Long nozzle automatic production device

Abstract

The invention belongs to the field of long nozzle automatic production equipment, and particularly relates to a long nozzle automatic production device which comprises a circulating track, a blanking mechanism, a processing manipulator, a transfer manipulator and a clamping manipulator, a plurality of trays are arranged on the circulating track at intervals, and a walking device for driving the trays to rotate along the circulating track is connected to the circulating track; the discharging mechanism is fixedly arranged above the circulating track, the vibrating mechanism is arranged on the circulating track under the discharging mechanism and arranged below the tray, the machining mechanical arm is arranged in the middle of the circulating track, and the transferring mechanical arm and the clamping mechanical arm are arranged on one side of the circulating track side by side at intervals. All the manipulators are connected with the translation devices, the mechanical arms can complete lifting and rotating actions, rubber sleeve production or carrying is more flexible, long nozzle production can be automatically completed, the labor intensity of workers is reduced, the automation level of long nozzle production is improved, and the machining and production efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the field of automatic shroud production equipment, and in particular relates to an automatic shroud production device. Background Art

[0002] The production processes of the three major parts of functional materials for continuous casting tundishes in my country include shrouds, shrouds and immersed shrouds. During the processing of the shrouds, materials need to be added into the rubber sleeve before forming. During the processing of the shrouds, fillers need to be filled into the rubber sleeve. In the past, filling and processing required manual operation, and the rubber sleeve needed to be moved many times during the production process. The labor cost was high, the work efficiency was low, and there were large working errors in manual operation. The quality of the produced shrouds was poor and did not meet customer requirements. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art and provide an automatic production device for a long shroud to replace manual labor and realize the fully automated production of the long shroud.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: an automatic production device for a long nozzle, including a circulating track, a blanking mechanism, a processing manipulator, a transfer manipulator and a clamping manipulator, a plurality of trays are arranged at intervals on the circulating track, a walking device that drives the trays to rotate along the circulating track is connected to the circulating track, the blanking mechanism is fixedly arranged above the circulating track, a vibrating mechanism is arranged on the circulating track directly below the blanking mechanism, the vibrating mechanism is arranged below the tray, the processing manipulator is arranged in the middle of the circulating track, the transfer manipulator and the clamping manipulator are arranged side by side at intervals on one side of the circulating track; the processing manipulator, the transfer manipulator and the clamping manipulator are arranged side by side at intervals on one side of the circulating track; the processing manipulator, the transfer manipulator and the clamping manipulator are arranged side by side at intervals on the ... The manipulator and the clamping manipulator are both connected with a translation device that drives them to move horizontally, and each manipulator includes a manipulator arm, and the manipulator arm is connected with a rotating mechanism that drives it to rotate and a manipulator arm lifting mechanism that drives it to rise and fall; a cage placement plate is arranged in the middle of the circulation track near the transfer manipulator, a rubber sleeve transfer assembly for clamping the rubber sleeve and a cage clamping assembly fixedly connected to the cage are arranged on the manipulator arm of the transfer manipulator, a fixed storage plate is arranged between the transfer manipulator and the clamping manipulator, and a workpiece clamping assembly for clamping the rubber sleeve and the semi-finished product of the long water nozzle and a finished product clamping assembly for clamping the long water nozzle are arranged on the manipulator arm of the clamping manipulator.

[0005] Preferably, the translation device includes a moving motor, a moving guide rail and a moving screw. The moving screw is horizontally arranged, and the moving guide rail and the moving screw are parallelly arranged. One end of the moving screw is connected to the output end of the moving motor, and the other end of the moving screw is fixed by a moving bearing seat. Each manipulator is respectively threadedly connected to each moving screw, and each manipulator is respectively slidably arranged on each moving guide rail.

[0006] Preferably, the processing robot comprises a workpiece cleaning mechanism, a clamping claw of a clamp, and a placing and taking mechanism of a plunger and a funnel, which are mounted on a robot arm.

[0007] Preferably, the placing and taking mechanism includes an electromagnet and a rubber sleeve fixed clamp arranged below the electromagnet, the electromagnet is connected to a lifting assembly that drives it to rise and fall, and a placing platform is also arranged on one side of the processing robot, and two groups of rubber sleeve fixed clamps are arranged, and the two groups of rubber sleeve fixed clamps are symmetrically arranged at both ends of the reversing plate, and the reversing plate is rotatably mounted on the robot arm through the reversing assembly, and magnetic metal materials are arranged on the plunger and the funnel.

[0008] Preferably, the rubber sleeve transfer assembly is provided with two groups at intervals along the vertical direction, each group of rubber sleeve transfer jaws includes two rubber sleeve transfer jaws, the two rubber sleeve transfer jaws are symmetrically arranged at both ends of the reversing plate, the reversing plate is rotatably mounted on the mechanical arm through the reversing assembly, and the reversing plates of the two groups of rubber sleeve transfer jaws rotate synchronously.

[0009] Preferably, the cage clamping assembly includes a cage clamping jaw and a cage fixing screw, the cage fixing screw is arranged between the cage clamping jaws, the cage fixing screw is connected to a power assembly for driving lifting, a cage fixing column is arranged at the lower end of the cage fixing screw, a connecting shaft connected to the cage clamping assembly is arranged on the cage, a connecting block is arranged at the upper end of the connecting shaft, the diameter of the connecting block is larger than the diameter of the connecting shaft, a groove for accommodating the connecting block is arranged in the middle of the clamping jaw, a fixing hole is opened in the middle of the connecting block, the cage fixing column is inserted into the fixing hole, a positioning plate is arranged at the connection between the cage fixing column and the cage fixing screw, and the diameter of the positioning plate is larger than the diameter of the fixing hole.

[0010] Preferably, a stabilizing component is connected to the upper end of the transfer robot.

[0011] Preferably, the stabilizing assembly includes a fixing member, a guiding member and a sliding member, one end of the guiding member is fixedly connected to the fixing member, the sliding member moves linearly along the guiding member, and the upper end of the transfer robot is rotatably connected to the lower end of the sliding member.

[0012] Preferably, two groups of the workpiece clamping assemblies are respectively provided on opposite sides of the clamping robot, a group of supporting clamping claws are provided below the two groups of workpiece clamping assemblies, and the finished product clamping assembly is provided between the two groups of workpiece clamping assemblies.

[0013] Preferably, a rubber sleeve cleaning mechanism is provided on the side of the clamping robot away from the transfer robot, and the rubber sleeve cleaning mechanism includes two groups of rubber sleeve cleaning components.

[0014] Compared with the prior art, the above technical scheme has the following beneficial effects: the present invention conveys the rubber sleeve through a circulating track, and the processing robot is arranged in the middle of the circulating track. The circulating transportation of the circulating track realizes the processing of the rubber sleeve at the processing robot and the feeding at the blanking mechanism. When feeding, the vibration mechanism under the tray vibrates the rubber sleeve to make the gap between the materials in the rubber sleeve smaller, and then the rubber sleeve is transferred by the transfer robot for cleaning and pressurization, and finally the separation of the rubber sleeve and the long water nozzle and the transportation of the finished long water nozzle are completed by the clamping robot. The processing robot, the transfer robot and the clamping robot are all connected with a translation device, and the mechanical arm of each robot can complete the lifting and rotating actions, and the production or transportation of the rubber sleeve is more flexible. The present invention can automatically complete the production of the long water nozzle, reduce the labor intensity of workers, improve the automation level of the long water nozzle production, and improve the processing and production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the present invention.

[0016] Figure 2 It is a structural schematic diagram of the other side of the present invention.

[0017] Figure 3 It is a structural diagram of the processing robot part.

[0018] Figure 4 for Figure 3 Enlarged view of point A in the middle.

[0019] Figure 5 This is a schematic diagram of the structure of the other side of the processing robot.

[0020] Figure 6 for Figure 5 Enlarged view of point B in the middle.

[0021] Figure 7 It is a structural schematic diagram of the core shaft cleaning mechanism.

[0022] Figure 8 It is a schematic diagram of the structure of the claw.

[0023] Fig. 9 It is a schematic diagram of the structure of the rubber sleeve with plunger.

