Automatic roller assembling system

Abstract

The invention discloses an automatic roller assembling system. Comprising a tray manipulator, a first conveying device, a second conveying device, a first grabbing device and a cleaning blowing machine, wherein the first grabbing device is used for grabbing roller workpieces on the tray manipulator and placing the roller workpieces on the first conveying device; the cleaning blowing machine is used for receiving the roller workpieces conveyed by the first conveying device and spraying cleaning media to the roller workpieces; the line moving manipulator is used for transferring the roller workpieces cleaned by the cleaning blowing machine to the second conveying device; and the part assembling system is used for assembling parts on the roller workpieces positioned on the second conveying device. According to the automatic roller assembling system, control is reliable, high-efficiency and high-quality automatic assembling of the rollers can be achieved, traditional manual assembling is replaced, and the problems that the manual efficiency is low, the assembling quality is poor, parts are lacked, workpiece damage control is difficult, and quality tracing is difficult are solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of automated production equipment. Specifically, the present invention relates to a roller automated assembly system. Background Art

[0002] A roller is a cylindrical rotating part that plays roles such as feeding, drafting, and inputting in textile machinery. Before the spinning rollers are sent to the spinning site, they need to go through multiple processes including cleaning, marking, pressing bearings, spraying anti-rust oil, installing protective caps at both ends of the threads, bagging, and boxing.

[0003] Currently, most roller assemblies are manual single-machine operations. The equipment layout is scattered, the functions are single and backward, and the floor area occupied is large. One person is required for loading and unloading in each process. The main problems include: a large number of operators, simple and repetitive actions, high labor intensity, and poor working environment; it is easy to repeatedly contaminate products, affect surface cleanliness, and have low production efficiency.

[0004] In summary, in the existing production process of assembling such roller workpieces, the production mode mainly still uses manual assembly, resulting in low work efficiency, poor working environment, and difficult quality traceability; in addition, manual operation has low reliability and high risk, and the quality of finished products cannot be guaranteed; moreover, as labor costs gradually increase, production costs also increase accordingly. Summary of the Invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. For this purpose, the present invention provides a roller automated assembly system with the aim of improving production efficiency.

[0006] To achieve the above object, the technical solution adopted by the present invention is: a roller automated assembly system, including a tray manipulator, a first conveying device, a second conveying device, a first grasping device (Robot 1) for grasping the roller workpiece on the tray manipulator and placing the roller workpiece on the first conveying device, a cleaning and blowing machine for receiving the roller workpiece conveyed by the first conveying device and spraying cleaning medium on the roller workpiece, a transfer manipulator for transferring the roller workpiece that has completed the cleaning work by the cleaning and blowing machine to the second conveying device, and a component assembly system for assembling components on the roller workpiece located on the second conveying device.

[0007] The roller automated assembly system further includes a laser marking machine set for printing marks on the roller workpiece on the second conveying device.

[0008] The component assembly system includes a bearing pressing machine set for pressing bearings on the roller workpiece.

[0009] The component assembly system further includes a protective sleeve and plug assembly machine set for assembling protective sleeves and plugs on the roller workpiece.

[0010] An air - operated grease injection and rust - proof oil spraying unit is arranged between the press - fitting bearing unit and the protective sleeve and plug assembly unit. The air - operated grease injection and rust - proof oil spraying unit is configured to inject grease and spray rust - proof oil onto the roller workpiece.

[0011] The described roller automatic assembly system further includes a down - line manipulator, a transfer storage station, and a mobile rust - proof oil spraying unit for rollers. The down - line manipulator is configured to transfer the roller workpiece to the transfer storage station or the mobile rust - proof oil spraying unit for rollers.

[0012] The described roller automatic assembly system further includes a second gripping device (Robot 2) and an automatic combined tightening machine. The second gripping device is configured to transfer the roller workpiece between the transfer storage station and the automatic combined tightening machine.

[0013] The described roller automatic assembly system further includes a straightening detection unit and a third gripping device (Robot 3). The third gripping device is configured to transfer the roller workpiece between the straightening detection unit, the automatic combined tightening machine, and the mobile rust - proof oil spraying unit for rollers.

[0014] The described roller automatic assembly system further includes an automatic film - wrapping and encapsulating machine, a fourth gripping device (Robot 4), and a bin. The fourth gripping device is configured to transfer the roller workpiece unloaded from the automatic film - wrapping and encapsulating machine to the bin.

[0015] The roller automatic assembly system of the present invention has reliable control, can achieve high - efficiency and high - quality automatic assembly of rollers, thereby replacing traditional manual assembly, and solving problems such as low manual efficiency, poor assembly quality, difficulty in controlling missing parts and workpiece damage, and difficulty in quality traceability. Brief Description of the Drawings

[0016] This specification includes the following drawings, and the shown contents are respectively:

[0017] Figure 1 is the overall structural schematic diagram of the roller automatic assembly system of the present invention;

[0018] Figure 2 is the composition diagram of the control device of the roller automatic assembly system;

[0019] Figure 3 is the structural schematic diagram of the automatic feeding device;

[0020] Figure 4 is the structural schematic diagram of the tray manipulator;

[0021] Figure 5 is the structural schematic diagram of the press - fitting bearing unit;

[0022] Figure 6It is a schematic structural diagram of a bearing feeding device;

[0023] Figure 7 It is a schematic structural diagram of a roller grasping device;

[0024] Figure 8 It is a schematic structural diagram of a protective sleeve and plug assembly unit;

[0025] Figure 9 It is a schematic structural diagram of a protective sleeve assembly mechanism;

[0026] Figure 10 It is a schematic structural diagram of a positioning mechanism;

[0027] Figure 11 It is a schematic structural diagram of a plug assembly mechanism;

[0028] Figure 12 It is a schematic diagram of the structure of a transfer storage station Figure 1 ;

[0029] Figure 13 It is a schematic diagram of the structure of a transfer storage station Figure 2 ;

[0030] Figure 14 It is a schematic structural diagram of a roller unloading manipulator at the transfer storage station;

[0031] Figure 15 It is a schematic diagram of the structure of a pallet handling manipulator at the transfer storage station Figure 1 ;

[0032] Figure 16 It is a schematic diagram of the structure of a pallet handling manipulator at the transfer storage station Figure 2 ;

[0033] Figures 17 to 19 It is a schematic structural diagram of a pallet conveyor at the transfer storage station;

[0034] Figure 20 It is a schematic structural diagram of an automatic combined tightening machine;

[0035] Figure 21 It is a schematic diagram of the structure of a roller first - section positioning and tightening mechanism Figure 1 ;

[0036] Figure 22 It is a schematic diagram of the structure of a roller first - section positioning and tightening mechanism Figure 2 ;

[0037] Figure 23 It is an exploded schematic diagram of a roller first - section positioning and tightening mechanism;

[0038] Figure 24 It is a schematic structural diagram of a fixture for the second - section roller and the third - section roller;

[0039] Figure 25 It is a schematic diagram of the disassembly of the second roller and the third roller fixture;

