material unit, the corresponding roller lifting and adjusting device B drives the driven roller B36 to rise upward again, and the end of the sheet material unit passing through the driven roller B36 is formed again with another flange corresponding to the previous flange, and the flange is located in the same plane as the previous flange; finally, the bearing seat D37 swings to separate from the driving roller 35, and then the lever 40 pushes the sheet material unit that has completed the rolling process and is placed on the driving roller 35 out from the end corresponding to the bearing seat D37 along the direction of the driving roller 35.

[0092] If the sheet unit stamping and curling device 3 processes the sheet unit, the sheet unit is stamped and curled according to the contents of steps S1 to S3 recorded in the specification and drawings of the patent document with application number 202111230454.4.

[0093] The sheet unit after the bending and flanging process is welded by the curling material welding device 4 to form an annular unit plate. The curling material welding device 4 performs the following operations when welding the sheet unit: the sheet unit after the curling process is placed on the horizontal fixed plate 61 located outside the base frame 58, and the flangings at both ends of the curled sheet unit are respectively aligned and fixed to the horizontal fixed plate 61 through the locking clamps 76, at which time the flanging of the sheet unit is aligned with the marking groove provided on the horizontal fixed plate 61; then the horizontal moving frame 68 drives the horizontal fixed plate 61 fixed with the sheet unit to move to the position of the strip through hole 63, and the flanging of the sheet unit fixed on the horizontal fixed plate 61 is located directly below the walking track of the welding head. Then the scar removal device 60 and the welding device 62 are started respectively, and the milling cutter lifting device and the welding head lifting device respectively drive the milling cutter of the scar removal device 60 and the welding head of the welding device 62 to move downward to correspond to the fitting position of the top surface of the flange of the sheet material unit fixed by the horizontal fixed plate 61 corresponding to the position of the strip through hole 63; then the longitudinal drive device A65 drives the scar removal device 60 and the welding device 62 to move toward the sheet material unit at the same time, so as to weld the flange fitting position of the sheet material unit and mill the weld scar after welding, so as to ensure that the welding position of the flange is flush with the rest of the flange; at this time, the horizontal fixed plate 61 located on the other side of the transverse moving frame 68 and on the outside of the base frame 58 is used to pick up the annular plate unit that has been welded and to install the sheet material unit to be welded; when the welding head moves to the plate When the flanging of the material unit is separated, the welding head lifting device drives the welding head to move upward to the maximum stroke and stops welding; when the milling cutter moves to separate from the sheet material unit, the milling cutter lifting device drives the milling cutter to move upward to the maximum stroke and stops rotating; when the longitudinal drive device A65 drives the weld scar removal device 60 and the welding device 62 to move to one side of the sheet material unit to the maximum stroke, the longitudinal drive device A65 drives the weld scar removal device 60 and the welding device 62 back to the starting position, and at the same time, the transverse moving frame 68 drives the horizontal fixed plate 61 fixed with the welded annular plate unit to move to the outside of the base frame 58 for material removal and installation and fixing of another sheet material unit to be welded, and at the same time drives the horizontal fixed plate 61 fixed with the sheet material unit to be welded to move to the inside of the base frame 58 for welding; thereby realizing continuous production.

[0094] The annular plate unit after welding is re-rounded by the plate unit rolling device 5. During the operation, the lever 40 is moved to the side of the roller driving device 39, and the bearing seat D37 is swung downward to separate from the driving roller 35; then the driven roller A is driven by the roller lifting and adjusting device A to adjust the vertical distance between it and the driving roller 35 to be equal to the thickness of the plate unit, and the driven roller B36 is driven by the roller lifting and adjusting device B to be flush with the driven roller A; then the annular plate unit is put on the driving shaft 35 from the end corresponding to the bearing seat D37 of the driving shaft 35, and then the bearing seat D37 is swung to connect with the driving roller 35; then the roller driving device 39 is started, and then the driven roller B36 is driven by the roller lifting and adjusting device B to adjust the driven roller B36 to be flush with the driven roller A; then the annular plate unit is put on the driving shaft 35 from the end corresponding to the bearing seat D37 of the driving shaft 35, and then the bearing seat D37 is swung to connect with the driving roller 35; then the roller driving device 39 is started, and then the driven roller B36 is driven by the roller lifting and adjusting device B to be flush with the driven roller A; The roller lifting and adjusting device B gradually rises upward until the annular plate unit is rolled into a cylindrical shape; finally, the roller driving device 39 stops rotating, and the driven roller A and the driven roller B36 are gradually lowered to the starting position through the roller lifting and adjusting device A and the roller lifting and adjusting device B respectively, and then the bearing seat D37 is swung to separate from the driving roller 35, and then the lever 40 pushes the annular plate unit that has completed the roller bending and re-rounding processing and is sleeved on the driving roller 35 from the end corresponding to the bearing seat D37 along the direction of the driving roller 35; the operator places the annular plate unit that has been re-rounded by the sheet unit rolling device 5 in the annular plate unit positioning groove on the turntable A.