[0024] Fig.10 It is a schematic diagram of the structure of the rubber sleeve with a funnel.

[0025] Fig.11 This is a schematic diagram of the funnel structure.

[0026] Fig.12 Schematic diagram of the structure of the fixed clamp.

[0027] Fig.13 This is a schematic diagram of the structure of the transfer robot.

[0028] Fig.14 for Fig.11 Enlarged view of point C in the middle.

[0029] Fig.15 It is a partial structural schematic diagram of the cage and the cage clamping assembly.

[0030] Fig.16 Schematic diagram of the structure of the transfer robot connected to the stabilization mechanism.

[0031] Fig.17 Schematic diagram of the structure of the gripping robot.

[0032] Fig.18 for Fig.16 Enlarged view of point D in the middle.

[0033] Fig.19 for Fig.16 Enlarged view of point E in the middle.

[0034] Fig. 20 It is a structural diagram of the conveying mechanism.

[0035] Among them: 1. Fixed frame 2. Material dropping mechanism 3. Circulating track 4. Processing manipulator 5. Transfer manipulator 6. Clamping manipulator 7. Rubber sleeve cleaning mechanism 8. Conveying mechanism 9. Cleaning device 10. Pressurizing device 11. Material bin 12. Lower hopper 13. Cage 14. Small rubber sleeve 15. Large rubber sleeve 16. Lifting motor 17. Processing column 18. Fixed pulley 19. Wire rope 20. Counterweight guide cylinder 21. Processing base 22. Rotating motor 23. Rotating gear 24. Fixed seat 25. Pallet 26. Walking device 27. Processing lifting block 28. Support arm 29. Putting and taking motor 30. Putting and taking reducer 31. Putting and taking lead screw 32. Electromagnet 33. Rubber sleeve mouth cleaning Motor 34, cleaning connecting rod 35, large rubber sleeve cleaning part 36, small rubber sleeve cleaning part 37, card motor 38, claw 39, claw driving gear 40, spindle cleaning motor 41, gear bearing 42, large fixed jaw 43, small fixed jaw 44, reversing motor 45, reversing gear 46, reversing plate 47, mounting plate 48, fixed jaw reversing driving wheel 49, fixed jaw motor 50, fixed plate 51, fixed jaw driving wheel 52, fixed jaw clamping gear 53, fixed jaw rotating shaft 54, first fixed jaw 55, second fixed jaw 56, claw driving gear 57, claw rotating shaft 58, first jaw 59, second jaw 60, upper clamp Hoop 61, lower clamp 62, plunger 63, funnel 64, loading and unloading plate 65, mandrel 66, transfer column 67, transfer lifting block 68, upper clamping assembly 69, lower clamping assembly 70, cage clamping assembly 71, lifting slot 72, transfer base 73, mobile motor 74, mobile guide rail 75, mobile lead screw 76, mobile bearing seat 77, counterweight block 78, counterweight guide rail 79, upper small transfer jaw 80, upper large transfer jaw 81, lower small transfer jaw 82, lower large transfer jaw 83, reversing drive gear 84, reversing support plate 85, cage fixing lead screw 86, cage jaw motor 87, cage fixing motor 88, cage fixing reducer 89, cage jaw 90, cage fixing column 91, positioning block 92, connecting shaft 93, connecting block 94, stabilizing slider 95, stabilizing guide rail 96, first stabilizing rod 97, second stabilizing rod 98, fixed beam 99, clamping column 100, clamping base 101, finished product clamping lifting block 102, workpiece clamping lifting block 103, clamping guide rail 104, small workpiece clamping assembly 105, small supporting clamping claw 106, large workpiece clamping assembly 107, large supporting clamping claw 108, finished product clamping assembly 109, adjusting screw 110, adjusting reducer 111, clamping motor 112, clamping reducer 113, clamping screw 114, upper clamping arm 115, lower clamping arm 116, clamping claw117, clamping strip hole 118, clamping pin 119, spindle cleaning gear 120, spindle cleaning member 121, bolt 122, fixed storage tray 123, cage placement tray 124, long water outlet fixing rod 125, movable bottom plate 126, loading plate 127, long water outlet 128, stabilizing column 129, block 130, mounting portion. DETAILED DESCRIPTION

[0036] Figures 1 to 20 The best embodiment of the present invention is shown below in conjunction with the attached Figures 1 to 20 The present invention is further described.

[0037] like Figure 1~2 As shown, an automatic production device for a long water nozzle of the present invention includes a circulating track 3, a blanking mechanism 2, a processing robot 4, a transfer robot 5 and a clamping robot 6. A plurality of pallets 25 are arranged at intervals on the circulating track 3. A walking device 26 for driving the pallets 25 to rotate along the circulating track 3 is connected to the circulating track 3. The rubber sleeve is installed on the pallet 25. The blanking mechanism 2 is fixedly arranged above the circulating track 3. The walking device 26 drives the pallet 25 to rotate to the blanking mechanism 2 for feeding. A vibration mechanism is arranged on the circulating track 3 directly below the blanking mechanism 2. The vibration mechanism is arranged below the pallet 25. When feeding, the vibration mechanism below the pallet 25 vibrates the rubber sleeve. After feeding, the circulating track 3 transports the rubber sleeve to the processing robot 4 for processing, and then transports the rubber sleeve through the transfer robot 5 for cleaning and pressurization. Finally, the clamping robot 6 completes the separation of the rubber sleeve from the long water nozzle 127 and the transportation of the finished long water nozzle 127.

[0038] In this embodiment, the circulating track 3 includes a fixed seat 24, which is a circular ring seat. A track is set on the fixed seat 24. The trays 25 are connected to each other, and each tray 25 is slidably installed on the fixed seat 24. The walking device 26 is connected between the trays 25. The walking device 26 is a motor and a roller. The motor drives the roller to roll along the track of the circulating track 3, thereby driving the rotation of each tray 25. The present embodiment also includes a fixed frame 1, and a blanking mechanism 2 is fixedly installed on the fixed frame 1. The blanking mechanism 2 includes a silo 11 and a lower hopper 12. The long water nozzle 127 in the present embodiment requires two layers of different materials to be pressurized. The inner core of the long water nozzle 127 is made of one material, and the outer layer of the long water nozzle 127 is made of three different materials from bottom to top. Therefore, four silos 11 are provided, and the lower hopper 12 is provided below the silo 11. The discharge port of the lower hopper 12 is provided directly above the circulating track 3. The silo 11 automatically falls after the material powder is weighed, and falls into the rubber sleeve through the lower hopper 12.

[0039] The first step of production of the long water nozzle 127 of this embodiment requires the use of a mandrel 65, which is mounted on the tray 25. Since the long water nozzle 127 is formed by pressurizing two layers of materials, it is necessary to first sleeve a small rubber sleeve 14 on the outside of the mandrel 65, add the material of the inner core into the small rubber sleeve 14 for processing, cleaning and pressurization, and then pull off the small rubber sleeve 14, pull off the semi-finished product from the first mandrel 65 and sleeve it on the second mandrel 65, and then sleeve the large rubber sleeve 15 on the outside of the semi-finished product, and then perform the steps of adding materials, processing, cleaning and pressurization, and finally pull off the large rubber sleeve 15, and then pull out the long water nozzle 127 of the finished product. The mounting seats at the lower ends of the two mandrels 65 are of different sizes, because they need to correspond to the small rubber sleeve 14 and the large rubber sleeve 15 respectively.

[0040] like Figure 3 As shown, the processing robot 4 is arranged in the middle of the circulating track 3, the processing robot 4 is connected to a translation device that drives it to move horizontally, and the processing robot 4 includes a robot arm, and the robot arm is connected to a rotating mechanism that drives it to rotate and a robot arm lifting mechanism that drives it to lift. Specifically, the processing robot 4 includes a processing column 17 and a processing base 21, the robot arm is connected to the processing column 17 through a lifting mechanism, and the processing column 17 is rotatably installed on the processing base 21 through a rotating mechanism.