[0040] The markings in the figure are: 1. Tray manipulator; 101. Sensor; 102. Lifting module; 103. Clamping cylinder; 104. Tray gripper; 105. Translation actuator; 106. Tray; 107. Tray trolley; 108. Positioning device; 2. First grasping device; 201. First robot; 202. Roller clamp; 3. Cleaning and blowing machine; 4. Line transfer manipulator; 5. Laser marking machine set; 6. Bearing pressing unit; 601. Bearing feeding device; 6101. Tray; 6102. Roller bearing; 6103. First actuator; 602. Second actuator; 603. Grasping robot; 604. Force sensor; 605. Bearing clamp; 606. Roller grasping device; 6601. First lifting cylinder; 6602. Pneumatic claw; 6603. Second lifting cylinder; 607. Robot hand gripper; 7. Pneumatic butter injection and rust preventive oil spraying unit; 8. Protective sleeve and plug assembly unit; 801. Protective sleeve assembly mechanism; 8101. First pressing actuator; 8102. Protective sleeve clamp; 8103. Protective sleeve tray; 8104. Drive motor; 8105. Rack; 802. Positioning mechanism; 8201. Third lifting cylinder; 8202. Fourth lifting cylinder; 8203. Roller positioning clamp; 804. Plug assembly mechanism; 8401. Plug tray; 8402. Second pressing actuator; 8403. Fourth pressing actuator; 8404. Plug clamp; 8405. Stop baffle; 8406. Third pressing actuator; 9. First conveying device; 10. Off-line manipulator; 11. Intermediate storage station; 111. Roller unloading manipulator; 11101. Pneumatic claw; 11102. Rotary cylinder; 11103. Three-axis cylinder; 11104. Z-axis module; 11105. Z-axis motor; 11106. Y-axis module; 11107. Y-axis motor; 11108. X-axis module; 11109. X-axis motor; 112. Tray; 113. Tray handling manipulator; 11301. Motor; 11302. Transmission shaft; 11303. Synchronous belt; 11304. Tray clamp; 11305. Sensor; 11306. Gripper; 11307. Clamping cylinder; 11308. Linear guide; 114. Tray conveyor; 11401. Frame; 11402. Horizontal moving cylinder; 11403. Pulley track; 11404. Tray bin chassis; 11405. Lifting linear shaft guide; 11406. Lifting cylinder; 11407. Tray positioning seat; 11408. Tray base; 115. Lifting and palletizing machine I; 116. Lifting and palletizing machine II; 117. Pallet; 12. Second grasping device; 13. Automatic combined tightening machine; 131. Roller first section positioning and tightening mechanism; 13101. Pressing cylinder; 13102. Servo motor; 13103. Torque sensor; 13104. Pneumatic chuck; 13105. Clamping cylinder I; 13106. Slide; 13107. Guide rail; 13108. Code disk sensor; 13109. Rack;13110, Reducer; 132, Second roller fixture; 13201, Slide plate; 13202, Clamping cylinder II; 13203, Reset cylinder; 133, Third roller fixture; 13301, Clamping cylinder III; 13302, Horizontal clamp; 134, Hydraulic station; 14, Straightening and inspection unit; 15, Mobile spraying and rust-proofing oil unit for rollers; 16, Third gripping device; 17, Automatic film wrapping and packaging machine; 18, Fourth gripping device; 19, Material box; 20, Upper partition manipulator; 21, Second conveying device; 22, Roller workpiece; Detailed implementation manners

[0041] The following is a further detailed description of the specific implementation manners of the present invention by describing the embodiments with reference to the accompanying drawings, aiming to help those skilled in the art have a more complete, accurate and in-depth understanding of the concept and technical solution of the present invention and facilitate its implementation.

[0042] It should be noted that in the following embodiments, the "first", "second", "third" and "fourth" do not represent an absolute distinction relationship in terms of structure and / or function, nor represent the execution order, but are only for the convenience of description.

[0043] As Figure 1 shown, the present invention provides a roller automatic assembly system, including a tray manipulator 1, a first conveying device 9, a second conveying device 21, a first gripping device 2 for gripping the roller workpiece on the tray manipulator 1 and placing the roller workpiece on the first conveying device 9, a cleaning and blowing machine 3 for receiving the roller workpiece conveyed by the first conveying device 9 and spraying a cleaning medium on the roller workpiece, a transfer line manipulator 4 for transferring the roller workpiece that has completed the cleaning work by the cleaning and blowing machine 3 to the second conveying device 21, and a component assembly system for assembling components on the roller workpiece located on the second conveying device 21.

[0044] Specifically, as Figure 1 shown, the tray manipulator 1 includes two manipulators with the same structure, and the two manipulators are symmetrically arranged on the site. The tray manipulator 1 is composed of a linear module, a gripper, a sensor, etc. The first gripping device 2 is composed of a first robot and a roller fixture connected to the first robot. The first robot is used to drive the gripper to move, and the roller fixture is used to grip the roller workpiece.

[0045] As Figure 3As shown, the pallet trolley 107 is used to load pallets. The first grasping device is used to grasp the rollers located on the pallets. The tray manipulator 1 is used to transfer the empty pallets to the designated position on the pallet trolley 107. The first grasping device includes a first robot 201 and a roller clamp 202 arranged on the first robot 201. The first robot 201 is used to drive the roller clamp 202 to move. The roller clamp 202 is used to clamp the rollers. The first robot 201 is a six-axis robot.

[0046] As Figure 3 and Figure 4 shown, the tray manipulator 1 includes a first fixing frame, a movably arranged pallet gripper 104, a lifting module 102 arranged on the first fixing frame and used to control the lifting of the pallet gripper 104, and a translation actuator 105 connected to the lifting module 102 and used to control the linear movement of the lifting module 102. A clamping cylinder 103 for controlling the linear movement of the pallet gripper 104 in the horizontal direction is arranged on the lifting module 102. The clamping cylinder 103 is connected to the pallet gripper 104. Two pallet grippers 104 are arranged, and two clamping cylinders 103 are also arranged. Each clamping cylinder 103 is respectively connected to a pallet gripper 104. The moving directions of the two pallet grippers 104 are opposite. The two pallet grippers 104 cooperate to clamp the pallet.

[0047] As Figure 3 and Figure 4 shown, the translation actuator 105 is connected to the lifting module 102. The translation actuator 105 is a rodless cylinder.

[0048] As Figure 3 shown, two tray manipulators 1 are arranged, and the first grasping device is located between the two tray manipulators 1.