[0095] When the annular plate unit that has completed the re-rounding process is trimmed by the annular plate unit trimming device 6, first, according to the axial size of the annular unit plate and the diameter size of the standard part of the rim blank to be processed, the height position of the tool holder 102 fixedly connected to the tool holder 100 is adjusted, and the height position of the tool holder 100 is adjusted by the lifting drive device C106, so that the distance between the cutting knives 101 meets the axial length of the annular plate unit required for the production of the standard part of the rim blank, and the cutting amount of the annular unit plate by the cutting knife 101 is guaranteed to be minimal; the translation drive The device 105 and the robot A12 clamp the annular plate unit on the turntable A and turn it to the annular plate unit finishing device 6, and put the annular plate unit on the annular plate expansion device 82 and place it on the horizontal support plate 84. At this time, the output shaft 93 and the horizontal support plate 84 rise to the maximum stroke under the action of the lifting drive device A91 and the lifting drive device B97 respectively; then the lifting drive device A91 drives the output shaft 93 to move downward, thereby driving the cone sleeve 88 on the upper part of the output shaft 93 to move downward, and then drives the output shaft contact unit 86 to move in the cone sleeve. 88, the ring plate expansion unit 85 is expanded outward, so that the ring plate expansion unit 85 contacts the ring plate unit and expands to be coaxially fixed; then the lifting drive device B97 drives the horizontal support plate 84 to move downward to the maximum star out solidification, at which time the horizontal support plate 84 is separated from the ring plate unit; then the rotation drive device 83 is started, and the translation drive device 105 drives the lifting seat 104 together with the cutting knife 101 to move toward the ring plate unit, and cuts and trims the edges of the two ends of the ring plate unit; after the trimming of the ring plate unit is completed, the translation drive device 105 is used to The cutting blade 101 is driven away from the annular plate unit to the starting position; then the lifting drive device B97 drives the horizontal support plate 84 to move upward until it contacts the bottom edge of the annular plate unit; then the robot A12 clamps the annular plate unit still fixed to the annular plate expansion device 82, and then the lifting drive device A91 drives the output shaft 93 to move upward to the maximum stroke, at which time the cone sleeve 88 on the upper part of the output shaft 93 is separated from the output shaft contact unit 86; finally, the annular plate unit sleeved on the annular plate expansion unit 85 is taken out by the robot A12 and circulated;During the turnover process, the camera 119 provided on the annular plate unit fixture of the robot A12 observes the quality of the outer circumferential side wall surface of the annular plate unit. When the outer circumferential side wall surface of the annular plate unit observed by the camera 119 is defective, the robot A12 rotates the annular plate unit to the defective product placement table A24 so that the operator can manually judge the annular plate unit judged as a defective product. If the operator judges that the surface defect of the annular plate unit is only oil stains or other impurities, or even a misjudgment of the camera 119, the surface of the annular plate unit is wiped clean and the annular plate unit is placed on the turnover table B13 when there is no annular plate unit. The plate unit is placed in the annular plate unit positioning groove of the turntable B13. If the operator determines that the annular plate unit is indeed defective, the operator will turn the defective product to the defective product processing area for subsequent processing; when the camera 119 of the robot A12 observes that there is no defect on the outer circumferential side wall surface of the annular plate unit, the robot A12 turns the annular plate unit to the annular plate unit positioning groove of the turntable B13 so that the subsequent process can be operated normally; and then when there is an annular plate unit in the annular plate unit positioning groove on the turntable A, the robot A12 turns the annular plate unit on the turntable A to the annular plate unit finishing device 6 for processing again. ;