[0041] The translation device includes a moving motor 73, a moving guide rail 74 and a moving screw 75. The moving screw 75 is horizontally arranged, and the moving guide rail 74 is parallel to the moving screw 75. One end of the moving screw 75 is connected to the output end of the moving motor 73, and the other end of the moving screw 75 is fixed by a moving bearing seat 76. The processing base 21 is threadedly connected to the moving screw 75. At the same time, the processing base 21 is slidably arranged on each moving guide rail 74. The moving motor 73 drives the moving screw 75 to rotate, so that the processing base 21 moves linearly along the moving screw 75 and the moving guide rail 74.

[0042] The lifting mechanism includes a lifting motor 16 and a lifting screw. The lifting motor 16 is fixedly mounted on the upper side of the processing column 17. The processing column 17 is hollow. The lifting screw is arranged inside the processing column 17. A guide column is arranged next to the lifting screw. The lifting screw is threadedly connected with a lifting nut. A guide slider is arranged on the guide column. A lifting slot 71 is opened on one side of the processing column 17. One end of the mechanical arm passes through the lifting slot 71 to connect the lifting nut and the guide slider. The lifting motor 16 drives the mechanical arm to lift and lower through the lifting screw. The rotating mechanism includes a rotating motor 22 and a rotating gear 23. In this embodiment, the rotating motor 22 is arranged on the processing base 21. The output shaft of the rotating motor 22 is arranged downward. A pinion is connected to the output end of the rotating motor 22. The pinion is meshed with the rotating gear 23. The rotating motor 22 drives the rotating gear 23 to rotate. The rotating gear 23 is connected to the processing column 17 and drives the processing column 17 to rotate. A bearing seat is fixed on the upper side of the processing base 21. A thrust bearing is fixed in the bearing seat. The lower end of the processing column 17 is rotatably mounted in the bearing seat.

[0043] like Figures 4 to 6 As shown, the robot arm includes a processing lifting block 27 and a plurality of support arms 28 fixedly connected to the processing lifting block 27. The processing lifting block 27 is connected to the lifting screw. Each group of processing components of the processing robot 4 is respectively installed on each support arm. In this embodiment, each group of processing components of the processing robot 4 includes a workpiece cleaning mechanism, a clamping claw 38, and a placing and taking mechanism for the plunger 62 and the funnel 63. The workpiece cleaning mechanism cleans the core shaft 65 and the upper port of the rubber sleeve, and the clamping claw 38 is used to clamp the clamp on the rubber sleeve.

[0044] After the worker fixes the core shaft 65 to the tray 25 , he needs to clean the outer wall of the core shaft 65 before putting on the rubber sleeve. When cleaning the core shaft 35 , a core shaft cleaning mechanism is needed. The core shaft cleaning mechanism is installed at the end of the support arm 28 through the mounting plate 47 .

[0045] like Figure 7As shown, the spindle cleaning mechanism includes a spindle cleaning motor 40, a gear bearing 41 and a cleaning member, the cleaning member is fixedly mounted around the through hole in the middle of the gear bearing 41, the gear bearing 41 is fixedly mounted below the mounting plate 47 by bolts 121, the mounting plate 47 is fixedly mounted on a support arm 28, the outer ring of the gear bearing 41 is a rotating gear, the output end of the spindle cleaning motor 40 is connected to a spindle cleaning gear 119, the spindle cleaning gear 119 is meshed with the gear bearing 41, and the spindle cleaning gear 119 moves the spindle cleaning motor 40 to the spindle cleaning gear 119. The power of the machine 40 is transmitted to the gear bearing 41, and the gear bearing 41 drives the cleaning member to rotate. The cleaning member is a flexible cleaning material, such as cleaning cotton, wool felt and other materials. When the gear bearing 41 rotates, it drives the cleaning member to rotate. A through hole coaxial with the gear bearing 41 is opened on the mounting plate 47. The through hole and the through hole in the middle of the gear bearing 41 form a cleaning channel. The core shaft 65 passes through the cleaning channel. The processing lifting block 27 drives the gear bearing 41 to move up and down so that the cleaning member on the gear bearing 41 cleans the outer wall of the core shaft 65.

[0046] After the processing robot 4 cleans the core shaft 65, the clamping robot 6 moves the small rubber sleeve 14 and puts it on the outside of the core shaft 65. An upper clamp 60 and a lower clamp 61 are respectively provided at the upper and lower ends of the small rubber sleeve 14. After the small rubber sleeve 14 is put on the outside of the core shaft 65, the processing column 17 rotates to rotate the claw 38 to the small rubber sleeve 14, and the processing lifting block 27 drives the claw 38 to move downward to clamp the lower clamp 61 first, so as to facilitate the addition of material into the small rubber sleeve 14.

[0047] like Figure 8 As shown, the claw 38 is fixedly installed at the end of the other support arm 28 through the mounting plate 47, the claw 38 includes a card motor 37 and a first claw 58 and a second claw 59 symmetrically arranged, the mounting plate 47 includes two layers of fixed plates connected at the ends, and a accommodating space is formed between the two layers of fixed plates, the card motor 37 is installed on the upper side of the mounting plate 47, any one of the first claw 58 and the second claw 59 The claw rotating shaft 57 is connected to the card motor 37, and a claw driving gear 56 is arranged on each of the two claw rotating shafts 57. The two claw driving gears 56 are meshed, and the card motor 37 drives one claw rotating shaft 57 to rotate, and the other claw rotating shaft 57 rotates synchronously under the transmission of the claw driving gear 56, so that the first claw 58 and the second claw 59 are synchronously clamped or released. When the first claw 58 and the second claw 59 are clamped synchronously, the lower clamp 61 is locked.

[0048] like Figures 9-10As shown, before and after the addition of materials, a plunger 62 is plugged at the upper port of the rubber sleeve. The plunger 62 needs to be removed before the addition of materials. When adding materials, since the upper port of the rubber sleeve is small, a funnel 63 needs to be placed at the upper port of the rubber sleeve for more convenient addition of materials. When the device is in production, a rubber sleeve is placed on an otherwise idle tray 25 in advance, and a funnel 63 is placed on the rubber sleeve. When the funnel 63 is needed for production, the circulating track 3 rotates the rubber sleeve with the funnel 63 to the placing and taking mechanism, and the placing and taking mechanism removes the funnel 63 and places it on the rubber sleeve to be produced.

[0049] After locking the lower clamp 61 of the small rubber sleeve 14, the placing and taking mechanism needs to remove the plunger 62 of the small rubber sleeve 14 first. The placing and taking mechanism includes an electromagnet 32 ​​and a rubber sleeve fixing clamp arranged below the electromagnet 32. The electromagnet 32 ​​is connected to a lifting component that drives it to rise and fall. A placement platform is also provided on one side of the processing robot 4. Since the long water outlet in this embodiment requires two rubber sleeves of different specifications to be processed and formed at one time, the rubber sleeve fixing clamps in this embodiment are provided with two groups, namely a large fixed clamp 42 and a small fixed clamp 43. The two groups of rubber sleeve fixing clamps are symmetrically arranged at both ends of the reversing plate 46, and the reversing plate 46 is rotatably mounted on the support arm 28 through a reversing component. Magnetic metal materials are provided on the plunger 62 and the funnel 63, and a placing and taking plate 64 is provided on one side of the funnel 63. The electromagnet 32 ​​fixes the funnel 63 by sucking the placing and taking plate 64.

[0050] like Fig.11 As shown, the left side is the funnel 63 of the small rubber sleeve 14. Since the upper port of the small rubber sleeve 14 is small, it is easy to be unstable when placing the funnel 63. Therefore, a stabilizing column 128 is provided on the lower side of the funnel 63. The stabilizing column 128 can be connected to the funnel 63 through a connecting rod. Three clamping blocks 129 are provided on the lower side of the stabilizing column 128 to protrude downward. When the funnel 63 is placed, the three clamping blocks 129 are clamped on the outer side of the core shaft 65, so that the placement of the funnel 63 is more stable; the funnel 63 on the right side is the funnel 63 of the large rubber sleeve 15. The upper port of the large rubber sleeve 15 is large, and the placement of the funnel 63 is relatively stable. Therefore, a mounting portion 130 is directly provided on the lower side of the funnel 63, and the mounting portion 130 can be directly covered on the upper port of the large rubber sleeve 15.

