Anchor chain crosspiece positioning and feeding device and method

Abstract

The invention provides an anchor chain crosspiece positioning and feeding device and method.The anchor chain crosspiece positioning and feeding device comprises a platform, a crosspiece pushing assembly, a crosspiece conveying assembly and a crosspiece positioning assembly, the crosspiece pushing assembly, the crosspiece conveying assembly and the crosspiece positioning assembly are arranged on the platform, and the crosspiece pushing assembly comprises a pushing telescopic rod arranged on the platform and a pushing plate connected to the end of the pushing telescopic rod; the upper edge of the push plate is rotationally connected with a pressing plate through a shaft; the crosspiece conveying assembly comprises a conveying telescopic rod arranged on one side of the upper portion of the platform and a pushing block detachably connected to the end of the conveying telescopic rod, and the side, away from the conveying telescopic rod, of the pushing block is an arc-shaped face. And the crosspiece positioning assembly comprises a positioning block which is arranged on the other side of the upper part of the platform and is horizontally opposite to the pushing block. According to the device, the crosspieces in the charging basket can be automatically conveyed to a fixed position, accurate grabbing of a mechanical arm is facilitated, manual placement of the crosspieces is avoided, and the production efficiency and quality of anchor chains are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor chain production equipment, and more specifically, to an anchor chain crosspiece positioning and feeding device and method. Background Art

[0002] In the current anchor chain processing, the crosspieces are first manually picked from the material basket and then positioned in the chain link by manual observation. This method makes it difficult to accurately position the crosspieces in the chain link, affecting the overall quality and appearance of the anchor chain, and cannot meet the requirements of intelligent and automated production.

[0003] With the promotion of intelligent and automated anchor chain production, it is necessary to use an anchor chain manipulator to clamp neatly placed crossbars from a fixed position. This process requires manual placement of the crossbars from the material basket to the specified position, and the placement position and angle must be accurate, otherwise it will affect the precise grasping of the manipulator, resulting in the impact on the quality of anchor chain production or interruption of the production process. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide an anchor chain crossbar positioning and feeding device and method, so as to automatically transport the crossbars in the material basket to a fixed position and place them in an orderly manner, so as to facilitate the precise grasping of the robot arm, avoid the errors caused by manual placement of the crossbars, improve the production efficiency of the anchor chain, and improve the quality of the anchor chain.

[0005] The present invention provides an anchor chain crossbar positioning and feeding device, comprising a platform, a crossbar pushing assembly arranged on the platform, a crossbar conveying assembly and a crossbar positioning assembly, wherein:

[0006] The horizontal bar pushing assembly comprises a pushing telescopic rod arranged on the platform and a push plate connected to the end of the pushing telescopic rod, the push plate is parallel to and equal in length to the first edge of the platform, a pressing plate equal in length to the pushing plate is rotatably connected to the upper edge of the pushing plate through an axis, the pressing plate is rotatably connected to the moving rod of the pneumatic cylinder toward the side of the pushing telescopic rod, a bracket is arranged on the side of the pushing plate, and the cylinder of the pneumatic cylinder is supported on the bracket;

[0007] The horizontal bar conveying assembly includes a conveying telescopic rod arranged on one side of the upper part of the platform and a pushing block detachably connected to the end of the conveying telescopic rod, the conveying telescopic rod is parallel to the first edge, and the side of the pushing block away from the conveying telescopic rod is an arc surface, and the arc surface is adapted to the concave arc of the horizontal bar to be conveyed;

[0008] The crossbar positioning assembly includes a positioning block arranged on the other side of the upper part of the platform and horizontally facing the pushing block, and the side surface of the positioning block facing the pushing block is the same as the arc surface;

[0009] An inclined plane is connected along the first edge, and an included angle between the inclined plane and the platform is 150°-170°.

[0010] Among them, an optional scheme is that a support frame is fixed to the side of the platform, and a support bracket is provided at the upper end of the support frame, and the moving rod of the conveying telescopic rod is inserted in the support bracket and moves horizontally; a track supported by the bracket is provided on the platform, and a guide trolley for horizontal movement is provided on the track, and the guide trolley comprises a base plate and rollers connected on both sides of the upper side of the base plate, and the rollers roll on both sides of the track respectively, and the base plate is located below the track, and a connecting plate is connected below the edge of the base plate facing the positioning block, and the connecting plate is connected to the end of the moving rod of the conveying telescopic rod; a first fixed plate is vertically connected to the edge of the connecting plate facing the positioning block, and the pushing block is detachably connected to the bottom of the first fixed plate; when the moving rod of the conveying telescopic rod is recovered into place, the pushing block is located on the outside of the platform.