[0049] The working mode of the automatic loading device for the roller assembly line is as follows:

[0050] 1) After starting up, the lifting module 102 raises the pallet gripper 104 to the highest position. Manually push the pallet trolley 107 loaded with rollers to the positioning device 108 for positioning. Multiple pallets 106 are stacked on the pallet trolley 107, and the rollers are loaded on the pallets 106;

[0051] 2) The pallet gripper 104 descends and stops descending when detecting the highest pallet 106;

[0052] 3) The first robot 201 moves above the pallet. The roller clamp 202 at the end of the first robot 201 grasps the rollers and places the rollers on the first conveying device 9;

[0053] 4) When all the rollers on the pallet 106 are taken away, the first robot 201 starts to grasp the rollers on the other side of the pallet trolley 107;

[0054] 5) The clamping cylinder 103 on the tray manipulator 1 operates, causing the two tray grippers 104 to move. Eventually, the two tray grippers 104 cooperate to clamp the empty tray 106. After the lifting module 102 controls the tray grippers 104 and the tray 106 to rise, the translation actuator 105 operates to drive the entire lifting module 102 to translate;

[0055] 6) When the tray 106 is translated to the empty tray storage area on the other side of the tray trolley 107, the lifting module 102 drives the tray grippers 104 and the tray 106 to descend. The clamping cylinder 103 returns to its original position, and the two tray grippers 104 release the empty tray. After the tray drops, the lifting module 102 controls the tray grippers 104 to rise, and then the translation actuator 105 pushes the lifting module 102 and the tray grippers 104 to return, waiting for the next transfer of the empty tray;

[0056] 7) When all the workpiece rollers on the trays 106 are picked up by the robot and the empty trays are translated to the storage area on the other side of the tray trolley 107, the system prompts the operator to remove the tray trolley 107 with only empty trays, and push the next tray trolley 107 filled with workpieces to the positioning device to continue the automatic feeding operation.

[0057] The automatic feeding device for the roller assembly line with the above structure can be used in the feeding process of processes such as roller cleaning and marking, improving the feeding efficiency, and can solve problems such as relatively high labor intensity of manual feeding. After using the machine to replace manual feeding, the number of workers is reduced, the labor intensity is reduced, the labor cost is saved, and the work efficiency is improved.

[0058] As Figure 1 shown, after the feeding is completed, the roller workpiece is conveyed by the first conveying device 9 to the cleaning and blowing machine 3. According to the cleaning process, the roller workpiece changes from horizontal to inclined (vertical) displacement, etc. The cleaning and blowing machine 3 sprays cleaning oil or cleaning liquid on the roller workpiece to clean the surfaces such as the surface, tooth part, entire outer thread, guide rod shoulder surface, R part, entire inner thread, inner hole, etc. of the roller workpiece, and the bearing mounting stop end face, and blows and cleans with high-pressure gas. Finally, the roller is output horizontally. The cleaning and blowing machine 3 can operate independently.

[0059] As Figure 1As shown in the figure, the transfer manipulator 4 is located between the cleaning and blowing machine 3 and the second conveying device 21. The transfer manipulator 4 is an X-Z two-axis manipulator. The X-axis consists of a long-stroke cylinder, and the Z-axis consists of an adjustable-stroke three-axis cylinder and a large-diameter open clamp installed at the piston rod end of the three-axis cylinder. The roller workpieces that have been cleaned in the equipment bin of the cleaning and blowing machine 3 are transferred to the second conveying device 21 by the transfer manipulator 4. Its working process is as follows: The three-axis cylinder of the Z-axis of the transfer manipulator 4 extends to the lower end point, the large-diameter open clamp clamps the roller, the three-axis cylinder rises to the upper end, the long-stroke cylinder of the X-axis moves from the initial position to the end position, the three-axis cylinder of the Z-axis extends to its lower magnetic switch position, the large-diameter open clamp opens to put down the roller, the three-axis cylinder of the Z-axis rises to the upper end, and the long-stroke cylinder of the X-axis returns to the initial position.

[0060] As Figure 1 shown, the roller automatic assembly system of the present invention further includes a laser marking machine unit 5 for printing marks on the roller workpieces on the second conveying device 21. The laser marking machine unit 5 is connected to a PC. The PC edits and outputs product specification information, and the laser marking machine unit 5 etches the product specification information on the surface of the roller workpieces. The engraved marks are clear, the lettering positioning is accurate, and the displacement adjustment can be quantified. When changing varieties, the laser focus and axial position can be quickly adjusted in place.

[0061] As Figure 1 shown, the component assembly system includes a press-fitting bearing machine unit 6 for assembling bearings on the roller workpieces. The second conveying device 21 conveys the roller workpieces that have completed the specification information printing to the press-fitting bearing machine unit 6. The press-fitting bearing machine unit 6 consists of a stepping small multi-station bearing automatic assembly and press-fitting conveyor and a bearing feeding robot station. The press-fitting bearing mechanism is a servo electric cylinder actuator, and the press-fitting is realized according to the cooperation of the servo electric cylinder + pressure sensor; there is a displacement control device, and the displacement detection component detects the pushing displacement to judge whether the press-fitting is in place, and different working stroke parameters are set according to different varieties of workpieces, and the workpieces with unqualified displacement are automatically removed.

[0062] As Figures 5 to 7 shown, the press-fitting bearing machine unit 6 includes a bearing feeding device 601 for loading roller bearings 6102, a movable bearing fixture 605, a bearing grasping device for transferring the roller bearings 6102 on the bearing feeding device 601 to the bearing fixture 605, and a driving mechanism for controlling the movement of the bearing fixture 605. The driving mechanism pushes the bearing fixture 605 to carry the roller bearing 6102 to move to the position where the roller is located, and the driving mechanism applies pressure to the bearing fixture 605 to press-fit the roller bearing 6102 onto the roller.

[0063] As Figure 5 and Figure 6As shown, the bearing loading device 601 includes a loading rack, a tray 6101 disposed on the loading rack, and a first actuator 6103 for controlling the movement of the tray 6101. The tray 6101 is used to load roller bearings 6102. The first actuator 6103 is disposed on the loading rack, the first actuator 6103 is connected to the tray 6101, and the first actuator 6103 is a rodless cylinder.

[0064] As Figure 5 shown, the bearing grasping device includes a grasping robot 603 and a robot gripper 607 disposed on the grasping robot 603. The grasping robot 603 is an industrial robot.

[0065] As Figure 5 shown, the driving mechanism includes a second actuator 602, and the second actuator 602 is connected to a bearing fixture 605. The second actuator 602 and the bearing fixture 605 are disposed on the frame. The second actuator 602 is a telescopic member, and the second actuator 602 controls the bearing fixture 605 to move linearly in the horizontal direction.

[0066] In this embodiment, the second actuator 602 is an electric cylinder, and a force sensor 604 is disposed on the second actuator 602. The force sensor 604 detects the magnitude of the pressure during press-fitting.

[0067] As Figure 5 and Figure 7 shown, the roller grasping device 606 includes a pneumatic gripper 6602, a first lifting cylinder gripper 6601, and a second lifting cylinder 6603. The pneumatic gripper 6602 is disposed on the frame, and the pneumatic gripper 6602 is used to clamp the roller workpiece. The first lifting cylinder 6601 and the second lifting cylinder 6603 are vertically disposed on the fixing frame. The pneumatic gripper 6602 is located above the first lifting cylinder 6601 and the second lifting cylinder 6603. A bracket for supporting the roller workpiece is disposed at the upper end of the first lifting cylinder 6601, and a bracket for supporting the roller workpiece is also disposed at the upper end of the second lifting cylinder 6603. The first lifting cylinder 6601 and the second lifting cylinder 6603 are respectively used to control the lifting of the bracket.