[0051] Specifically, the lifting assembly includes a putting-in-and-taking-in motor 29 and a putting-in-and-taking-in screw 31. The putting-in-and-taking-in motor 29 is installed on the support arm 28. The putting-in-and-taking-in screw 31 is vertically threadedly connected to the support arm 28. The putting-in-and-taking-in motor 29 is connected to the putting-in-and-taking-in screw 31. The electromagnet 32 ​​is installed at the lower end of the putting-in-and-taking-in screw 31. The putting-in-and-taking-in motor 29 is connected to the putting-in-and-taking-in screw 31 through the putting-in-and-taking-in reducer 30. When the putting-in-and-taking motor 29 works, it drives the putting-in-and-taking-in screw 31 to rotate. When the putting-in-and-taking-in screw 31 rotates, it will make a linear motion along the support arm 28, that is, the putting-in-and-taking-in screw 31 rises and falls along the support arm 28, driving the electromagnet 32 ​​to rise and fall. The lifting assembly drives the electromagnet 32 ​​to descend and remove the plunger 62 of the small rubber sleeve 14, and the lifting assembly drives the electromagnet 32 ​​to rise, and then the processing column 17 rotates to place the plunger 62 on the placement platform on the side, and then the circulating track 3 transports the rubber sleeve with the funnel to the bottom of the electromagnet 32, the electromagnet 32 ​​descends to remove the funnel, and then the circulating track turns the small rubber sleeve 14 back to the bottom of the electromagnet 32, the electromagnet 32 ​​places the funnel on the small rubber sleeve, and then the circulating track transports the small rubber sleeve 14 to the bottom of the lower hopper 12 for feeding. When feeding, the vibration mechanism impacts the vibration tray 25 upward.

[0052] The reversing assembly includes a reversing motor 44, a reversing drive gear 83 and a reversing gear 45. The reversing motor 44 is installed on the support arm 28. The reversing drive gear 83 and the reversing gear 45 are meshed with each other. The reversing drive gear 83 is connected to the output shaft of the reversing motor 44. The reversing gear 45 is connected to the reversing plate 46. The reversing motor 44 drives the reversing drive gear 83 to rotate, and the reversing gear 45 rotates synchronously. The reversing gear 45 drives the reversing plate 46 to rotate, thereby changing the position of the large fixed jaw 42 and the small fixed jaw 43.

[0053] like Fig.12As shown, when the electromagnet 32 ​​takes and places the plunger 62, the rubber sleeve fixing jaws need to clamp the rubber sleeve to prevent the rubber sleeve from tipping over. The large fixing jaws 42 and the small fixing jaws 43 are both installed at both ends of the reversing plate 46 through the mounting plate 47. The large fixing jaws 42 and the small fixing jaws 43 both include a first jaw 54 and a second jaw 55. The first jaw 54 and the second jaw 55 are symmetrically arranged at the ends of the reversing plate 46. The inner sides of the first jaw 54 and the second jaw 55 are arc-shaped. The first jaw 54 and the second jaw 55 are connected to the fixing jaw motor 49. The large fixing jaws 42 and the small fixing jaws 43 The mounting plate 47 has the same structure as the mounting plate of the clamping jaw 38. The fixed jaw motor 49 is mounted on the upper fixed plate of the mounting plate 47. The fixed jaw driving wheel 51 is fixedly mounted on the output shaft of the fixed jaw motor 49. The fixed jaw rotating shaft 53 of the first clamping jaw 34 and the second clamping jaw 35 is provided with a fixed jaw clamping gear 52. The two fixed jaw clamping gears 52 are meshed with the fixed jaw driving wheel 51. The fixed jaw motor 49 rotates and drives the two fixed jaw clamping gears 52 to rotate synchronously, so that the first clamping jaw 54 and the second clamping jaw 55 perform a clamping action or a loosening action synchronously. The structures of the first clamping jaw 54 and the second clamping jaw 55 are completely the same, only the arc radius of the inner side of the first clamping jaw 34 and the second clamping jaw 35 is different, because rubber sleeves of different diameters are required.

[0054] After the small rubber sleeve 14 is filled with material, the circulating track 3 transports the small rubber sleeve 14 to the processing robot 4. However, when adding material, material is stuck to the upper port of the small rubber sleeve 14, but the plunger 62 needs to be plugged back into the upper port of the small rubber sleeve 14, so the upper port of the small rubber sleeve 14 needs to be cleaned again. The cleaning assembly of the rubber sleeve upper port includes a mounting plate 47, a rubber sleeve port cleaning motor 33, a cleaning connecting rod 34 and a rubber sleeve port cleaning piece. The mounting plate 47 is mounted on the end of the support arm 28, the rubber sleeve port cleaning motor 33 is mounted on the upper side of the mounting plate 47, and the rubber sleeve port cleaning piece is connected to the output end of the rubber sleeve port cleaning motor 33 through the cleaning connecting rod 34. Since a small rubber sleeve 14 and a large rubber sleeve 15 are required for production, two groups of cleaning assemblies are provided for the rubber sleeve upper port. The two groups differ only in the size of the rubber sleeve port cleaning pieces, namely a large rubber sleeve cleaning piece 16 and a small rubber sleeve cleaning piece 17. The large rubber sleeve cleaning piece 16 and the small rubber sleeve cleaning piece 17 are made of flexible cleaning materials, such as cleaning cotton, wool felt and other materials.

[0055] The small rubber sleeve 14 after adding materials is transported back to the processing robot 4, the electromagnet 32 ​​removes the funnel 63, the processing column 17 rotates to make the small rubber sleeve cleaning part 17 turn to the top of the small rubber sleeve 14, the processing lifting block 27 drives the support arm 28 to descend, so that the small rubber sleeve cleaning part 17 descends to the upper port of the small rubber sleeve 14, and then the rubber sleeve cleaning motor 33 drives the small rubber sleeve cleaning part 17 to clean the upper port of the small rubber sleeve 14. After cleaning, the electromagnet 32 ​​plugs the plunger 62 back into the upper port of the small rubber sleeve 14, and then the claw 38 locks the upper clamp 61 of the small rubber sleeve 14. At this point, the processing steps of the small rubber sleeve 14 at the processing robot 4 are completed and transported to the transfer robot 5 by the circulating track 3.

[0056] A counterweight mechanism is also provided on the processing column 17. The counterweight mechanism in this embodiment includes a steel wire rope 19, a counterweight block and a counterweight guide cylinder 20. One end of the steel wire rope 19 is fixedly connected to the robotic arm, and the other end is connected to the counterweight block. The counterweight guide cylinder 20 and the supporting robotic arm are respectively arranged on both sides of the processing column 17. The counterweight block is slidably arranged in the counterweight guide cylinder 20. A fixed pulley 18 connected to the steel wire rope 19 is provided at the upper end of the processing column 17, and the steel wire rope 19 passes around the upper side of the fixed pulley 18.

[0057] like Fig.13 As shown, the transfer robot 5 and the clamping robot 6 are arranged side by side and at intervals on one side of the circulating track 3. The transfer robot 5 and the clamping robot 6 are both connected to a translation device that drives them to move horizontally. The translation device has the same structure as the translation device connected to the processing robot 4. The transfer robot 5 includes a transfer column 66 and a transfer base 72. The robot arm is connected to the transfer column 66 by a lifting mechanism, and the transfer column 66 is rotatably installed on the transfer base 72 by a rotating mechanism. The lifting mechanism and the rotating mechanism here are also consistent with the lifting mechanism and the rotating mechanism of the processing robot 4. The robot arm of the transfer robot 5 includes a transfer lifting block 67 and two support arms 28 arranged on the transfer lifting block 67. The transfer lifting block 67 is slidably connected to the transfer column 66.

[0058] A cage placement tray 123 is provided in the middle of the circulating track 3 near the transfer robot 5. The cage 13 is placed on the cage placement tray 123, and the small rubber sleeve 14 is transported to the transfer robot 5. The transfer robot 5 moves the small rubber sleeve 14 into the cage 13, and then the transfer robot 5 transfers the cage 13 to the cleaning device 9 on one side for cleaning, and then transfers it to the pressurizing device 10 for pressurization and molding, and finally transports the cage 13 back to the cage placement tray 123.