[0011] Among them, an optional solution is that the conveying telescopic rod is a pneumatic telescopic rod, and a self-lubricating bearing is arranged in the support bracket.

[0012] Among them, an optional scheme is that the pushing block includes a square block, one side of the square block is set as the arc surface, a second fixing plate is fixed in the middle of the plane opposite to the arc surface in the square block, and the upper end of the second fixing plate is connected to the first fixing plate by bolts.

[0013] Among them, an optional solution is that a horizontal frame is provided on the side of the platform opposite to the conveying telescopic rod, a vertical frame is vertically connected to the end of the horizontal frame away from the platform, and an extension plate flush with the platform is provided between the vertical frame and the platform; the positioning block is an arc block, and the planar end of the arc block is detachably connected to the vertical frame.

[0014] Among them, an optional solution is that a through hole is opened in the center of the positioning block, and a proximity switch facing the pushing block is arranged in the through hole.

[0015] Among them, an optional solution is that the pushing and straightening telescopic rod includes an electric telescopic rod arranged on the platform through a support, and the moving rod of the electric telescopic rod is vertically connected to the middle part of the pushing plate.

[0016] Among them, an optional solution is that guide rods are respectively vertically connected to the two ends of the side surface of the push plate connected to the electric telescopic rod, and the guide rods move in the guide seat on the platform.

[0017] Another aspect of the present invention provides a method for positioning and feeding an anchor chain crosspiece, which uses the above-mentioned anchor chain crosspiece positioning and feeding device to transport the crosspiece, comprising the following steps:

[0018] S1: using a push plate feeder to transport the crossbar toward the end of the inclined surface close to the push block;

[0019] S2: Push the telescopic rod to extend, so that the push plate pushes the cross piece to be located between the push plate and the inclined surface and aligned with the push block, the moving rod of the pneumatic cylinder extends and pushes the pressing plate to press on the top of the cross piece, so that the concave arc of the cross piece faces the arc surface of the push block, and the moving rod of the pneumatic cylinder returns to its original position;

[0020] S3: The conveying telescopic rod is extended so that the pushing block pushes the cross bar to move forward in a straight line until it hits the positioning block.

[0021] Among them, an optional solution is that before step S1, the extension lengths of the pushing telescopic rod, the conveying telescopic rod, and the moving rod of the pneumatic cylinder are adjusted according to the specifications of the crossbar; after step S3, the conveying telescopic rod and the pushing telescopic rod are both returned to their positions.

[0022] From the above description, it can be known that the anchor chain crossbar positioning and feeding device and method provided by the present invention include a platform. By arranging a crossbar pushing assembly on the platform, the crossbar delivered by the loader to the platform can be pushed to facilitate the delivery of the crossbar conveying assembly. The crossbar conveying assembly is pressed against the concave arc of the crossbar to convey the crossbar to the crossbar positioning assembly. The positioning block of the crossbar positioning assembly and the pushing block of the crossbar conveying assembly limit the spatial position of the crossbar, which is convenient for the robot to grasp. The present invention can realize that when the anchor chain crossbar is installed, the robot can accurately grasp the crossbar, improve the spatial position accuracy of the robot placing the crossbar in the chain link, improve the production efficiency and quality, and realize automated production. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] By referring to the following description in conjunction with the accompanying drawings, and with a more comprehensive understanding of the present invention, other objects and results of the present invention will become more apparent and easy to understand. In the accompanying drawings:

[0024] Figure 1 It is a structural schematic diagram of an anchor chain crossbar positioning and feeding device according to Embodiment 1 of the present invention;

[0025] Figure 2 It is a side view of the anchor chain crossbar positioning and feeding device according to Embodiment 1 of the present invention;

[0026] Figure 3 for Figure 2 The structural diagram of A in the figure;

[0027] Figure 4 for Figure 1 Schematic diagram of the structure of B;

[0028] Figure 5 It is a top view of the anchor chain crossbar positioning and feeding device according to Embodiment 1 of the present invention;

[0029] Figure 6 for Figure 5 AA cross-sectional view;

[0030] Figure 7 for Figure 5 A cross-sectional view of BB;

[0031] Figure 8 It is a top view of the crossbar pushing assembly according to Embodiment 1 of the present invention;

[0032] Fig. 9 This is a flow chart of a method for positioning and feeding an anchor chain crosspiece according to Embodiment 2 of the present invention;

[0033] Among them, 1-platform, 11-extension plate;

[0034] 2-horizontal bar pushing assembly, 21-pushing telescopic rod, 22-push plate, 23-guide rod, 24-guide seat, 25-axis, 26-pressing plate, 27-pneumatic cylinder, 28-bracket;