[0068] The working mode of the bearing press-fitting unit 6 is as follows:

[0069] 1) Manually place the tray 6101 filled with roller bearings 6102 on the bearing loading device 601, and the first actuator 6103 operates to push the tray to the loading position;

[0070] 2) The grasping robot 603 rotates to the roller loading position, grasps the roller bearing 6102 through the robot gripper 607, places the roller bearing 6102 on the bearing fixture 605 at the front end of the second actuator 602, and waits for press-fitting;

[0071] After all the roller bearings 6102 on a pallet are grasped, the bearing grasping device grasps the roller bearings 6102 on another pallet. The empty pallet 6101 is driven by the first actuator 6103 to return to the initial position, and the system prompts the operator to replace the pallet to ensure the feeding of the roller bearings 6102.

[0072] 3) After the first conveying device 9 conveys the roller workpiece to the working position of the roller grasping device 606, the first lifting cylinder of the roller grasping device 606 rises to lift the roller workpiece to the height of the air claw 6602. After the air claw 6602 closes, it clamps and positions the roller, and the first lifting cylinder 6601 returns. If the long roller sent by the first conveying device 9 is a long roller with a longer length, the second lifting cylinder 6603 of the roller grasping device 606 and the first lifting cylinder 6601 rise together to lift the roller workpiece to the height of the air claw 6602, and the brackets on the second lifting cylinder 6603 and the first lifting cylinder 6601 jointly support the roller workpiece.

[0073] 4) The second actuator 602 acts to push the bearing fixture 605 to move towards the roller workpiece, and finally press-fits the roller bearing 6102 onto the roller workpiece. The force sensor 604 and the motor encoder set on the second actuator 602 record the data of the press-fitting stroke and force during the press-fitting process. If the press-fitting force at a certain press-fitting stroke is greater than the set value, it is determined that a press-fitting failure occurs. The system records the unqualified information and removes the unqualified workpiece from the conveyor line at the next station.

[0074] 5) After the second actuator 602 completes the press-fitting, it pulls the bearing fixture 605 back to the initial state. The first lifting cylinder 6601 of the roller grasping device 606 rises to lift the roller workpiece to the height of the air claw 6602. The air claw 6602 opens to place the roller workpiece on the bracket of the first lifting cylinder 6601, and the first lifting cylinder 6601 returns to send the roller workpiece back to the first conveying device 9; the first conveying device 9 conveys the roller workpiece forward, sends the roller workpiece at the next station to the working position of the roller grasping device 606, and performs the next press-fitting cycle.

[0075] The press-fitting bearing unit 6 with the above structure has the following advantages:

[0076] 1. It can perform efficient and high-quality automatic bearing press-fitting, improve work efficiency, reduce labor intensity, and solve problems such as low manual efficiency, poor assembly quality, missing parts, and workpiece damage.

[0077] 2. By setting a force sensor to detect and record the press-fitting stroke and pressure, it can improve the press-fitting quality by adjusting the press-fitting speed and solve problems such as difficult quality traceability during the press-fitting process.

[0078] Such as Figure 1As shown, the component assembly system further includes a protective sleeve and plug assembly unit 8 for assembling the protective sleeve and the plug on the roller workpiece. The second conveying device 21 conveys the roller workpiece after oil spraying to the protective sleeve and plug assembly unit 8.

[0079] As Figures 8 to 11 shown, the protective sleeve and plug assembly unit includes a protective sleeve assembly mechanism 801, a plug assembly mechanism 804, and a positioning mechanism 802 for clamping and positioning the roller workpiece. The protective sleeve assembly mechanism 801 includes a protective sleeve tray 8103 and a protective sleeve assembly actuator for receiving the protective sleeve from the protective sleeve tray 8103 and assembling the protective sleeve on the roller workpiece. The plug assembly mechanism 804 includes a plug tray 8401 and a plug assembly actuator for receiving the plug from the plug tray 8401 and assembling the plug on the roller workpiece. The positioning mechanism 802 is located between the protective sleeve assembly mechanism 801 and the plug assembly mechanism 804. The protective sleeve assembly mechanism 801 and the plug assembly mechanism 804 are respectively located on opposite sides of the second conveying device 21.

[0080] As Figure 8 and Figure 10 shown, the positioning mechanism 802 includes a roller positioning fixture 8203, a third lifting cylinder 8201, and a fourth lifting cylinder 8202. The roller positioning fixture 8203 is arranged on the fixed frame. The roller positioning fixture 8203 is located above the roller workpiece. The third lifting cylinder 8201 and the fourth lifting cylinder 8202 are vertically arranged on the fixed frame and are located below the roller workpiece. The roller positioning fixture 8203 is located above the third lifting cylinder 8201 and the fourth lifting cylinder 8202. The upper end of the third lifting cylinder 8201 is provided with a lower clamping block for supporting the roller workpiece. The upper end of the fourth lifting cylinder 8202 is also provided with a lower clamping block for supporting the roller workpiece. The third lifting cylinder 8201 and the fourth lifting cylinder 8202 are respectively used to control the lifting of the lower clamping block. The lower clamping block cooperates with the roller positioning fixture 8203 to clamp the roller workpiece.

[0081] As Figure 8 and Figure 9As shown in the figure, the protective sleeve assembly actuator includes a protective sleeve fixture 8102 and a first pressing actuator 8101 for pushing the protective sleeve on the protective sleeve fixture 8102 to move. The first pressing actuator 8101 is a cylinder, and the protective sleeve fixture 8102 is used to receive the protective sleeve from the protective sleeve tray 8103. The protective sleeve tray 8103 is used to load the protective sleeves. The protective sleeve tray 8103 releases the protective sleeves to the protective sleeve fixture 8102 in sequence through its own vibration. The first pressing actuator 8101 pushes the protective sleeve on the protective sleeve fixture 8102 to move linearly in the horizontal direction. The moving direction of the protective sleeve is parallel to the length direction of the roller clamped by the positioning mechanism 802. By pushing the protective sleeve towards the roller by the first pressing actuator 8101, finally the protective sleeve on the protective sleeve fixture 8102 is sleeved on the end part with external threads on the roller, and the protective sleeve wraps the external threads.

[0082] In this embodiment, the first pressing actuator 8101 is a cylinder.

[0083] As Figure 8 and Figure 9 shown in the figure, the protective sleeve assembly mechanism 801 further includes an adjustment mechanism for adjusting the position of the protective sleeve fixture 8102 to meet the assembly of different models of roller workpieces and protective sleeves. The lengths of different models of roller workpieces are different, so the versatility can be improved.