[0059] like Fig.14As shown, a rubber sleeve transfer component for clamping the rubber sleeve and a cage clamping component 70 fixedly connected to the cage are provided on the mechanical arm of the transfer robot 5. In order to prevent the rubber sleeve from being unstable when placed and transported, two groups of rubber sleeve transfer components are arranged at intervals in the vertical direction. The structure of each group of rubber sleeve transfer jaws is the same as the structure of the rubber sleeve fixed jaws of the processing robot 4. Each group of rubber sleeve transfer jaws includes small transfer jaws and large transfer jaws. The upper rubber sleeve transfer jaws include upper small transfer jaws 79 and upper large transfer jaws 80, and the lower rubber sleeve transfer jaws include lower small transfer jaws 81 and lower large transfer jaws 82, wherein the small transfer jaws and the large transfer jaws are symmetrically arranged at both ends of the reversing plate 46, respectively. The reversing plate 46 is rotatably mounted on the reversing support plate 84 through the reversing component. The reversing support plate 84 is fixedly connected to the support arm 28, and the reversing plates 46 of the two groups of rubber sleeve transfer jaws rotate synchronously.

[0060] Two support arms 28 are arranged vertically on the transport lifting block 67, and the reversing plate 46 of the upper rubber sleeve transport clamp is rotatably connected to the upper support arm 28, and the reversing plate 46 of the lower rubber sleeve transport clamp is rotatably connected to the lower support arm 28. The structure of the four groups of transport clamps is also consistent with that of the fixed clamps, wherein the small transport clamp 79 and the lower small transport clamp 81 have a smaller clamp diameter and are used to carry the small rubber sleeve 14, and the upper large transport clamp 80 and the lower large transport clamp 82 have a larger clamp diameter and are used to carry the large rubber sleeve 15.

[0061] The small rubber sleeve 14 is transported by the circulating track 3 to a position close to the transfer robot 5, and the translation device drives the transfer robot 5 to approach the circulating track 3. The transfer column 66 drives the upper small transfer claw 79 and the lower small transfer claw 81 to turn towards the small rubber sleeve 14, and the upper small transfer claw 79 and the lower small transfer claw 81 jointly grasp the small rubber sleeve 14, and the transfer column 66 rises to pick up the small rubber sleeve 14 and the core shaft 65 together, and then the transfer robot 5 transports the small rubber sleeve 14 to the cage 13, and the transfer column 66 descends to place the small rubber sleeve 14 on the cage 13, and the small transfer claw 79 and the lower small transfer claw 81 release the small rubber sleeve 14 together, and then the transfer robot 5 retreats and leaves the cage 13.

[0062] After the small transfer claw 79 and the lower small transfer claw 81 leave the cage 13, the transfer robot 5 needs to fix and lift the cage 13 equipped with the small rubber sleeve 14 for transfer. A cleaning device 9 and a pressurizing device 10 are provided on one side of the transfer robot 5. The transfer robot 5 lifts the cage 13 and transports it to the cleaning device 9 for washing. After washing, the cage 13 is transported to the pressurizing device 10 for pressurization and molding, thereby obtaining a semi-finished product of the long water outlet 127. The transfer robot 5 needs to use the cage clamping assembly 70 to fix and clamp the cage 13. The mounting plate 47 of the cage clamping assembly 70 is fixedly mounted on one end of a support plate, and the other end of the support plate is fixedly mounted on the reversing plate 46 of the upper rubber sleeve transfer clamping jaw. The cage clamping assembly 70 is arranged between the upper large transfer clamping jaw 80 and the upper small transfer clamping jaw 79.

[0063] like Fig.15 As shown, a connecting shaft 92 connected to the cage clamping assembly 70 is provided on the cage 13, a connecting block 93 is provided at the upper end of the connecting shaft 92, the diameter of the connecting block 93 is larger than the diameter of the connecting shaft 92, a groove for accommodating the connecting block 93 is provided in the middle of the cage clamping jaw 89, and a fixing hole is opened in the middle of the connecting block 93. The cage clamping assembly 70 includes a cage clamping jaw 89 and a cage fixed screw 85. The cage clamping jaw 89 includes two symmetrically arranged clamping jaws. The cage clamping jaw 89 is connected to a cage clamping jaw motor 86. The cage clamping jaw motor 86 drives the cage clamping jaw 89 to swing to complete the clamping action. The action principle is consistent with that of the fixed clamping jaw; the cage fixed screw 85 is arranged between the cage clamping jaws 89. The cage fixed screw 85 is connected to a power component that drives the lifting and lowering. The power component in this embodiment is a cage fixed motor 87. The cage fixed motor 87 is connected to the cage fixed screw 85 through a cage fixed reducer 88. The cage fixed motor 87 drives the cage fixed screw 85 to rise or fall. A cage fixed column 90 is arranged at the lower end of the cage fixed screw 85. The cage fixed column 90 is inserted into the fixing hole. A positioning plate 91 is arranged at the connection between the cage fixed column 90 and the cage fixed screw 85. The diameter of the positioning plate 91 is larger than the diameter of the fixing hole.

[0064] The transfer robot 5 puts the small rubber sleeve 14 into the cage 13, and then the reversing plate 46 of the upper rubber sleeve transfer clamp rotates, and the cage clamping assembly 70 is rotated to the front end of the transfer robot 5, and then the transfer robot 5 translates, and at the same time, the transfer lifting block 67 drives the cage clamping assembly 70 to rise to the connecting block 93 at the upper end of the cage 13, and the cage fixing screw 85 descends to insert the cage fixing column 90 into the fixing hole, and the positioning plate 91 is pressed on the connecting block 93, and the cage clamping motor 86 drives the cage clamping jaw 89 to swing and clamp the connecting block 93, and then the transfer lifting block 67 drives the cage clamping assembly 70 to rise and lift the cage 13, and then the transfer column 66 rotates and the transfer base 72 translates to move the cage 13 to the upper side of the cleaning device 9. The transfer lifting block 67 drives the cage clamping assembly 70 to descend to the cleaning device 9 for cleaning. During the cleaning process, the cage clamping assembly 70 is always fixedly connected to the cage 13. After the cleaning is completed, the transfer lifting block 67 drives the cage clamping assembly 70 to rise and lift the cage 13 out of the cleaning device 9. The transfer column 66 rotates and the transfer base 72 translates to move the cage 13 to the top of the pressurizing device 10. Then the transfer lifting block 67 drives the cage clamping assembly 70 to descend to the pressurizing device 10. The cage clamping assembly 70 releases the cage 13 and rises. After the cage 13 completes the pressurization in the pressurizing device 10, the cage clamping assembly 70 descends and then re-fixes and clamps the cage 13, and re-conveys the cage 13 to the cage placement plate 123.

[0065] A counterweight block 77 is also provided on the transfer column 66. The counterweight block 77 is arranged on the opposite side of the transfer lifting block 67. The counterweight block 77 is fixedly connected to the transfer lifting block 67. Counterweight guide rails 78 are provided on the other two sides of the transfer column 66. The counterweight block 77 is slidably connected to the counterweight guide rails 78.

[0066] like Fig.16 As shown, during the operation of the transfer robot 5, in order to assist it in maintaining stability during translation and ensure the production quality of the equipment, a stabilizing component is connected to the upper end of the transfer robot 5. The stabilizing component includes a fixed part, a guide part and a sliding part. One end of the guide part is fixedly connected to the fixed part, and the sliding part moves linearly along the guide part. The upper end of the transfer robot 5 is rotatably connected to the lower end of the sliding part.

[0067] Specifically, the guide member in this embodiment is a stable guide rail 95, one end of which is fixedly connected to a fixed beam 98, and the sliding member is a stable slider 94, which is slidably connected to the stable guide rail 95, and the upper end of the transfer robot 5 is rotatably connected to the lower side of the stable slider 94. In this embodiment, a first stabilizing rod 96 and a second stabilizing rod 97 are also provided between the stable guide rail 95 and the fixed beam 98, and a triangular structure is formed between the first stabilizing rod 96, the second stabilizing rod 97 and the fixed beam 98. The triangular structure itself has stability, which further prevents the shaking of the stable guide rail 95 and the transfer robot 5, making their operation more stable. In other embodiments, the guide member and the sliding member may also be an optical axis assembly and a guide column, etc.