[0035] 3-transverse conveying assembly, 31-conveying telescopic rod, 32-pushing block, 33-support frame, 34-support bracket, 35-track, 36-guide trolley, 361-bottom plate, 362-roller, 37-connecting plate, 38-first fixed plate, 39-second fixed plate;

[0036] 4-horizontal positioning assembly, 41-positioning block, 42-horizontal frame, 43-vertical frame, 44-proximity switch;

[0037] 5- horizontal rail, 6- inclined plane, 7- plate pusher, 8- manipulator;

[0038] The same reference numerals throughout the drawings indicate similar or corresponding features or functions. DETAILED DESCRIPTION

[0039] The present invention can be subjected to various changes and can have various embodiments, and specific embodiments are illustrated and described in the accompanying drawings. However, the present invention is not limited to the specific implementation, and all changes, equivalents and substitutes falling within the concept and technical scope of the present invention are included, and should be understood to be included.

[0040] Ordinal terms such as first, second, etc. may be used to describe various constituent elements, but the constituent elements are not limited to the terms. The terms are only used to distinguish one constituent element from another constituent element. For example, without departing from the scope of the claims of the present invention, the second constituent element may be named as the first constituent element, and similarly, the first constituent element may be named as the second constituent element. The terms and / or include a combination of multiple associated items or a certain item among multiple associated items.

[0041] It should be understood that when a certain component is mentioned to be "connected" or "contacted" with other components, this includes not only the case where it is directly connected or contacted with other components, but also the case where other components exist in between. Conversely, when a certain component is mentioned to be "directly connected" or "directly contacted" with other components, it should be understood that there are no other components in between.

[0042] In the description of the embodiments, when it is described that a certain component is formed "on or under" another component, on or under includes two components directly contacting each other or at least one other component is arranged and formed between the two components. Moreover, when it is expressed as on or under, it refers to not only the upper direction but also the lower direction based on a certain component.

[0043] The terms used in this application are only used to illustrate specific embodiments and are not intended to limit the present invention. Unless the context clearly provides otherwise, singular expressions include plural expressions. In this application, it should be understood that terms such as "including" or "having" are used to specify the presence of features, numbers, steps, operations, constituent elements, parts or combinations thereof recorded in the specification, and do not preclude the presence or additional possibility of one or more other features, numbers, steps, operations, constituent elements, parts or combinations thereof.

[0044] Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as those generally understood by those skilled in the art. Terms defined in commonly used dictionaries should be interpreted as having the same meaning as in the context of the relevant technology, and if not clearly defined in this application, they should not be interpreted as ideal or overly formal meanings.

[0045] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0046] Example 1

[0047] like Figure 1-Figure 8As shown, the anchor chain crossbar positioning and feeding device proposed in this embodiment 1 can be used to convey crossbars to the robot for anchor chain production, so as to facilitate the robot to grasp accurately, and can also be used to convey crossbars to the robot for other equipment.

[0048] The anchor chain crossbar positioning and feeding device comprises a platform 1, a crossbar pushing assembly 2 arranged on the platform 1, a crossbar conveying assembly 3 and a crossbar positioning assembly 4. The platform 1 can be square and is used to place the crossbar 5 to be conveyed and support other components. The crossbar 5 is transported on the platform 1; the crossbar pushing assembly 2 is used to push the crossbar 5 loaded by the feeder onto the platform 1 to the front of the crossbar conveying assembly 3, so as to facilitate the pushing of the crossbar conveying assembly 3; the crossbar positioning assembly 4 is used to limit the final position of the crossbar 5 pushed by the crossbar conveying assembly 3, so as to facilitate the precise grasping of the manipulator 8.

[0049] In order to accurately push the crossbar 5, the crossbar pushing assembly 2 may include a pushing telescopic rod 21 set on the platform 1 and a push plate 22 connected to the end of the pushing telescopic rod 21, the bottom edge of the push plate 22 is almost in contact with the platform 1, the push plate 22 is parallel to the first edge of the platform 1 and has the same length, and a crossbar can be placed between the first edge and the retracted push plate 22, generally at the starting end of the first edge.

[0050] By adjusting the telescopic stroke of the push-correction telescopic rod 21, the position to which the push plate 22 can be pushed can be accurately controlled, so that when the push plate 22 pushes the crossbar, the central axis of the crossbar can be aligned with the center of the crossbar conveying assembly 3, so that the crossbar conveying assembly 3 can be aligned and stably push the crossbar. By adjusting the telescopic stroke of the push-correction telescopic rod 21, it can be applied to push crossbars of different diameters.