[0084] As Figure 8 and Figure 9 shown in the figure, the adjustment mechanism includes a rack 8105, a sliding plate, a driving motor 8104 arranged on the sliding plate, and a driving gear arranged on the driving motor 8104 and meshing with the rack 8105. The protective sleeve fixture 8102 and the first pressing actuator 8101 are arranged on the sliding plate. The rack 8105 is horizontally arranged on the fixed frame. The length direction of the rack 8105 is parallel to the length direction of the roller workpiece. A slide rail for guiding the sliding plate is arranged on the fixed frame. The slide rail is slidably connected with the sliding plate and is parallel to the rack 8105. The driving gear is fixedly arranged on the motor shaft of the driving motor 8104. The driving gear and the rack 8105 are located below the sliding plate. The protective sleeve tray 8103 is arranged on the sliding plate. The protective sleeve fixture 8102 is movably arranged on the sliding plate. When it is necessary to adjust the initial position of the protective sleeve fixture 8102, the driving motor 8104 can be started. The driving motor 8104 drives the gear to rotate along the rack 8105. The driving motor 8104 drives the sliding plate and the protective sleeve tray 8103, the first pressing actuator 8101 and the protective sleeve fixture 8102 thereon to move synchronously, so as to realize the adjustment of the position of the protective sleeve fixture 8102 and the positioning mechanism 802. The adjustment mechanism has a simple structure, low cost and high adjustment position accuracy.

[0085] As Figure 8 andFigure 11 As shown, the plugging assembly actuator includes a sliding seat, a plugging fixture 8404, a second press-fitting actuator 8402 for pushing the plug on the plugging fixture 8404 to move, a stop plate 8405 for limiting the position of the plug, a third press-fitting actuator 8406 for controlling the movement of the stop plate 8405, and a fourth press-fitting actuator 8403 for controlling the linear movement of the sliding seat. The plugging tray 8401 is used to load plugs. The plugging tray 8401 releases the plugs to the plugging fixture 8404 in sequence through its own vibration. The plugging fixture 8404 is fixedly arranged on the fixed frame, the sliding seat is movably arranged on the fixed frame, the second press-fitting actuator 8402 and the third press-fitting actuator 8406 are arranged on the sliding seat, the fourth press-fitting actuator 8403 is connected to the sliding seat, and the moving direction of the sliding seat is parallel to the length direction of the roller workpiece clamped by the positioning mechanism 802. The second press-fitting actuator 8402 can pass through the plugging fixture 8404. When the second press-fitting actuator 8402 is used to push the plug on the plugging fixture 8404 to move linearly, the moving direction is parallel to the length direction of the roller workpiece clamped by the positioning mechanism 802, and the plug is pushed into the inner hole arranged at one end of the roller workpiece through the second press-fitting actuator 8402. The third press-fitting actuator 8406 is connected to the stop plate 8405. The third press-fitting actuator 8406 is used to control the lifting of the stop plate 8405. The stop plate 8405 is used to limit the position of the plug located on the plugging fixture 8404. The stop plate 8405 in the limiting state is located between the roller workpiece and the plugging fixture 8404.

[0086] In this embodiment, the second press-fitting actuator 8402, the third press-fitting actuator 8406, and the fourth press-fitting actuator 8403 are all cylinders.

[0087] The working mode of the protective sleeve and the plugging assembly unit is as follows:

[0088] 1) Manually pour the protective sleeves into the protective sleeve tray 8103 in batches and pour the plugs into the plugging tray 8401. After the protective sleeve tray 8103 works, it can send the protective sleeves to the protective sleeve fixture 8102 to wait for assembly. After the plugging tray 8401 works, it sends the plugs to the plugging fixture 8404 to wait for assembly. At this time, the third press-fitting actuator 8406 is in the zero position, and the stop plate 8405 at its end blocks the plug on the plugging fixture 8404. The stop plate 8405 is in the limiting state to prevent the plug from falling.

[0089] 2) When the second conveying device 21 conveys the roller workpiece to the working position of the positioning mechanism 802, the fourth lifting cylinder 8202 of the positioning mechanism 802 rises to clamp and position the roller. If the conveyed roller is a long roller, the third lifting cylinder 8201 and the fourth lifting cylinder 8202 of the positioning mechanism 802 rise together to clamp and position the roller.

[0090] 3) The fourth press-fitting actuator 8403 operates to push the plug fixture 8404 towards the roller workpiece, causing the plug fixture 8404 to press against the inner hole of the roller workpiece. The third press-fitting actuator 8406 operates to lower the stop plate 8405, so that the stop plate 8405 can no longer limit the plug, exposing the plug, and enabling the plug to be pressed into the inner hole of the roller workpiece. The second press-fitting actuator 8402 and the first press-fitting actuator 8101 operate simultaneously to press the protective sleeve and the plug onto the inner hole and the external thread of the roller workpiece at the same time;

[0091] 4) After the assembly is completed, the first press-fitting actuator 8101 returns to align the protective sleeve fixture 8102 with the discharge port of the protective sleeve tray 8103 to receive the next protective sleeve waiting for assembly;

[0092] The second press-fitting actuator 8402 and the fourth press-fitting actuator 8403 return. The third press-fitting actuator 8406 returns to reset the stop plate 8405 at its end, so that the plug fixture 8404 is aligned with the discharge port of the plug tray 8401 to receive the next plug waiting for assembly;

[0093] 5) The fourth lifting cylinder 8202 of the positioning mechanism 802 descends to place the roller workpiece back onto the second conveying device 21. The second conveying device 21 conveys the roller workpiece forward, and after sending the next roller workpiece to the working position of the positioning mechanism 802, the next press-fitting cycle starts.

[0094] For the protective sleeve and plug assembly unit with the above structure, the assembly process in the assembly of the roller protective sleeve and the plug is replaced from the original low-efficiency manual assembly by mechanical automatic assembly, realizing the high-efficiency and high-quality automatic assembly of the roller protective sleeve and the plug, thereby replacing the traditional manual assembly of the roller protective sleeve and the plug and solving problems such as low manual efficiency and poor assembly quality.

[0095] As Figure 1 shown, a pneumatic grease injection and rust-proof oil spraying unit 7 is arranged between the press-fitting bearing unit 6 and the protective sleeve and plug assembly unit 8. The pneumatic grease injection and rust-proof oil spraying unit 7 is arranged to inject grease and spray rust-proof oil onto the roller workpiece. The pneumatic grease injection and rust-proof oil spraying unit 7 consists of an inner hole grease injection group, an inner hole rust-proof oil spraying group, an external thread rust-proof oil spraying group, a roller positioning group and a lifting and positioning group. Among them, the inner hole grease injection group includes a double-axis cylinder, a nozzle, a position-measuring proximity sensor, etc.; the inner hole rust-proof oil spraying group includes a double-axis cylinder, a nozzle, etc.; the external thread rust-proof oil spraying group includes a position-measuring photoelectric sensor, a sliding group, a nozzle, etc.; the roller positioning group includes a cylinder, etc.; the lifting and positioning group includes a cylinder, a lifting guiding pair, a large-diameter open clamp, clamping fingers, etc.

[0096] As Figure 1As shown in the figure, the automatic assembly system for rollers of the present invention further includes a offline manipulator 10, a transfer and storage station 11, and a mobile spraying unit 15 for applying anti-rust oil to rollers. The offline manipulator 10 is configured to transfer roller workpieces to the transfer and storage station 11 or the mobile spraying unit 15 for applying anti-rust oil to rollers.