[0068] A fixed storage tray 122 is arranged between the transfer robot 5 and the clamping robot 6. After the cage clamping assembly 70 transports the cage 13 back to the cage placement tray 123, the transfer robot 5 retreats, and then the reversing plate 46 of the upper rubber sleeve transfer clamp rotates to rotate the upper small transfer clamp 79 to the front end of the transfer robot 5. The upper small transfer clamp 79 and the lower small transfer clamp 81 jointly clamp the small rubber sleeve 14 in the cage 13. The transfer robot 5 places the small rubber sleeve 14 on the fixed storage tray 122, and the clamping robot 6 completes the subsequent production process.

[0069] like Fig.17 As shown, the clamping robot 6 includes a clamping column 99 and a clamping base 100. The mechanical arm is connected to the clamping column 99 in a lifting and lowering manner through a lifting mechanism. The clamping column 99 is rotatably installed on the clamping base 100 through a rotating mechanism. The lifting and lowering mechanisms and rotating mechanisms here are also consistent with the lifting and lowering mechanisms and rotating mechanisms of the processing robot 4. The mechanical arms of the clamping robot 6 are respectively arranged on three sides of the clamping column 99. The clamping robot 6 is provided with a workpiece clamping assembly for clamping the rubber sleeve and the semi-finished product of the long water nozzle and a finished product clamping assembly 108 for clamping the long water nozzle. There are two groups of workpiece clamping assemblies, and the two groups of workpiece clamping assemblies are symmetrically arranged on both sides of the clamping column 99, and the finished product clamping assembly 108 is arranged on any one of the other two sides of the clamping column 99.

[0070] The mechanical arm connected to the workpiece clamping assembly includes a workpiece clamping lifting block 102 and a support arm 28. The workpiece clamping assembly is provided with two groups, namely a small workpiece clamping assembly 104 and a large workpiece clamping assembly 106. The small workpiece clamping assembly 104 is used to clamp the semi-finished product of the small rubber sleeve 14 and the long water nozzle 127, and the large workpiece clamping assembly 106 is used to clamp the large rubber sleeve 15. The mechanical arm connected to the finished product clamping assembly 108 includes a finished product clamping lifting block 101 and a support arm 28. The finished product clamping assembly 108 is connected to the end of the support arm 28 through a mounting plate 47.

[0071] like Figures 18 and 19As shown, the small workpiece clamping assembly 104 and the large workpiece clamping assembly 106 have the same structure. Taking the small workpiece clamping assembly 104 as an example, the small workpiece clamping assembly 104 is installed on the support arm 28 through the mounting plate 47. The small workpiece clamping assembly 104 includes an upper clamping arm 114, a lower clamping arm 115, a clamping claw 116 and a clamping screw 113. One end of the upper clamping arm 114 is rotatably connected to the upper end of the lower clamping arm 115, and the other ends of the two upper clamping arms 114 are rotatably connected. The middle parts of the two lower clamping arms 115 are rotatably connected through the clamping pin 118. The two lower clamping arms 115 are rotatably connected. A clamping claw 116 is fixed to the lower end of 15, and the lower end of the clamping claw 116 is arc-shaped. The arc-shaped surfaces of the two clamping claws 116 are arranged opposite to each other to increase the contact area with the small rubber sleeve 14. The clamping screw 113 is vertically arranged and connected with a clamping motor 11 and a clamping reducer 112 for driving it to rise and fall. A clamping connecting plate is arranged at the lower end of the clamping screw 113, and a clamping elongated hole 117 is opened on the clamping connecting plate. The clamping elongated hole 117 is arranged vertically, and one end of the clamping pin shaft 118 is slidably arranged in the clamping elongated hole 117. When the clamping screw 113 rises, the bottom of the clamping long hole 117 will drive the lower clamping arm 115 and the upper clamping arm 114 to fold close to each other through the clamping pin 118, and the two clamping claws 116 are folded outward and opened. On the contrary, when the two clamping claws 116 need to be clamped, the clamping screw 113 descends, the lower clamping arm 115 and the upper clamping arm 114 descend and stretch, and the two clamping claws 116 approach each other and are finally clamped on both sides of the small rubber sleeve 14.

[0072] When the small workpiece clamping assembly 104 clamps the small rubber sleeve 14, in order to clamp the small rubber sleeve 14 more stably, a group of small supporting jaws 105 are spaced apart below the small workpiece clamping assembly 104. The structure of the small supporting jaws 105 is exactly the same as the small fixed jaws 43. While the two clamping jaws 116 of the small workpiece clamping assembly 104 clamp the upper end of the small rubber sleeve 14, the small supporting jaws 105 also clamp the small rubber sleeve 14. After the transfer robot 5 places the small rubber sleeve 14 on the fixed storage tray 122, the small workpiece clamping component 104 of the clamping robot 6 turns to the top of the small rubber sleeve 14, and then the small clamping component 104 and the small supporting jaws 105 clamp the small rubber sleeve 14 together, and the connected workpiece clamping lifting block 102 rises to pull out the small rubber sleeve 14, leaving the semi-finished product of the core shaft 65 and the long water outlet 127 on the fixed storage tray 122. The clamping robot 6 pulls off the small rubber sleeve 14 and puts it aside, and then the small clamping component 104 and the small supporting jaws 105 of the clamping robot 6 turn to the semi-finished product, clamp the semi-finished product and pull it off the core shaft 65.

[0073] The small workpiece clamping assembly 104 and the large workpiece clamping assembly 106 have the same structure, but the diameter of the arc surface of the two clamping claws 116 of the large workpiece clamping assembly 106 is slightly larger. At the same time, a large supporting clamp 107 is provided under the large workpiece clamping assembly 106, and the structure of the large supporting clamp 107 is exactly the same as the large fixed clamp 42.

[0074] At this point, the inner layer material of the long water outlet 127 is completed, and then the worker fixes the larger core shaft 65 of the base on the tray 25 of the circulating track 3. The processing lifting block 27 of the processing robot 4 drives the gear bearing 41 to move up and down so that the cleaning parts on the gear bearing 41 clean the outer wall of the core shaft 65 of the large base. The small clamping assembly 104 and the small supporting jaws 105 move the semi-finished product to the top of the core shaft 65 of the large base, and the workpiece clamping lifting block 102 descends to put the semi-finished product on the core shaft 65 of the large base. In the first step of the above-mentioned production and processing, the small rubber sleeve 14 is put on the core shaft 65 of the small base, and the small clamping assembly 104 and the small supporting jaws 105 of the clamping robot 6 clamp the small rubber sleeve 14 from the side and put it on the outside of the core shaft 65 of the small base.

[0075] After putting on the large rubber sleeve 15, continue the above-mentioned production and processing steps. The claw 38 first locks the lower clamp 61 of the large rubber sleeve 15, and then the electromagnet 32 ​​removes the plunger 62 of the large rubber sleeve 15 and places it on the placement platform on one side. When taking the plunger 62, the reversing assembly of the rubber sleeve fixed clamp rotates to rotate the large fixed clamp 42 to the front end of the processing robot 4 and clamps the large rubber sleeve 15. Then the electromagnet 32 ​​removes the funnel 63 on the other large rubber sleeves 15 and places it on the upper port of the large rubber sleeve 15. The circulating track 3 rotates to add material under the hopper 12 under the rotation of the large rubber sleeve 15, and then turns back to the processing robot 4, uses the large rubber sleeve cleaning part 16 to clean the upper port of the large rubber sleeve 15, and then plugs the plunger 62 back into the upper port of the large rubber sleeve 15. The claw 38 locks the upper clamp 60, and the circulating track 3 transports the large rubber sleeve 15 to the transfer robot 5.