[0051] In order to further stabilize the push-correction crosspiece, the height of the push plate 22 is not less than the diameter of the crosspiece, and can be equivalent to the diameter of the crosspiece 5. A pressing plate 26 of the same length as the push plate 22 is rotatably connected to the upper edge of the push plate 22 through a shaft 25. The shaft 25 can be loose-leaf. The width of the pressing plate 26 can be equivalent to the diameter of the crosspiece. The pressing plate 26 is rotatably connected to the moving rod of the pneumatic cylinder 27 through a support plate toward the side of the push-correction telescopic rod 21. A bracket 28 is provided on the side of the push plate 22 where the push-correction telescopic rod 21 is provided, and the cylinder of the pneumatic cylinder 27 is supported on the bracket 28.

[0052] The pneumatic cylinder 27 is supported on the bracket 28, and the bracket 28 is connected to the rear side of the push plate 22. When the push plate 22 moves, the pneumatic cylinder 27 moves with it. When the push plate 22 pushes the crossbar, the moving rod of the pneumatic cylinder 27 extends, pushing the pressure plate 26 to rotate toward the top of the crossbar 5, pressing on the upper side of the crossbar until the axial position of the crossbar is adjusted. The extension length of the moving rod of the pneumatic cylinder 27 can be adjusted according to the size of the crossbar, and the degree of rotation of the pressure plate 26 can be controlled to appropriately press the crossbar sent by the feeder, so that it rotates and the concave arc becomes horizontal and fits perfectly with the push block 32. The moving rod of the pneumatic cylinder 27 returns to its position, driving the pressure plate 26 to open backwards, without hindering the push block 32 from pushing the crossbar 5.

[0053] The front end of the pneumatic cylinder 27 is rotatably connected and fixed to the upper end of the bracket 28. The angle between the pneumatic cylinder 27 and the horizontal plane is adjustable. The downward angle of the pneumatic cylinder 27 can be adjusted and fixed according to specific circumstances to adapt to the pressing plate 26 in place.

[0054] According to the specifications of different crosspieces, different push plate and pressure plate combinations and the angles of the pneumatic cylinder 27 can be replaced to press them into place.

[0055] In order to stabilize the conveying crossbar, the crossbar conveying assembly 3 may include a conveying telescopic rod 31 arranged on one side of the upper part of the platform 1 and a pushing block 32 detachably connected to the end of the conveying telescopic rod 31, the conveying telescopic rod 31 is parallel to the first edge, and the side of the pushing block 32 away from the conveying telescopic rod 31 is an arc-shaped surface, which is adapted to the concave arc of the crossbar 5.

[0056] The conveying telescopic rod 31 is used to drive the push block 32 to move forward or backward in a straight line. The arc surface of the push block 32 is used to press against the concave arc of the crossbar to push the crossbar forward in a straight line. When pushing the crossbar forward, the push plate 22 may not retreat, further ensuring the linear and stable pushing of the crossbar. When the crossbar 5 is pushed into place, the push-aligning telescopic rod 21 drives the push plate 22 to retreat, preparing to push the next crossbar conveyed by the feeder, and the conveying telescopic rod 31 drives the push block 32 back to prepare to push the next crossbar.

[0057] The telescopic stroke of the conveying telescopic rod 31 is adjusted according to the length of the crossbar, so that when the pushing block 32 reaches the final position, the crossbar can be restricted within the crossbar with the crossbar positioning assembly 4. By adjusting the telescopic stroke of the conveying telescopic rod 31, it can be suitable for pushing crossbars of different lengths.

[0058] In order to stably position the crossbar, the crossbar positioning assembly 4 may include a positioning block 41 disposed on the other side of the upper portion of the platform 1 and horizontally facing the push block 32 , and the side surface of the positioning block 41 facing the push block 32 is the same as the arc surface.

[0059] The push block 32 pushes the crossbar 5 until the concave arc at the other end of the crossbar 5 contacts the positioning block 41. When the pushing is completed, the manipulator 8 grabs the middle of the crossbar 5. At this time, the conveying telescopic rod 31 can drive the push block 32 back to its original position. The end of the crossbar is not restricted, which facilitates the manipulator 8 to grab the crossbar. The grabbing position of the manipulator 8 can be adjusted according to the specifications of the crossbar.

[0060] By replacing the pushing block 32 and the positioning block 41, it can be suitable for pushing crosspieces with different concave arcs.

[0061] A slope 6 may also be connected to the first edge of the platform 1 . The angle between the slope 6 and the platform 1 may be 150°-170°. The loading machine may be a plate push loading machine 7 , which transports the crossbar to the slope 6 .