[0097] The work of the offline manipulator 10 is to move the roller workpieces on the main line to the conveyor line of the mobile spraying unit for applying anti-rust oil to rollers, or to the trays in the tray warehouse of the transfer and storage station 11, or to release them without grasping. The structure of the offline manipulator 10 is a three-axis manipulator. The X-Y two axes are servo-driven by synchronous belts, and a three-axis cylinder, a rotary cylinder, and a gripper are provided at the end of the Z axis.

[0098] The transfer and storage station 11 is for the transfer and storage of products with abnormal assembly processes after press-fitting bearings and filling grease into internal threads. The transfer and storage station 11 includes a roller unloading manipulator 111, a tray handling manipulator 113, a tray conveyor 114, a lifting and palletizing machine I 115, and a lifting and palletizing machine II 116. When discharging here according to different product process requirements, the tray conveyor transports empty trays to directly below the tray handling manipulator. The tray handling manipulator transports the empty trays to the lifting and palletizing machine II. Finally, the roller unloading manipulator transfers the rollers on the roller conveyor line to the trays, and the lifting and palletizing machine II cooperates to automatically lift and lower to achieve the automatic combination and stacking of trays. Finally, a forklift forks away the stacked trays.

[0099] As Figures 12 to 19 shown in the figure, the transfer and storage station includes a roller unloading manipulator 111, a tray handling manipulator 113, a tray conveyor 114, a lifting and palletizing machine I 115, and a lifting and palletizing machine II 116. The tray conveyor is arranged on the lifting and palletizing machine I 115. The tray handling manipulator is located above the tray conveyor. The lifting and palletizing machine II 116 is located below the roller unloading manipulator. When the manipulator of the tray handling manipulator extends, it is located above the lifting and palletizing machine II and below the roller unloading manipulator.

[0100] The tray conveyor transports the empty trays 112 to directly below the tray handling manipulator. The tray handling manipulator transports the empty trays to the lifting and palletizing machine II 116. Finally, the roller unloading manipulator transfers the rollers on the roller conveyor line to the trays. The equipment can automatically complete the transfer and storage of rollers, effectively improving the transfer and storage efficiency of rollers. Using machines instead of manual labor reduces the number of workers, reduces the labor intensity, saves labor costs, and improves work efficiency.

[0101] A pallet stack 117 for storing trays is provided on the lifting and palletizing machine II 116. The trays with stored rollers are stacked. The setting of the pallet stack facilitates the overall transfer by forklift.

[0102] As Figure 14As shown, preferably, the roller blanking manipulator 111 includes a gantry, a lifting and moving frame, a rotary cylinder, and a gripper 11101 for gripping the roller. The lifting and moving frame is arranged on the gantry, the rotary cylinder is arranged at the lower part of the lifting and moving frame, and the gripper is arranged on the rotary cylinder.

[0103] The lifting and moving frame includes an associated X-axis module 11108, a Y-axis module 11106, and a Z-axis module 11104; an X-axis motor 11109 is provided corresponding to the X-axis module, a Y-axis motor 11107 is provided corresponding to the Y-axis module, a Z-axis motor 11105 is provided corresponding to the Z-axis module, a three-axis cylinder 11103 is arranged on the Z-axis module, and the rotary cylinder 11102 is arranged at the lower end of the three-axis cylinder; the structural design is reasonable, and the gripping range of the roller blanking manipulator is large; other existing structures can also be adopted for its lifting and moving frame.

[0104] As Figures 17 to 19 shown, the pallet conveyor 114 is movably arranged on the lifting and palletizing machine I 115, which is convenient for efficient pallet transfer. Preferably, the pallet conveyor includes a frame 11401, a pallet bin chassis 11404, a pallet base 11408, and a pallet positioning seat 11407 located directly below the pallet handling manipulator; the pallet bin chassis is movably arranged on the frame, the pallet base is arranged on the pallet bin chassis in a liftable manner, the pallet positioning seat is a support frame with an open upper end, and the pallet base can be moved to the inside of the support frame.

[0105] Furthermore, a pulley track and a horizontal moving cylinder 11402 for driving the movement of the pallet bin chassis are arranged on the frame, and a set of pulleys are arranged at the bottom of the pallet bin chassis, and the pulleys are arranged on the pulley track 11403. The pallet base is arranged on the pallet bin chassis through a lifting cylinder 11406, and a set of lifting linear shaft guide rails 11405 are arranged between the pallet base and the pallet bin chassis.

[0106] Place a stack of empty pallets on the pallet base, the lifting cylinder raises the pallet base, the width of the pallet is greater than the opening width of the support frame, drive the pallet bin chassis and the pallet base to move to the inside of the support frame through the horizontal moving cylinder, the lifting cylinder drives the pallet base to descend, and a stack of empty pallets falls onto the pallet positioning seat; finally, the lifting and palletizing machine I 115 raises the uppermost empty pallet to the position of the pallet handling manipulator, and the pallet transfer is efficient.

[0107] As Figure 15 and Figure 16 shown, the pallet handling manipulator includes a bracket, a linear guide rail 11308, and a pallet clamp 11304 for pallet positioning and transfer; the linear guide rail is arranged on the bracket, the pallet clamp is movably arranged on the linear guide rail, and the linear guide rail has an extended part, and the extended part is located between the lifting and palletizing machine II 116 and the roller conveyor line.

[0108] The bracket is provided with a driving structure for driving the tray fixture to move. The driving structure includes a synchronous belt 11303 and a motor 11301 for driving the synchronous belt to run. The synchronous belt is arranged side by side with the linear guide rail; a transmission shaft 11302 is provided at the end of the synchronous belt, and the motor drives the transmission shaft to drive the synchronous belt to run.

[0109] The tray fixture includes a set of clamping cylinders 11307. A clamping jaw 11306 is provided at the inner end of each clamping cylinder. A sensor 11305 for detecting the arrival of the tray is provided on the bracket.

[0110] The working mode of the automatic transfer and storage device of the roller assembly line is as follows:

[0111] The lifting and palletizing machine II 116 descends to make the tabletop flush with the ground, places the pallet 117 on the tabletop, and the lifting and palletizing machine II 116 rises to wait for an empty tray;

[0112] The lifting and palletizing machine I 115 descends to the original position, the lifting cylinder 11406 of the tray conveyor returns to its position, the horizontal moving cylinder 11402 returns to its position, and an empty tray for the roller workpiece is placed on the tray base 11408;

[0113] The lifting cylinder 11406 jacks up, driving the tray base 11408 and the empty tray thereon to rise;

[0114] Driven by the horizontal moving cylinder 11402, the tray bin chassis 11404 is translated and enters below the tray handling manipulator 113 and above the tray positioning seat 11407;

[0115] The lifting cylinder 11406 descends, driving the tray base 11408 and the empty tray 112 thereon to descend and fall onto the tray positioning seat 11407;

[0116] The horizontal moving cylinder 11402 retracts, driving the tray bin chassis 11404 to translate back to the initial position;