[0096] When the idle robot B14 finds that there is an annular plate unit in the annular plate unit positioning groove on the turntable B13, the robot B14 turns the annular plate unit on the turntable B13 to the annular plate unit expanding device 7, expands the annular plate unit, so that the annular plate unit forms a structure after completing step S6 as recorded in the specification and the drawings of the patent document with application number 202111230454.4; then the annular plate unit that has completed the expanding process is taken out by the robot B14 and turned over; during the turnover process, the camera 119 provided on the annular plate unit fixture of the robot B14 observes the quality of the outer circumferential side wall surface of the annular plate unit for one week. When the outer circumferential side wall surface of the annular plate unit observed by the camera 119 is defective, the robot B14 turns the annular plate unit to the defective product placement table B25, so that the operator can inspect the annular plate unit judged as a defective product. The operator performs manual judgment on the annular plate unit. If the operator judges that the surface defect of the annular plate unit is only oil stain or other impurities, or even a misjudgment of the camera 119, the surface of the annular plate unit is wiped clean, and when there is no annular plate unit on the turntable C15, the annular plate unit is placed in the annular plate unit positioning groove of the turntable C15. If the operator judges that the annular plate unit does have defects, the operator transfers the defective product to the defective product processing area for subsequent processing; when the camera 119 of the robot B14 observes that there are no defects on the outer circumferential side wall surface of the annular plate unit, the robot B14 transfers the annular plate unit to the annular plate unit positioning groove of the turntable C15 so that the subsequent processes can operate normally; and then when there is an annular plate unit in the annular plate unit positioning groove on the turntable B13, the robot B14 transfers the annular plate unit on the turntable B13 to the annular plate unit expanding device 7 for processing again.

[0097] When the idle robot C16 finds that there is an annular plate unit in the annular plate unit positioning groove on the turntable C15, the robot C16 rotates the annular plate unit on the turntable C15 to the rim flanging device 8, and flanging the end rim edge of the flared end of the annular plate unit outward, so that the annular plate unit forms a structure after the first step in step S7 as recorded in the specification and the drawings of the patent document with application number 202111230454.4; then the annular plate unit that has completed the rim flanging process is taken out and rotated by the robot C16; during the turnover process, the camera 119 provided on the annular plate unit fixture of the robot C16 observes the quality of the outer circumferential side wall surface of the annular plate unit for one circle. When the outer circumferential side wall surface of the annular plate unit observed by the camera 119 is defective, the robot C16 rotates the annular plate unit to the defective product placement table C26 so that the operator can judge it as The annular plate unit of the defective product is manually judged. If the operator judges that the surface defect of the annular plate unit is only oil stain or other impurities, or even a misjudgment of the camera 119, the surface of the annular plate unit is wiped clean, and when there is no annular plate unit on the turntable D17, the annular plate unit is placed in the annular plate unit positioning groove of the turntable D17. If the operator judges that the annular plate unit does have defects, the operator transfers the defective product to the defective product processing area for subsequent processing; when the camera 119 of the robot C16 observes that there are no defects on the outer circumferential side wall surface of the annular plate unit, the robot C16 transfers the annular plate unit to the annular plate unit positioning groove of the turntable D17 so that the subsequent process can operate normally; and then when there is an annular plate unit in the annular plate unit positioning groove on the turntable C15, the robot C16 again transfers the annular plate unit on the turntable C15 to the wheel rim flanging device 8 for processing.

[0098] When the idle robot D18 finds that there is an annular plate unit in the annular plate unit positioning groove on the turnover table D17, the robot D18 rotates the annular plate unit on the turnover table D17 to the rim barrel finishing device 9, and reshapes the annular plate unit that has completed the rim flanging, so that the structures of the main body part, the flared part and the rim flanging part of the annular plate unit can be completely coaxial, and the roundness is guaranteed to meet the requirements for subsequent processing; then the annular plate unit that has completed the barrel shaping processing is taken out by the robot D18 and rotated; during the rotation process, the camera 119 set by the annular plate unit fixture of the robot D18 observes the quality of the outer circumferential side wall surface of the annular plate unit for one week. When the outer circumferential side wall surface of the annular plate unit observed by the camera 119 is defective, the robot D18 rotates the annular plate unit to the defective product placement table D27, so that the operator can inspect the annular plate judged as a defective product. The unit is manually judged. If the operator judges that the surface defect of the annular plate unit is only oil stains or other impurities, or even a misjudgment of the camera 119, the surface of the annular plate unit is wiped clean and the annular plate unit is placed in the annular plate unit positioning groove of the turntable E19 when there is no annular plate unit on the turntable E19. If the operator judges that the annular plate unit does have defects, the operator transfers the defective product to the defective product processing area for subsequent processing; when the camera 119 of the robot D18 observes that there are no defects on the outer circumferential side wall surface of the annular plate unit, the robot D18 transfers the annular plate unit to the annular plate unit positioning groove of the turntable E19 so that the subsequent processes can operate normally; and then when there is an annular plate unit in the annular plate unit positioning groove on the turntable D17, the robot D18 again transfers the annular plate unit on the turntable D17 to the rim barrel dressing device 9 for processing.