[0062] The inclined surface 6 can be equal in length to the first edge, and the conveying telescopic rod 31 is arranged close to the first edge. When the push plate loading machine 7 loads a crossbar onto the inclined surface 6, the crossbar falls from the inclined surface 6 onto the platform 1, and is then pushed by the crossbar pushing assembly 2. Due to the limitation of the inclined surface 6, the crossbar will not be pushed below the platform 1, and will not fall when the push block pushes the crossbar forward.

[0063] The plate pusher feeder 7 can be arranged on the first edge side, and pushes the crossbar from the crossbar basket onto the inclined surface 6 . The inclined surface 6 can be the uppermost discharge surface of the plate pusher feeder 7 .

[0064] When conveying the same batch of crosspieces, according to the specifications of the crosspieces, suitable push blocks 32 and positioning blocks 41 are installed, and the travel of the telescopic rod 21 and the moving rod of the pneumatic cylinder 27 can be adjusted so that the push plate 22 and the pressure plate 26 can push a crosspiece placed on the platform 1 until its concave arc faces the push block 32, and the travel of the conveying telescopic rod 31 is adjusted so that the conveying telescopic rod 31 is extended, and the push block 32 is driven to push the crosspiece 5 so that it is against the positioning block 41. The grasping position of the manipulator 8 is adjusted, and a crosspiece is grasped at a fixed position each time, which ensures accurate grasping and the position of the grasped crosspiece, so as to facilitate the next step of installation on the chain link.

[0065] In a specific embodiment of the present invention, in order to facilitate the installation of the telescopic conveying rod 31, a support frame 33 is fixed to the side of the platform 1, and a support bracket 34 is provided at the upper end of the support frame 33. The moving rod of the telescopic conveying rod 31 is inserted into the support bracket 34 and moves horizontally.

[0066] The support frame 33 can be a cross bar fixed to the side of the platform 1, a reinforcing triangle plate is connected between the lower side of the cross bar and the platform 1, a bracket is provided on the upper side of the end of the cross bar, and a support bracket 34 is provided on the upper end of the bracket. The fixed cylinder of the conveying telescopic rod 31 can be fixed on the bracket outside the platform 1, and the moving rod of the conveying telescopic rod 31 is inserted into the support bracket 34 and stably supported by the support bracket 34 to ensure horizontal and stable movement.

[0067] In order to further smoothly move the push block 32, a track 35 supported by a bracket is provided on the platform 1, and a horizontally movable guide trolley 36 is provided on the track 35. The guide trolley 36 includes a bottom plate 361 and rollers 362 connected to both sides above the bottom plate 361. The rollers 362 roll on both sides of the track 35 respectively. The bottom plate 361 is located below the track 35. A connecting plate 37 is connected below the edge of the bottom plate 361 facing the positioning block 41, and the connecting plate 37 is connected to the end of the moving rod of the conveying telescopic rod 31.

[0068] The track 35 may be an I-beam, and the guide trolley 36 may include a bottom plate 361 and side plates connected to both sides of the bottom plate 361, and rollers 362 are connected to the inner sides of the side plates, and a pair of rollers 362 roll on both sides of the waist plate of the I-beam track 35, so that the guide trolley 36 can move on the track 35. Two pairs of rollers can be set to roll on both sides of the waist plate of the I-beam track, and the operation is more stable.

[0069] The track 35 is higher than the height of the telescopic conveying rod 31. The guide trolley 36 on the track 35 is connected to the end of the telescopic conveying rod 31 through a connecting plate 37. When the moving rod of the telescopic conveying rod 31 is extended, the telescopic conveying rod 31 can be guided to move in an absolutely straight line to prevent the moving rod of the telescopic conveying rod 31 from deviating during the extension process.

[0070] In order to facilitate the detachable connection with the push block 32, a first fixing plate 38 is vertically connected to the edge of the connecting plate 37 facing the positioning block 41, and the push block 32 is detachably connected to the lower side of the first fixing plate 38. The push block 32 is detachably connected to the first fixing plate 28, which is convenient for replacing different push blocks 32, and the push block 32 is close to the upper surface of the platform 1.

[0071] When the moving rod of the conveying telescopic rod 31 is recovered in place, the pushing block 32 is located outside the platform 1. The loading machine can place the crosspiece 5 at the end of the platform 1, and the crosspiece 5 is pushed by the end of the platform 1 along the first edge direction.

[0072] In a specific embodiment of the present invention, the transport telescopic rod 31 may be a pneumatic telescopic rod, and a self-lubricating bearing is provided in the support bracket 34. The self-lubricating bearing can make the moving rod of the pneumatic telescopic rod move smoothly.