[0076] The reversing assemblies of the two groups of rubber sleeve transfer assemblies rotate simultaneously to rotate the large transfer clamp to the front end of the transfer robot 5 to clamp the large rubber sleeve 15, and transfer it to the cage 13, and the reversing plate 46 of the upper rubber sleeve transfer clamp rotates to rotate the cage clamping assembly 70 to the front end of the transfer robot 5, and the cage clamping assembly 70 then fixes and clamps the cage 13 and transfers the cage 13 to the cleaning device 9 and the pressurizing device 10 for cleaning and pressurizing in turn, and finally puts the cage 13 back on the cage placement tray 123, and then the two groups of large transfer clamps move the large rubber sleeve 15 to the fixed storage tray 122.

[0077] The clamping column 99 rotates to turn the large workpiece clamping assembly 106 toward the large rubber sleeve 15, and the large workpiece clamping assembly 106 and the large supporting clamp 107 jointly pull off the large rubber sleeve 15, leaving the long water outlet 127 and the core shaft 65 of the finished product on the fixed storage tray 122. The large workpiece clamping assembly 106 and the large supporting clamp 107 place the large rubber sleeve 15 aside, and the clamping column 99 rotates to turn the finished product clamping assembly 108 toward the long water outlet 127. The structure of the finished product clamping assembly 108 is the same as that of the workpiece clamping assembly. The finished product clamping assembly 108 holds the long water outlet 127 and pulls it out of the core shaft 65, and then the clamping robot 6 places the long water outlet 127 on one side.

[0078] Since the length of the rubber sleeve may change, the distance between the workpiece clamping assembly and the supporting jaw 105 can be adjusted. Specifically, taking the small workpiece clamping assembly 104 and the small supporting jaw 105 as an example, the support arm 28 connected to the small workpiece clamping assembly 104 is slidably connected to the workpiece clamping lifting block 102 in the vertical direction, and a support arm 28 is also arranged between the small workpiece clamping assembly 104 and the support arm 28 of the small supporting jaw 105. An adjusting screw 109 is fixedly connected to the lower side of the support arm 28 of the small workpiece clamping assembly 104. The adjusting screw 109 is vertically arranged and passes through the middle support arm 28. The adjusting screw 109 is connected to an adjusting motor and an adjusting reducer 110 for driving it to rise and fall. The adjusting motor and the adjusting reducer 110 are installed on the middle support arm 28. The adjusting motor is omitted in the figure. The distance between the small workpiece clamping assembly 104 and the small supporting jaw 105 is adjusted by driving the adjusting screw 109 to rise and fall by the adjusting motor and the adjusting reducer 110.

[0079] A rubber sleeve cleaning mechanism 7 is arranged on the side of the clamping robot 6 away from the transfer robot 5. The rubber sleeve cleaning mechanism 7 includes two groups of rubber sleeve cleaning components. The rubber sleeve cleaning mechanism 7 is used to clean the inside of the rubber sleeve. The large rubber sleeve 14 and the small rubber sleeve 15 are also stored on the two groups of rubber sleeve cleaning components, respectively. The workpiece clamping component takes the rubber sleeve from the rubber sleeve cleaning mechanism 7, and the workpiece clamping component is also stored on the rubber sleeve cleaning mechanism 7 after the rubber sleeve is pulled out. The structure of the rubber sleeve cleaning mechanism 7 is similar to the structure of the cleaning component of the upper port of the rubber sleeve. When the workpiece clamping component places the rubber sleeve downward, the motor of the rubber sleeve cleaning mechanism 7 drives the rubber sleeve inner wall cleaning part to rotate. When the workpiece clamping component puts down the rubber sleeve, the rubber sleeve cleaning mechanism 7 cleans the inner wall of the rubber sleeve from bottom to top.

[0080] like Fig. 20As shown, a conveying mechanism is provided on one side of the rubber sleeve cleaning mechanism 7, and the conveying mechanism includes a conveying trolley and a conveying track. The finished product clamping assembly 108 holds the long shroud 127 and pulls it out from the mandrel 65, and then places it on the conveying trolley for conveyance. The conveying trolley includes a moving bottom plate 125 and a loading plate 126, and a plurality of long shroud fixing rods 124 are provided on the loading plate 126. The finished product clamping assembly 108 sleeves the long shroud 127 on the long shroud fixing rods 124. The moving bottom plate 125 is provided with rollers, and the rollers are rollingly connected to the conveying track. The loading plate 126 is slidably provided on the moving bottom plate 125, and the moving direction of the loading plate 126 is perpendicular to the moving direction of the moving bottom plate 125.

[0081] Working process: workers first fix the two core shafts 65 with different sizes on the two adjacent pallets 25, and place the small rubber sleeve 14 and the large rubber sleeve 15 equipped with the funnel 63 on the other pallets 25. The processing lifting block 27 of the processing robot 4 drives the gear bearing 41 to move up and down so that the cleaning part on the gear bearing 41 cleans the outer wall of the core shaft 65 of the small base. The small workpiece clamping assembly 104 and the small supporting jaws 105 of the clamping robot 6 are transferred to the rubber sleeve cleaning mechanism 7. The small workpiece clamping assembly 104 and the small supporting jaws 105 fix the small rubber sleeve 14 on the rubber sleeve cleaning mechanism 7 and clamp it and set it on the outside of the core shaft 65 of the small base, and then the clamping claw 38 locks the lower clamp 61 of the small rubber sleeve 14.

[0082] Then the electromagnet 32 ​​of the placing and taking mechanism first removes the plunger 62 of the small rubber sleeve 14. When removing the plunger 62, the small fixed clamp 43 fixes the small rubber sleeve 14, and the electromagnet 32 ​​descends to remove the plunger 62 of the small rubber sleeve 14. Then the processing column 17 rotates to place the plunger 62 on the placement platform aside, and then the circulating track 3 transports the small rubber sleeve 14 with a funnel pre-placed on the tray 25 to the bottom of the electromagnet 32. The electromagnet 32 ​​descends to remove the funnel, and then the circulating track turns the small rubber sleeve 14 back to the bottom of the electromagnet 32. The electromagnet 32 ​​places the funnel on the small rubber sleeve, and then the circulating track transports the small rubber sleeve 14 to the bottom of the lower hopper 12 for feeding.

[0083] The small rubber sleeve 14 after adding materials is transported back to the processing robot 4, the electromagnet 32 ​​removes the funnel 63 and puts it back on the pre-stored small rubber sleeve 14, the processing column 17 rotates to make the small rubber sleeve cleaning part 17 rotate to the top of the small rubber sleeve 14, and then the rubber sleeve mouth cleaning motor 33 drives the small rubber sleeve cleaning part 17 to clean the upper port of the small rubber sleeve 14. After cleaning, the electromagnet 32 ​​plugs the plunger 62 back into the upper port of the small rubber sleeve 14, and then the claw 38 locks the upper clamp 61 of the small rubber sleeve 14, and the circulating track 3 transports it to the transfer robot 5.

[0084] The translation device of the transfer robot 5 drives the transfer robot 5 to approach the circulation track 3, and the transfer column 66 drives the upper small transfer claw 79 and the lower small transfer claw 81 to turn to the small rubber sleeve 14, and the upper small transfer claw 79 and the lower small transfer claw 81 jointly grasp the small rubber sleeve 14, and the transfer column 66 rises to pick up the small rubber sleeve 14 and the core shaft 65 together, and then the transfer robot 5 transports the small rubber sleeve 14 to the cage 13, and then the transfer robot 5 retreats and leaves the cage 13; the reversing plate 46 of the upper rubber sleeve transfer clamping claw rotates, and the cage clamping assembly 70 is rotated to the transfer robot 5, and then the transfer robot 5 moves horizontally, and at the same time the transfer lifting block 67 drives the cage clamping assembly 70 to rise to the connecting block 93 at the upper end of the cage 13 to clamp and hold the cage 13, the cage clamping assembly 70 rises to lift the cage 13, and the transfer robot 5 transports the cage 13 in turn for washing and pressurization, and finally transports the cage 13 back to the cage placement tray 123, the upper small transfer clamp 79 and the lower small transfer clamp 81 jointly clamp the small rubber sleeve 14 in the cage 13, and the transfer robot 5 places the small rubber sleeve 14 on the fixed storage tray 122.