[0099] When the idle robot E20 finds that there is an annular plate unit in the annular plate unit positioning groove on the turntable E19, the robot E20 turns the annular plate unit on the turntable E19 to the rim curling device 10, and performs rim flanging processing on the annular plate unit that has completed the cylinder shaping, so that the flanging of the annular plate unit is rolled up and fixed to form the rim structure after the second step in step S7 as recorded in the specification and the drawings of the specification of the patent document with application number 202111230454.4; then the annular plate unit that has completed the rim curling is taken out by the robot E20 and turned over; during the turnover process, the camera 119 set by the annular plate unit fixture of the robot E20 observes the quality of the outer circumferential side wall surface of the annular plate unit for one week. When the outer circumferential side wall surface of the annular plate unit observed by the camera 119 is defective, the robot E20 turns the annular plate unit to the defective product placement table E28 for operation. The operator manually judges the annular plate unit judged as a defective product. If the operator judges that the surface defect of the annular plate unit is only oil stains or other impurities, or even a misjudgment of the camera 119, the surface of the annular plate unit is wiped clean, and when there is no annular plate unit on the turntable F21, the annular plate unit is placed in the annular plate unit positioning groove of the turntable F21. If the operator judges that the annular plate unit does have defects, the operator transfers the defective product to the defective product processing area for subsequent processing; when the camera 119 of the robot E20 observes that there is no defect on the outer circumferential side wall surface of the annular plate unit, the robot E20 transfers the annular plate unit to the annular plate unit positioning groove of the turntable F21 so that the subsequent process can be operated normally; and then when there is an annular plate unit in the annular plate unit positioning groove on the turntable E19, the robot E20 again transfers the annular plate unit on the turntable E19 to the wheel rim curling device 10 for processing.

[0100] When the idle robot F22 finds that there is an annular plate unit in the annular plate unit positioning groove on the turnover table F21, the robot F22 rotates the annular plate unit on the turnover table F21 to the tread shaping device 11, and processes the connection between the main body part and the flared part of the annular plate unit that has completed the cylinder shaping to form a tread, so that the annular plate unit forms a standard part structure of the rim blank after the last step in step S7 as recorded in the specification and the drawings of the patent document with application number 202111230454.4; then the annular plate unit that has completed the tread shaping process is taken out by the robot F22 and rotated; during the turnover process, the camera 119 set by the annular plate unit fixture of the robot F22 observes the quality of the outer circumferential side wall surface of the annular plate unit for one week. When the outer circumferential side wall surface of the annular plate unit observed by the camera 119 is defective, the robot F22 rotates the annular plate unit to the defective product placement table F29 on, so that the operator can manually judge the annular plate unit judged as a defective product. If the operator judges that the surface defect of the annular plate unit is only oil or other impurities, or even a misjudgment of the camera 119, the surface of the annular plate unit is wiped clean, and when there is no annular plate unit on the turntable G23, the annular plate unit is placed in the annular plate unit positioning groove of the turntable G23. If the operator judges that the annular plate unit does have defects, the operator transfers the defective product to the defective product processing area for subsequent processing; when the camera 119 of the robot F22 observes that there is no defect on the outer circumferential side wall surface of the annular plate unit, the robot F22 transfers the annular plate unit to the annular plate unit positioning groove of the turntable G23, so that the subsequent process can be operated normally; and then when there is an annular plate unit in the annular plate unit positioning groove on the turntable F21, the robot F22 again transfers the annular plate unit on the turntable F21 to the tread shaping device 11 for processing.