[0073] In a specific embodiment of the present invention, in order to facilitate detachable connection, the pushing block 32 includes a square block, one side of the square block is set as an arc surface, and a second fixing plate 39 is fixed in the middle of the plane opposite to the arc surface in the square block. The lower edge of the second fixing plate 39 is higher than the lower side surface of the pushing block 32, and the width of the second fixing plate 29 is not greater than the width of the square block. The upper end of the second fixing plate 39 is connected to the first fixing plate 38 by bolts. The second fixing plate 39 and the first fixing plate 38 can be connected by more than two bolts to ensure that the connection is stable and will not be deviated.

[0074] A variety of square blocks and second fixing plates 38 are processed according to crosspieces of different specifications. The square blocks and second fixing plates constitute a push block adapted to the concave arcs of crosspieces of different specifications, so that the push block can be perfectly matched with the concave arcs of the crosspiece after installation, and the final positioning is accurate.

[0075] In a specific embodiment of the present invention, in order to stably arrange the positioning block 41, a horizontal frame 42 is arranged on the side of the platform 1 opposite to the conveying telescopic rod 31, a vertical frame 43 is vertically connected to the end of the horizontal frame 42 away from the platform 1, and an extension plate 11 flush with the platform 1 is arranged between the vertical frame 43 and the platform 1. The horizontal frame 42 and the vertical frame 43 form a fixed frame for the positioning block 41, and the extension plate 11 can support the cross piece 5 and push it to the positioning block 41. Baffles can be arranged on both sides of the extension plate 11 to prevent the cross piece from falling.

[0076] In order to facilitate the replacement of different positioning blocks 41, the positioning block 41 can be an arc block, the flat end of the arc block is detachably connected to the vertical frame 43, and the arc block is adapted to the concave arc of the cross piece. The positioning block 41 is paired with the push block 32, which can fully clamp the concave arc of the cross piece and accurately position the cross piece.

[0077] The detachable connection can be that a flange is connected to the plane end of the arc block, and the flange is connected to the vertical plate by bolts. The arc block center axis 25 is horizontally aligned with the push block center axis 25.

[0078] A variety of arc blocks and flanges are processed according to crosspieces of different specifications. The arc blocks and flanges constitute positioning blocks that adapt to the concave arcs of crosspieces of different specifications, so that the positioning blocks can be perfectly matched with the concave arcs of the crosspieces after installation, and the final positioning is accurate.

[0079] In a specific embodiment of the present invention, in order to automatically identify whether the crossbar is grabbed, a through hole is opened in the center of the positioning block 41, and a proximity switch 44 facing the pushing block 32 is arranged in the through hole.

[0080] The proximity switch 44 is inserted into the through hole, and its front end is close to but not extended from the front end of the through hole, to check whether the front part of the arc block is on the horizontal bar. If it is on the horizontal bar, the signal is transmitted to the manipulator 8, the conveying telescopic rod 31 and the straightening telescopic rod 21. The manipulator 8 grabs the horizontal bar, the conveying telescopic rod 31 retreats, the straightening telescopic rod 21 retreats, and the manipulator 8 grabs the horizontal bar, and the grabbing is completed. After the conveying telescopic rod 31 retreats to the right position, the next horizontal bar is loaded, and a new straightening and pushing is started.

[0081] The sensing distance of the proximity switch 44 can be set as required. The sensing distance can be the distance between the concave arc of the horizontal bar and the proximity switch 44 after the top of the arc is on the arc block.

[0082] In a specific embodiment of the present invention, in order to accurately adjust the push-out position of the push plate 22, the push-aligning telescopic rod 21 includes an electric telescopic rod arranged on the platform 1 through a support, and the end of the moving rod of the electric telescopic rod is vertically connected to the middle of the push plate 22 through a connecting plate. The stroke of the electric telescopic rod can be accurately adjusted, and by adjusting the extension length of the moving rod of the electric telescopic rod, the push plate 22 can be brought to a suitable position to push the crosspiece to align with the push block 32.

[0083] In a specific embodiment of the present invention, in order to ensure the smooth movement of the long push plate 22, guide rods 23 are vertically connected to both ends of the side of the push plate 22 connected to the electric telescopic rod, and the guide rod 23 moves in the guide seat 24 on the platform 1. The electric telescopic rod pushes the push plate 22 in the middle, and two guide rods 23 are respectively arranged on both sides of the electric telescopic rod. When the electric telescopic rod pushes the push plate 22, the two guide rods 23 are parallel to the electric telescopic rod and move synchronously, so that the push plate 22 can be pushed out smoothly without tilting. A self-lubricating bearing can be arranged in the guide seat 24, and the guide rod 23 moves smoothly.