[0117] The lifting and palletizing machine I 115 rises, and the tray positioning seat 11407 drives the empty tray 112 to rise together. When the sensor 11305 detects the arrival of the tray, the rising stops;

[0118] The clamping cylinder 11307 on the tray handling manipulator 113 acts, and the clamping jaws 11306 on the tray fixture 11304 close to clamp the topmost empty tray 112;

[0119] The lifting and palletizing machine I 115 descends, and the tray positioning seat 11407 drives the empty tray 112 to descend together, separating the topmost empty tray from the lower empty trays;

[0120] Driven by the motor 11301 on the pallet handling manipulator 113, the empty pallet 112 is translated to reach below the roller blanking manipulator 111. The roller blanking manipulator 111 grabs the roller workpieces on the conveyor line and places them on the pallet 112 in sequence until the pallet 112 is full of materials;

[0121] Meanwhile, the clamping cylinder 11307 operates, the jaws 11306 loosen, and the pallet 112 falls onto the pallet 117 placed on the lifting and palletizing machine II 116;

[0122] The lifting and palletizing machine II 116 descends. Driven by the motor 11301 on the pallet handling manipulator 113, the pallet fixture 11304 is translated as a whole to return to the initial position, continues to grab the next empty pallet 112, and the blanking manipulator 111 continues to grab the roller workpieces on the conveyor line and place them on the pallet 112 in sequence;

[0123] When the pallet 112 is full on the pallet 117, during the process of the blanking manipulator 111 grabbing the roller workpieces on the conveyor line, the lifting and palletizing machine II 116 descends, the pallet 117 is moved out, a new empty pallet 117 is replaced, and then the lifting and palletizing machine II 116 ascends to start the next working cycle.

[0124] The transfer and storage station with the above structure can perform efficient automatic transfer and storage of rollers; improve work efficiency, reduce labor intensity, reduce the number of workers, and ensure work quality.

[0125] As Figure 1 shown, the roller automatic assembly system of the present invention further includes a second grasping device 12 and an automatic combination tightening machine 13. The second grasping device 12 is arranged to realize the transfer of the roller workpieces between the transfer and storage station 11 and the automatic combination tightening machine 13. The second grasping device 12 is composed of a second robot and jaws connected to the second robot. The second robot is used to drive the jaws to move, and the jaws are used to grab the roller workpieces. The second grasping device 12 is responsible for completing the transfer of the roller workpieces between the transfer and storage station 11 and the automatic combination tightening machine 13.

[0126] The automatic combination tightening machine 13 is located at the end of the main assembly line and can operate online or offline. When it is offline, the offline manipulator 10 and the transfer and storage station 11 operate; when operating online, the transfer and storage station 11 does not work. The automatic combination tightening machine 13 automatically performs operations such as automatically connecting and tightening the three-section rollers. The first-section roller positioning and tightening mechanism positions and clamps the first-section roller, the second-section roller clamping cylinder positions the second-section roller, the third-section roller clamping cylinder positions the third-section roller, and the horizontal clamp clamps the third-section roller. The pressing cylinder drives the first-section roller positioning and tightening mechanism to move while the pneumatic chuck drives the first-section roller to rotate, and the first-section roller, the second-section roller, and the third-section roller are screwed together. The whole process is monitored in real time by a torque sensor and a code disk sensor.

[0127] As shown Figures 20 to 25 in the figure, the automatic combined tightening machine includes a base, a positioning and tightening mechanism 131 for the first section of the roller, and a roller fixture structure for positioning other sections of the roller; the positioning and tightening mechanism 131 for the first section of the roller and the roller fixture structure are arranged opposite to each other, and the positioning and tightening mechanism for the first section of the roller is movably arranged on the base.

[0128] The positioning and tightening mechanism for the first section of the roller includes a sliding seat 13106, a servo motor 13102 and a pneumatic chuck 13104 connected to the sliding seat; the sliding seat is movably arranged on the base; preferably, a guide rail 13107 is arranged on the base, the sliding seat is arranged on the guide rail, and a pressing cylinder 13101 for driving the sliding seat to move on the guide rail is arranged on the base; the pressing cylinder is arranged side by side and parallel to the guide rail, and the sliding seat is driven to move on the guide rail by the pressing cylinder, so as to drive the entire positioning and tightening mechanism for the first section of the roller to move along the direction of the guide rail.

[0129] The servo motor 13102 is connected to a reducer 13110, a torque sensor 13103 is arranged between the reducer and the pneumatic chuck, and the tightening torque is detected through the torque sensor; a code disk sensor 13108 for detecting the moving displacement is arranged on the base, and a rack 13109 connected to the code disk sensor is arranged on the sliding seat. The torque sensor 13103 and the code disk sensor 13108 can detect and record the tightening stroke and tightening torque in real time, and control the servo motor 13102 to adjust the tightening speed according to the feedback detection data, improve the tightening quality, and solve problems such as difficult quality traceability in the tightening and assembly process.

[0130] A clamping cylinder for the first section of the roller is arranged on the sliding seat, and the clamping cylinder for the first section of the roller is a clamping cylinder Ⅰ 13105. The clamping cylinder for the first section of the roller is arranged close to the pneumatic chuck, and the first section of the roller is placed on the clamping cylinder Ⅰ for positioning, which is convenient for the pneumatic chuck to fix this section of the roller.

[0131] Furthermore, the roller fixture structure includes a second-section roller fixture 132 and a third-section roller fixture 133, which can automatically assemble and tighten three sections of rollers; or, according to the situation, only the second-section roller fixture can be set, and the equipment can automatically assemble and tighten two sections of rollers.

[0132] The second-section roller fixture includes a slide plate 13201 and a second-section roller clamping cylinder arranged on the slide plate. The second-section roller clamping cylinder is a clamping cylinder Ⅱ 13202, and the slide plate is movably arranged on the base; a reset cylinder 13203 for driving the slide plate to move is arranged on the base; the third-section roller fixture is a third-section roller clamping cylinder arranged on the base, and the third-section roller clamping cylinder is a clamping cylinder Ⅲ 13301.

[0133] The structures of clamping cylinder I, clamping cylinder II, and clamping cylinder III are the same, and they can be used interchangeably, which reduces costs. The clamping cylinders all use horizontal chucks for relative clamping. There are support plates below the two horizontal chucks, which is beneficial for the placement and positioning of the rollers. The clamping force is controlled to support, clamp, position, or firmly clamp the rollers.

[0134] Furthermore, on the base, corresponding to the third-section roller clamping cylinder, there is a horizontal clamp 13302 for firmly clamping the roller. The horizontal clamp is arranged corresponding to the end of the third-section roller, which can improve the fixing reliability of the third-section roller. Both the third-section roller clamping cylinder and the horizontal clamp are fixed on the base through brackets, and the return cylinder passes through the brackets, with a compact structure.