[0101] In the above process involving each robot, when each robot clamps the corresponding annular plate unit, the robot moves to the corresponding annular unit plate position according to the image captured by the camera 119, and keeps the annular plate unit clamp perpendicular to the corresponding annular plate unit axis, the symmetrical clamping plate 110 is located on both sides of the annular plate unit, and the active clamping roller 111 and the driven clamping roller 112 on the same clamping plate 110 are also symmetrically located on both sides of the annular plate unit axis; then the clamping plate driving device 114 drives the clamping plate 110 to move toward each other until the active clamping roller 111 and the driven clamping roller 112 of the clamping plate 110 are in contact with and clamped to the outer side wall of the annular plate unit at the same time; at this time, due to the effect of the annular plate unit's own gravity, the annular plate unit will be relative to the active clamping roller 11 1 and the driven clamping roller 112 have a tendency to move downward, and because the overtime 110 has a clamping force on the annular plate unit, the anti-skid convex ring 151 provided on the surface of the anti-skid cushion layer 141 of the clamping roller 126 corresponding to the position in contact with the annular plate unit is compressed and deformed due to the clamping force, thereby compressing the annular spring piece 152 at the corresponding position to deform, and since the elastic coefficient of the annular spring piece 152 is greater than the anti-skid convex ring 151, the annular spring piece 152 applies sufficient relative force to the anti-skid convex ring 151 at the corresponding position, thereby providing a force to make the anti-skid convex ring 151 have a tendency to restore to its original state, thereby ensuring the anti-skid effect of the anti-skid convex ring 151. Moreover, since the anti-skid pad layer 141 is connected to the cylindrical groove 140 via the annular corrugated structure 144, and the anti-skid pad layer 141 is provided with an annular flange 145 and a connecting sleeve 146 structure, the anti-skid pad layer 141 is prevented from moving downward relative to the cylindrical groove 140 due to the friction force generated by the gravity of the annular plate unit, thereby further ensuring the fixing effect of the annular plate unit after clamping and the annular plate unit clamp.

[0102] Furthermore, the plug body 129 is connected and fixed to the conical structure of the connecting sleeve 146 , thereby further preventing the connecting sleeve 146 from being separated from the notch of the cylindrical groove 140 .

[0103] And when the camera 119 needs to observe the annular plate unit clamped by the annular plate unit clamp to determine whether it is a defective product, the clamping roller wheel 127 is driven to rotate through the wheel driving device 134, thereby driving the annular plate unit to rotate, so that the camera 119 can observe the entire outer wall of the annular plate unit.

[0104] A guide groove 139 is provided through the support block 131 of the clamping roller limiting frame 130 corresponding to the plug body 129, and the guide groove 139 is matched and limited with the operating convex ring 153 of the plug body 129, thereby providing lateral support for the clamping roller 126 and ensuring the lateral support force of the clamping roller 126.

[0105] Since the clamping roller 126 is clamped with the annular plate unit for a long time and needs to withstand the tendency of the annular plate unit to move downward relatively, the anti-skid pad 141 of the clamping roller 126 needs to be replaced after a long period of use. When replacing the anti-skid pad 141, it is only necessary to screw the plug body 129 until it is separated from the center screw 143 in the cylindrical groove 140, and then the anti-skid pad 141 can be replaced. After replacement, the plug body 129 and the center screw 143 can be tightened and fixed again.

[0106] In the process of producing rims using standard rim blank parts, some rims need to be coaxially welded and fixed with two standard rim blank parts by an annular connecting strip due to special process requirements. The present application can also produce and process the connecting strip.

[0107] When it is necessary to produce an annular connecting strip, the connecting strip raw material is first placed along the length direction of the plate material loading rack 33 of the plate material sawing device 1, and then a plate material limiting device is fixedly connected to the side of the sawing table 30 facing away from the plate material loading rack 33 according to the size of the standard part of the rim blank to be produced, and the distance between the plate material limiting device and the saw blade is equal to the circumference of the standard part of the rim blank to be produced; then the connecting strip raw material is moved toward the sawing table 30 until it contacts the plate material limiting device; then the pneumatic piston cylinder on the horizontal cross bar 21 32 drives the horizontal pressure bars to move downward respectively, so that the horizontal pressure bars respectively press and fix the connecting strip materials on both sides of the saw blade; finally, the saw blade starts and moves from one side of the sawing table 30 to the other side along the strip hole, and then the connecting strip unit is sawed off from the connecting strip material, and then the saw blade returns to the starting position, and the piston rod 32 is started to drive the horizontal pressure bar to move upward to the maximum stroke. At this time, the sawed connecting strip unit is circulated to the next process, and the above action is repeated with the connecting strip material to continue cutting the connecting strip material.