[0084] Example 2

[0085] Fig. 9 This is a flow chart of a method for positioning and feeding an anchor chain crosspiece according to Embodiment 2 of the present invention;

[0086] like Fig. 9 As shown, Example 2 provides a method for positioning and feeding an anchor chain crosspiece, using the anchor chain crosspiece positioning device described in Example 1 to convey the crosspiece, including the following steps:

[0087] S1: The push plate feeder 7 is used to transport the crossbar 5 to the end of the inclined surface 6 close to the push block 32.

[0088] First, the material is loaded. When the plate pusher 7 loads a crossbar 5 onto the inclined plane 6, the crossbar 5 falls from the inclined plane 6 to the platform 1. Due to the restriction of the inclined plane 6, the crossbar 5 will not fall.

[0089] The plate pusher 7 can be arranged on the first edge side to push the crossbar 5 from the crossbar basket onto the inclined surface 6.

[0090] S2: Push the telescopic rod 21 to extend so that the push plate 22 pushes the cross piece 5 to be located between the push plate 22 and the inclined surface 6 and aligned with the push block 32. The moving rod of the pneumatic cylinder 27 extends and pushes the pressing plate 26 to press on the top of the cross piece 5 so that the concave arc of the cross piece 5 is opposite to the arc surface of the push block 32. The moving rod of the pneumatic cylinder 27 returns to its original position without hindering the later conveying of the cross piece 5.

[0091] After loading, the crossbar 5 should be pushed straight for transportation. When the push plate 22 moves, the pneumatic cylinder 27 moves with it. While the push plate 22 pushes the crossbar, the moving rod of the pneumatic cylinder 27 extends, pushing the pressing plate 26 to rotate toward the top of the crossbar 5 and press on the upper side of the crossbar 5 until the axial position of the crossbar 5 is adjusted and the concave arc can fit perfectly with the pushing block 32. Due to the restriction of the inclined surface 6, the crossbar 5 will not be pushed under the platform 1. The crossbar 5 is restricted between the inclined surface 6 and the push plate 22, and the crossbar will not deviate during transportation.

[0092] S3: The telescopic conveying rod 31 is extended so that the pushing block 32 pushes the cross bar 5 to move forward in a straight line until it hits the positioning block 41.

[0093] After the crossbar 5 is pushed straight, the conveying begins. The conveying telescopic rod 31 begins to extend, and the crossbar 5 is pushed from one end of the first edge until it is pushed to contact the positioning block 41. The crossbar 5 is pushed into place, which is convenient for the robot to accurately grasp.

[0094] Before step S1, the extension lengths of the pushing telescopic rod 21, the conveying telescopic rod 31 and the moving rod of the pneumatic cylinder 27 are adjusted according to the specifications of the batch of crosspieces 5 to be conveyed.

[0095] By adjusting the telescopic stroke of the push-correction telescopic rod 21, the position to which the push plate 22 can be pushed can be accurately controlled, and the crossbar 5 can be pushed to a position directly opposite to the push block 32. By adjusting the extension length of the moving rod of the pneumatic cylinder 27, the rotation degree of the pressing plate 26 can be controlled to press the crossbar 5 straight, and the concave arc of the crossbar 5 becomes horizontal, which can further fit perfectly with the push block 5.

[0096] By properly adjusting the extension length of the telescopic conveying rod 31 , the crossbar can be accurately pushed into place without excessively pressing the positioning block 41 .

[0097] After step S3, the push-up telescopic rod 21 and the conveying telescopic rod 31 are both returned to their positions, and the next horizontal bar is ready for push-up and conveying. When the horizontal bar 5 is pushed into place, the manipulator grabs the horizontal bar 5, and can control the conveying telescopic rod 31 to drive the pushing block 32 to retreat, release the horizontal bar 5, and facilitate the manipulator to easily grab the horizontal bar.

[0098] After the push block 32 is retracted into position, it is ready to push the next horizontal bar conveyed by the push plate loading machine, and at the same time, the push straightening telescopic rod 21 is controlled to drive the push plate 22 to retreat, and prepare to push the next horizontal bar.

[0099] The anchor chain crossbar positioning and feeding device and method according to the present invention are described above by way of example with reference to the accompanying drawings. However, those skilled in the art should understand that various improvements can be made to the anchor chain crossbar positioning and feeding device and method proposed by the present invention without departing from the content of the present invention. Therefore, the protection scope of the present invention should be determined by the content of the attached claims.