[0085] After the transfer robot 5 places the small rubber sleeve 14 on the fixed storage tray 122, the small workpiece clamping component 104 of the clamping robot 6 turns to the top of the small rubber sleeve 14, and then the small clamping component 104 and the small supporting jaws 105 clamp the small rubber sleeve 14 together, and the connected workpiece clamping lifting block 102 rises to pull out the small rubber sleeve 14 and place it on the rubber sleeve cleaning device 7, and then the small clamping component 104 and the small supporting jaws 105 of the clamping robot 6 turn to the semi-finished product to pull out the semi-finished product.

[0086] The processing lifting block 27 of the processing robot 4 drives the gear bearing 41 to move up and down so that the cleaning part on the gear bearing 41 cleans the outer wall of the core shaft 65 of the large base, and the small clamping assembly 104 and the small supporting jaw 105 put the semi-finished product on the outside of the core shaft 65 of the large base, and then the processing robot 4, the transfer robot 5 and the clamping robot 6 repeat the above production and processing steps until the large workpiece clamping assembly 106 and the large supporting jaw 107 jointly pull off the large rubber sleeve 15 and place it on the rubber sleeve cleaning device 7, and then the clamping column 99 rotates to turn the finished product clamping assembly 108 to the long water outlet 127, the finished product clamping assembly 108 holds the long water outlet 127 and pulls it out of the core shaft 65, and then the clamping robot 6 puts the long water outlet 127 on the long water outlet 127 fixing rod 124 on the conveying mechanism 8, thereby completing the production and processing of a long water outlet 127. Since the production of the long shroud 127 in the device requires two sets of processes, and when one manipulator is processing the long shroud 127, the other manipulators are idle, the production of two long shrouds 127 can be carried out simultaneously to improve the production and processing efficiency. The present invention can automatically complete the production of the long shroud, reduce the labor intensity of workers, improve the automation level of the long shroud production, and improve the processing and production efficiency.

[0087] The above is only a preferred embodiment of the present invention, and does not limit the present invention in other forms. Any technician familiar with the profession may use the above disclosed technical content to change or modify it into an equivalent embodiment with equivalent changes. However, any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention without departing from the technical solution of the present invention still belongs to the protection scope of the technical solution of the present invention.

Claims

1. A long shroud automatic production device, characterized in that: The invention comprises a circulating track (3), a material-dropping mechanism (2), a processing robot (4), a transfer robot (5) and a clamping robot (6); a plurality of trays (25) are arranged at intervals on the circulating track (3); a walking device (26) is connected to the circulating track (3) for driving the trays (25) to rotate along the circulating track (3); the material-dropping mechanism (2) is fixedly arranged above the circulating track (3); a vibration mechanism is arranged on the circulating track (3) directly below the material-dropping mechanism (2); the vibration mechanism is arranged below the tray (25); the processing robot (4) is arranged in the middle of the circulating track (3); the transfer robot (5) and the clamping robot (6) are arranged side by side and at intervals on one side of the circulating track (3); the processing robot (4), the transfer robot (5) and the clamping robot (6) are arranged side by side and at intervals on one side of the circulating track (3); the processing robot (4), the transfer robot (5) and the clamping robot (6) are arranged side by side and at intervals on the other ... The hand (5) and the clamping manipulator (6) are both connected to a translation device that drives them to move horizontally, and each manipulator includes a manipulator arm, and the manipulator arm is connected to a rotation mechanism that drives it to rotate and a manipulator arm lifting mechanism that drives it to lift; a cage placement plate (123) is arranged in the middle of the circulating track (3) near the transfer manipulator (5), a rubber sleeve transfer component for clamping the rubber sleeve and a cage clamping component (70) fixedly connected to the cage are arranged on the manipulator arm of the transfer manipulator (5), and a fixed storage plate (122) is arranged between the transfer manipulator (5) and the clamping manipulator (6); a workpiece clamping component for clamping the rubber sleeve and the semi-finished product of the long water nozzle and a finished product clamping component (108) for clamping the long water nozzle are arranged on the manipulator arm of the clamping manipulator (6).

2. The automatic shroud production device according to claim 1, characterized in that: The translation device comprises a moving motor (73), a moving guide rail (74) and a moving lead screw (75); the moving lead screw (75) is arranged horizontally, the moving guide rail (74) and the moving lead screw (75) are arranged in parallel, one end of the moving lead screw (75) is connected to the output end of the moving motor (73), the other end of the moving lead screw (75) is fixed by a moving bearing seat (76), each manipulator is respectively threadedly connected to each moving lead screw (75), and each manipulator is respectively slidably arranged on each moving guide rail (74).

3. The automatic shroud production device according to claim 1, characterized in that: The processing robot (4) comprises a workpiece cleaning mechanism mounted on a robot arm, a clamping claw (38) of a clamp, and a placing and taking mechanism for a plunger (62) and a funnel (63).

4. The automatic shroud production device according to claim 3, characterized in that: The placing and taking mechanism comprises an electromagnet (32) and a rubber sleeve fixed clamping jaw arranged below the electromagnet (32); the electromagnet (32) is connected to a lifting assembly for driving the electromagnet (32) to be lifted and lowered; a placing platform is also arranged on one side of the processing robot (4); two groups of rubber sleeve fixed clamping jaws are arranged; the two groups of rubber sleeve fixed clamping jaws are symmetrically arranged at two ends of a reversing plate (46); the reversing plate (46) is rotatably mounted on the robot arm via the reversing assembly; and magnetic metal material is arranged on both the plunger (62) and the funnel (63).

5. The automatic shroud production device according to claim 1, characterized in that: The rubber sleeve transport assembly is provided with two groups at intervals in the vertical direction, each group of rubber sleeve transport jaws comprises two rubber sleeve transport jaws, the two rubber sleeve transport jaws are symmetrically arranged at both ends of a reversing plate (46), the reversing plate (46) is rotatably mounted on the mechanical arm via the reversing assembly, and the reversing plates of the two groups of rubber sleeve transport jaws rotate synchronously.

6. The automatic shroud production device according to claim 1, characterized in that: The cage clamping assembly (70) comprises a cage clamping claw (89) and a cage fixing screw (85), wherein the cage fixing screw (85) is arranged between the cage clamping claws (89), and the cage fixing screw (85) is connected to a power assembly for driving the lifting and lowering, a cage fixing column (90) is arranged at the lower end of the cage fixing screw (85), and a connecting shaft (92) connected to the cage clamping assembly (70) is arranged on the cage (13), and a connecting shaft (92) is arranged on the upper end of the connecting shaft (92). A connecting block (93) is provided at the end thereof, the diameter of the connecting block (93) being larger than the diameter of the connecting shaft (92), a groove for accommodating the connecting block (93) is provided in the middle of the cage clamping jaw (89), a fixing hole is provided in the middle of the connecting block (93), a cage fixing column (90) is inserted into the fixing hole, a positioning plate (91) is provided at the connection between the cage fixing column (90) and the cage fixing lead screw (85), the diameter of the positioning plate (91) being larger than the diameter of the fixing hole.

7. The automatic shroud production device according to claim 1, characterized in that: The upper end of the transfer robot (5) is connected to a stabilizing component.

8. The automatic shroud production device according to claim 7, characterized in that: The stabilizing component comprises a fixing member, a guiding member and a sliding member, one end of the guiding member is fixedly connected to the fixing member, the sliding member moves linearly along the guiding member, and the upper end of the transfer robot (5) is rotatably connected to the lower end of the sliding member.

9. The automatic shroud production device according to claim 1, characterized in that: Two groups of workpiece clamping assemblies are respectively arranged on opposite sides of the clamping manipulator (6), a group of supporting clamping claws are arranged below the two groups of workpiece clamping assemblies, and the finished product clamping assembly (108) is arranged between the two groups of workpiece clamping assemblies.

10. The automatic shroud production device according to claim 1, characterized in that: A rubber sleeve cleaning mechanism (7) is provided on a side of the clamping robot (6) away from the transfer robot (5), and the rubber sleeve cleaning mechanism (7) comprises two groups of rubber sleeve cleaning components.

Images