[0108] The sawed connecting strip unit is curled into an annular structure by the connecting strip unit curling device 2; during operation, the distance between the axis line of the curling guide pressure wheel A45 and the curling guide base wheel 44 is adjusted to be equal to the thickness of the connecting strip unit by adjusting the hand wheel 52 according to the thickness of the connecting strip unit; the distance between the axis line of the curling guide pressure wheel B46 and the curling guide base wheel 44 when the piston rod 55 drives the curling guide pressure wheel B46 to extend out of the piston cylinder 54 is adjusted by adjusting the adjusting nut 57 on the adjusting screw B56, and the distance between the axis line of the curling guide pressure wheel B46 and the curling guide base wheel 44 when the piston rod 55 drives the curling guide pressure wheel B46 to retract into the piston cylinder 54 is greater than or equal to the distance between the axis line of the curling guide pressure wheel A45 and the curling guide base wheel 44; the curling guide base wheel 44 is driven by the base wheel driving device to extend one end of the connecting strip unit from one end of the curling guide pressure wheel B46 in the yard into the curling guide base wheel 44 and the curling guide pressure wheel A45, and then it is transmitted under the action of the curling guide base wheel 44 until the end of the connecting strip unit passes through the curling guide base wheel 44 corresponding to the curling guide pressure wheel B46 and contacts the curling guide pressure wheel B46. After the connecting strip unit passes through the curling guide pressure wheel B46 for a period of time, the piston cylinder 54 drives the piston rod 55 and the curling guide pressure wheel B46 to move away from the piston cylinder 54, thereby driving the curling guide pressure wheel B46 to bend the connecting strip unit around the corresponding curling guide base wheel 44. The bent connecting strip unit bypasses the curling guide base wheel 44 and extends to the guide inclined plate 43. Due to the action of the guide inclined plate 43, the curled connecting strip unit located on the guide inclined plate 43 will not contact the curling guide base wheel 44, the curling guide pressure wheel A45 and the curling guide pressure wheel B46 to affect the continued curling of the connecting strip unit.

[0109] The curled connecting strip unit is welded by the curling material welding device 4 to form an annular connecting strip unit, and the operation method is the same as that of the plate unit after the bending and flanging processing is welded by the curling material welding device 4 to form an annular unit plate.

[0110] The welded annular connecting strip unit is then re-rounded by the plate unit rolling device 5, and the operation method is the same as the re-rounding operation of the annular unit plate; the connecting strip unit that has completed the re-rounding operation can be used for the production of the rim.