Claims

1. An anchor chain crossbar positioning and feeding device, characterized in that: It includes a platform, a crossbar pushing assembly, a crossbar conveying assembly and a crossbar positioning assembly arranged on the platform, wherein: The horizontal bar pushing assembly comprises a pushing telescopic rod arranged on the platform and a push plate connected to the end of the pushing telescopic rod, the push plate is parallel to and equal in length to the first edge of the platform, a pressing plate equal in length to the pushing plate is rotatably connected to the upper edge of the pushing plate through an axis, the pressing plate is rotatably connected to the moving rod of the pneumatic cylinder toward the side of the pushing telescopic rod, a bracket is arranged on the side of the pushing plate, and the cylinder of the pneumatic cylinder is supported on the bracket; The horizontal bar conveying assembly includes a conveying telescopic rod arranged on one side of the upper part of the platform and a pushing block detachably connected to the end of the conveying telescopic rod, the conveying telescopic rod is parallel to the first edge, and the side of the pushing block away from the conveying telescopic rod is an arc surface, and the arc surface is adapted to the concave arc of the horizontal bar to be conveyed; The crossbar positioning assembly includes a positioning block arranged on the other side of the upper part of the platform and horizontally facing the pushing block, and the side surface of the positioning block facing the pushing block is the same as the arc surface; An inclined plane is connected along the first edge, and an included angle between the inclined plane and the platform is 150°-170°.

2. The anchor chain crossbar positioning and feeding device according to claim 1, characterized in that: A support frame is fixed on the side of the platform, a support bracket is arranged at the upper end of the support frame, and the moving rod of the conveying telescopic rod is inserted into the support bracket and moves horizontally; A track supported by a bracket is arranged on the platform, a horizontally movable guide trolley is arranged on the track, the guide trolley comprises a bottom plate and rollers connected to both sides above the bottom plate, the rollers roll on both sides of the track respectively, the bottom plate is located below the track, a connecting plate is connected below the edge of the bottom plate facing the positioning block, and the connecting plate is connected to the end of the moving rod of the conveying telescopic rod; A first fixing plate is vertically connected to the edge of the connecting plate facing the positioning block, and the pushing block is detachably connected below the first fixing plate; When the moving rod of the conveying telescopic rod is recovered in place, the pushing block is located outside the platform.

3. The anchor chain crossbar positioning and feeding device according to claim 2, characterized in that: The conveying telescopic rod is a pneumatic telescopic rod, and a self-lubricating bearing is arranged in the support bracket.

4. The anchor chain crossbar positioning and feeding device according to claim 2, characterized in that: The pushing block comprises a square block, the arc surface is arranged on one side of the square block, a second fixing plate is fixed in the middle of the plane opposite to the arc surface in the square block, and the upper end of the second fixing plate is connected to the first fixing plate by bolts.

5. The anchor chain crossbar positioning and feeding device according to claim 1, characterized in that: A horizontal frame is arranged on the side of the platform opposite to the telescopic conveying rod, a vertical frame is vertically connected to the end of the horizontal frame away from the platform, and an extension plate flush with the platform is arranged between the vertical frame and the platform; The positioning block is an arc-shaped block, and the plane end of the arc-shaped block is detachably connected to the vertical frame.

6. The anchor chain crossbar positioning and feeding device according to claim 1, characterized in that: A through hole is opened in the center of the positioning block, and a proximity switch facing the pushing block is arranged in the through hole.

7. The anchor chain crosspiece positioning and feeding device according to claim 1, characterized in that: The pushing and straightening telescopic rod comprises an electric telescopic rod arranged on the platform through a support, and a moving rod of the electric telescopic rod is vertically connected to the middle part of the pushing plate.

8. The anchor chain crossbar positioning and feeding device according to claim 7, characterized in that: The two ends of the side surface of the push plate connected to the electric telescopic rod are respectively vertically connected with guide rods, and the guide rods move in the guide seats on the platform.

9. A method for positioning and feeding anchor chain crosspieces, characterized in that: The anchor chain crosspiece positioning and feeding device according to any one of claims 1 to 8 is used to convey the crosspiece, comprising the following steps: S1: using a push plate feeder to transport the crossbar toward the end of the inclined surface close to the push block; S2: Push the telescopic rod to extend, so that the push plate pushes the cross piece to between the push plate and the inclined surface and is aligned with the push block, the moving rod of the pneumatic cylinder extends and pushes the pressure plate to press on the top of the cross piece, so that the concave arc of the cross piece faces the arc surface of the push block, and the moving rod of the pneumatic cylinder returns to its original position; S3: The telescopic conveying rod is extended so that the pushing block pushes the cross bar to move forward in a straight line until it hits the positioning block.

10. The anchor chain crosspiece positioning and feeding method according to claim 9, characterized in that: Before step S1, the extension lengths of the straightening telescopic rod, the conveying telescopic rod and the moving rod of the pneumatic cylinder are adjusted according to the specifications of the crossbar; after step S3, the conveying telescopic rod and the straightening telescopic rod are both returned to their positions.

Images