Claims

1. A ring plate unit fixture for a robot, characterized in that: The clamping device comprises a clamping base (109), wherein two ends of one end surface of the clamping base (109) are symmetrically provided with clamping plates (110) in the length direction, and the clamping plates (110) are simultaneously moved toward or away from each other by a clamping plate driving device (114). The clamping plate driving device (114) is fixedly connected to the end surface of one side of the clamping base (109) facing away from the clamping plate (110). The end surface of one side of the clamping base (109) facing away from the clamping plate (110) is also fixedly connected to a useful The connecting head (118) is connected to the robot, and the side end surfaces of the clamping plate (110) facing each other are symmetrically provided with an active clamping roller (111) and a driven clamping roller (112), the axis of the active clamping roller (111) and the axis of the driven clamping roller (112) are parallel and perpendicular to the plane surrounded by the clamping base plate (109) and the clamping plate (110); the side end surface of the clamping base plate (109) facing the clamping plate (110) is also fixed with a camera (119); The clamping plate driving device (114) is fixedly connected to the clamp base plate (109) via a "C"-shaped plate (117); the clamp base plate (109) passes through the "C"-shaped plate (117); the clamping plate driving device (114) is fixedly connected between the vertical plate A (120) of the "C"-shaped plate (117) and the clamp base plate (109); the horizontal top plate and the horizontal bottom plate of the "C"-shaped plate (117) are fixedly connected to the top surface and the bottom surface of the clamp base plate (109) respectively; and the "C"-shaped plate (117) ) extends toward the side where the clamp (110) is located, a vertical plate B (121) is fixedly connected between the horizontal top plate and the horizontal bottom plate of the "C"-shaped plate (117) and located on the side where the clamp base plate (109) faces the clamp base plate (110), the camera (119) is fixedly connected to the end surface of the vertical plate B (121) facing away from the clamp base plate (109) through a connecting base plate (125), and the connecting head (118) is fixedly connected to the end surface of the vertical plate A (120) facing away from the clamp base plate (109); The end surface of the clamp base plate (109) facing the vertical plate B (121) is provided with a transmission gear (115) which is transmission-connected to the clamp drive device (114); the clamp plate (110) is provided with a transmission cross bar (113) which is arranged parallel to the clamp base plate (109) at one end corresponding to the clamp base plate (109); the transmission cross bar (113) of one clamp plate (110) is located at the upper edge of the clamp base plate (109), and the transmission cross bar (113) of the other clamp plate (110) is located at the lower edge of the clamp base plate (109). 109), the transmission gear (115) is located between the two transmission cross bars (113), and the facing end surfaces of the transmission cross bars (113) are provided with racks (116) meshing with the transmission gear (115). One end of the transmission cross bar (113) is fixed to the corresponding clamping plate (110), and the other end continues to extend toward the other clamping plate (110). When the clamping plate (110) moves backward to the maximum stroke, the transmission cross bar (113) is still meshed with the transmission gear (115); The clamp base plate (109) is provided with a strip guide groove (133) corresponding to the transmission cross bar (113) and along the moving direction of the transmission cross bar (113); the end surface of the transmission cross bar (113) facing the clamp base plate (109) is provided with a matching convex guide rod corresponding to the strip guide groove (133); the end surface of the transmission gear (115) facing away from the clamp base plate (109) is flush with the end surface of the transmission cross bar (113) facing away from the clamp base plate (109), and both are in contact with the vertical plate B (121); the strip guide groove (133) is a dovetail groove; the clamp plate driving device (114) is transmitted to the transmission gear (115) through a reduction transmission box (124); the clamp plate driving device (114) is fixedly connected to the clamp base plate (109) through the reduction transmission box (124).

2. The annular plate unit fixture for a robot according to claim 1, characterized in that: The horizontal top plate and the horizontal bottom plate of the "C"-shaped plate (117) are respectively provided with vertical plates C (122) facing each other, a gap is provided between the vertical plates C (122), the camera (119) extends from the gap between the vertical plates C (122), and the end surface of the vertical plate C (122) facing away from the fixture base plate (109) is also fixedly connected to a ring light (123), the ring light (123) and the camera (119) are arranged coaxially, and the irradiation direction of the ring light (123) is consistent with the shooting direction of the camera.

3. The annular plate unit fixture for a robot according to claim 1, characterized in that: The active clamping roller (111) and the driven clamping roller (112) both include a clamping roller shaft (138), and the clamping roller shaft (138) is connected to the clamping plate (10) via a group of parallel connecting plates (128), one end of the connecting plate (128) is fixedly connected to the clamping plate (110), and the other end of the connecting plate (128) is rotatably connected to the clamping roller shaft (138), and the two ends of the clamping roller shaft (138) pass through the corresponding connecting plates (128) upward and downward, respectively, and the clamping roller shaft (138) is coaxially fixedly connected to a clamping roller rotating wheel (127) at a position corresponding to the position between the connecting plates (128), and the clamping roller shaft (138) corresponds to The portions of the connecting plates (128) extending outward are respectively coaxially fixedly connected with the clamping rollers (126); the diameters of the clamping roller wheel (127) and the clamping roller wheel (126) are equal; a plurality of anti-skid convex rings (151) are evenly distributed along the axial direction on the circumferential side walls of the clamping roller wheel (126); the anti-skid convex rings (151) are coaxially arranged with the clamping roller wheel (126); and the surface of the circumferential side walls of the clamping roller wheel (127) is provided with anti-skid patterns; a rotating wheel driving device (134) is fixedly connected between the connecting plates (128) corresponding to the active clamping roller (111); and the rotating wheel driving device (134) is transmission-connected to the clamping roller shaft (138).

4. The annular plate unit fixture for a robot according to claim 3, characterized in that: A roller drive wheel B (136) is coaxially fixedly connected to the output shaft of the rotary wheel of the rotary wheel driving device (134); a roller drive wheel A (135) is coaxially fixedly connected to the roller drive shaft (138); the roller drive wheel A (135) is transmission-connected to the roller drive wheel B (136); a roller drive wheel C (137) is rotationally connected to the connecting plate (128) and is transmission-connected to the roller drive wheel A (135) and the roller drive wheel B (136); the roller drive wheel (126) includes a roller drive wheel coaxially fixedly connected to the roller drive shaft (138) and extending out of the connecting plate (128) has a cylindrical groove (140) at one end, the notch of the cylindrical groove (140) faces away from the clamping roller shaft (138), the circumferential outer wall of the cylindrical groove (140) is coaxially covered with an anti-skid pad layer (141), and the circumferential outer wall of the anti-skid pad layer (141) is provided with a plurality of anti-skid convex rings (151) distributed at equal intervals along the axial direction; the surface of the circumferential outer wall of the cylindrical groove (140) is evenly spaced and evenly provided with an annular corrugated structure (144) formed by annular protrusions and annular recesses, and the contact surface between the anti-skid pad layer (141) and the circumferential outer wall of the cylindrical groove (140) is also provided with a matching annular corrugated structure (144).

5. The annular plate unit fixture for a robot according to claim 4, characterized in that: The circumferential outer wall of the anti-skid pad layer (141) is provided with a plurality of annular grooves (150) coaxially arranged with the anti-skid pad layer (141) at equal intervals along the axial direction, and an annular strip is coaxially arranged on the groove wall of the annular groove (150) away from the clamping roller shaft (138), and the free end of the annular strip is connected to the groove bottom of the annular groove (150) via an annular spring sheet (152), one side edge of the annular spring sheet (152) is fixedly connected to the annular strip, and the other side edge of the annular spring sheet (152) is fixedly connected to the groove bottom of the annular groove (150), and the annular spring sheet (152) pushes the annular strip out of the notch of the annular groove (150) to form an anti-skid convex ring (151).

6. The annular plate unit fixture for a robot according to claim 4, characterized in that: The anti-slip cushion layer (141) is provided with an annular flange (145) extending inwardly from the notch of the cylindrical groove (140), and the annular flange (145) extends inwardly to the inner side wall (142) of the cylindrical groove (140), and is provided with a connecting sleeve (146) matching the inner side wall (142) of the groove. A plug body (129) is also provided in the groove of the cylindrical groove (140), and the inner wall of the tube cavity (148) of the connecting sleeve (146) matches the side wall of the plug body (129), and the plug body (129) clamps the connecting sleeve (146) and fixes it to the groove. an inner wall (142); a center screw (143) is provided at the center of the bottom of the cylindrical groove (140); a threaded hole (149) matching the center screw (143) is provided at the axis of one end of the plug body (129) extending into the tube cavity (148) of the connecting sleeve (146); the inner wall of the tube cavity (148) of the connecting sleeve (146) is a conical hole; the circumferential side wall of the plug body (129) corresponding to the threaded hole (149) is a conical arc surface (147) matching the conical hole, and the conical arc surface (147) and the conical hole are interference fit.

7. The annular plate unit fixture for a robot according to claim 6, characterized in that: A "Z"-shaped clamping roller limiting frame (130) is fixedly connected to the side of the connecting plate (128) facing away from the clamping roller rotating wheel (127); one end of the clamping roller limiting frame (130) is provided with a mounting plate for fixing to the connecting plate (128); the mounting plate extends away from the side of the corresponding clamping roller rotating wheel (126); the other end of the clamping roller limiting frame (130) is provided with a support block (131) extending toward the side of the clamping roller rotating wheel (126); the support block (131) corresponds to the plug body. (129) is provided with a guide groove (139), and an operating convex ring (153) is coaxially provided on the circumferential surface of the plug body (129) and the edge of one end away from the clamping roller (126). The guide groove (139) matches the operating convex ring (153) and penetrates the end surface of the support block (13) facing and facing away from the connecting plate (128). When the plug body (129) fixes the connecting sleeve (146) to the inner side wall (142) of the groove, the operating convex ring (153) is located in the guide groove (139).

Images