[0135] Such as Figures 20 to 25 shown, the preferred specific example is:

[0136] The automatic combined tightening machine includes: the first-section roller positioning and tightening mechanism 131, the second-section roller fixture 132, the third-section roller fixture 133, and the hydraulic station 134;

[0137] The first-section roller positioning and tightening mechanism 131 is installed on the slide 13106; the second-section roller fixture 132 is installed on the slide plate 13201; the slide 13106 and the slide plate 13201 are jointly installed on the guide rail 13107;

[0138] The rack 13109 is located below the slide 13106 and is connected to the code disk sensor 13108. When the slide 13106 moves, the code disk sensor 13108 can detect its moving displacement in real time;

[0139] The slide 13106 is driven by the pressing cylinder 13101 to move on the guide rail 13107; the slide plate 13201 is driven by the return cylinder 13203 to move on the guide rail 13107;

[0140] The torque sensor 13103 is installed between the servo motor 13102 and the pneumatic chuck 13104; the servo motor 13102 drives the pneumatic chuck 13104 to rotate;

[0141] The first-section roller is positioned by the clamping cylinder I 13105, fixed and driven to rotate by the pneumatic chuck 13104; the second-section roller is positioned by the clamping cylinder II 13202; the third-section roller is positioned by the clamping cylinder III 13301 and fixed by the horizontal clamp 13302; the horizontal clamp 13302 is driven by the hydraulic station 134.

[0142] The method for tightening and assembling the three-section roller using the automatic combined tightening equipment is as follows:

[0143] S1. Place the first roller on the roller head positioning and tightening mechanism 131, place the second roller on the second roller clamp 132, and place the third roller on the third roller clamp 133;

[0144] S2. The clamping cylinder I 13105 acts to position the first roller, and the pneumatic chuck 13104 acts to fix the first roller;

[0145] S3. The clamping cylinder II 13202 acts to position the second roller;

[0146] S4. The clamping cylinder III 13301 acts to position the third roller, and the horizontal clamp 13302 acts to fix the third roller;

[0147] S5. The reset cylinder 13203 acts to drive the slide plate 13201 to drive the second roller clamp 132 to move along the guide rail 13107, approach the third roller clamp 133, and make the connection between the second and third rollers fit together;

[0148] S6. The pressing cylinder 13101 acts to drive the slide seat 13106 to drive the roller head positioning and tightening mechanism 131 to move on the guide rail 13107, approach the second roller clamp 132, and make the connection between the first and second rollers fit together;

[0149] S7. The servo motor 13102 drives the pneumatic chuck 13104 to rotate, drives the first roller to rotate and tighten with the second roller, and real-time detects the torque sensor 13103 and the code disk sensor 13108;

[0150] S8. After the first roller and the second roller are tightened, the servo motor 13102 continues to drive, the pneumatic chuck 13104 drives the first roller to rotate, the first roller drives the second roller to rotate, the second roller and the third roller are tightened, and the torque sensor 13103 and the code disk sensor 13108 are real-time detected;

[0151] S9. When the torque sensor 13103 starts to increase from the zero position, control the servo motor 13102 to reduce the speed and slowly advance until the target set value is reached, and the feedback data of the code disk sensor 13108 is within the set area. The roller tightening process is completed. After the set pressure holding time, the pneumatic chuck 13104 and the horizontal clamp 13302 are loosened, the clamping cylinder I 13105, the clamping cylinder II 13202, and the clamping cylinder III 13301 are loosened, the three-roller workpiece is removed from the current station, the pressing cylinder 13101 and the reset cylinder 13203 return to the initial position, and the current process is completed. If the judgment result exceeds the set range during the detection process, the program determines that the press-fitting is unqualified, the system records the unqualified information, and prompts an alarm.

[0152] After the automatic combined tightening equipment with the above structure replaces manual assembly and tightening, the number of workers is reduced, the labor intensity is lowered, the labor cost is saved, and problems such as low manual efficiency, poor assembly quality, missing parts, workpiece damage, and difficult quality traceability are solved.

[0153] As Figure 1 shown, the automatic assembly system of the roller of the present invention further includes a straightening and inspection unit 14 and a third grasping device 16. The third grasping device 16 is arranged to transfer the roller workpiece between the straightening and inspection unit 14, the automatic combined tightening machine 13, and the mobile spraying unit 15 for roller antirust oil. The third grasping device 16 is composed of a third robot and a gripper connected to the third robot. The third robot is used to drive the gripper to move, and the gripper is used to grasp the roller workpiece. The third grasping device 16 is responsible for transferring the roller workpiece between the workstations of the automatic combined tightening machine 13, the torque inspection and straightening unit, and the mobile spraying unit 15 for roller antirust oil.

[0154] The straightening and inspection unit 14 is responsible for completing the inspection and straightening of the three-section roller workpiece completed by the workstations of the automatic combined tightening machine 13.

[0155] The mobile spraying unit 15 for roller antirust oil mainly completes the work of spraying antirust oil on the outer surfaces of single-section roller workpieces and three-section roller workpieces. The mobile spraying unit 15 for roller antirust oil is composed of a single-section roller workpiece spraying component, a three-section roller workpiece spraying component, and a conveying line body. Each component includes a three-phase asynchronous motor, a multi-stroke cylinder, a large-diameter open clamp, an oil injector, an oil receiving tank, etc.

[0156] As Figure 1 shown, the automatic assembly system of the roller of the present invention further includes an automatic film wrapping and encapsulating machine 17, a fourth grasping device 18, and a material box 19. The fourth grasping device 18 is arranged to transfer the roller workpiece off the line by the automatic film wrapping and encapsulating machine 17 to the material box 19. The fourth grasping device 18 is composed of a fourth robot and a gripper connected to the fourth robot. The fourth robot is used to drive the gripper to move, and the gripper is used to grasp the roller workpiece.

[0157] The automatic film wrapping and encapsulating machine 17 automatically conveys the roller workpiece, wraps and encapsulates it with a protective plastic bag, and the workpiece is output through an oil-proof belt conveyor line. The PLC controls and adjusts the edge sealing method; when switching between single-section and triple-section rollers, the size of the packaging bag can be quickly adjusted to the appropriate position through the HMI human-machine interface.

[0158] The fourth grasping device 18 is responsible for transferring the roller workpiece off the line by the automatic film wrapping and encapsulating machine 17 to the palletizing material box 19. The operator places the turnover box in position, and the composite gripper of the fourth grasping device 18 cooperates with the upper partition manipulator 20 to automatically place each layer of partitions and workpieces. Finally, the turnover box is output by a forklift and sent to the finished product buffer area.

[0159] The main system of the whole line is equipped with a main control cabinet, distributed sub-control cabinets, and a communication system. The main control cabinet is installed inside the line body, and the line body is equipped with an HMI (Human Machine Interface). The main control cabinet realizes the distributed data bus control of the equipment in the entire roller assembly automatic line system. The overall coordinated control of the equipment actions is composed of the main unit at the main control cabinet PLC and the sub-unit systems of the distributed sub-control cabinets. The control system is set with two operating modes: automatic and manual. Operators can set the automatic operation sequence according to work needs to meet the operation requirements in various complex situations.

[0160] In the present invention, through the setting of the control system and control method, reliable cooperation of each component is achieved, thereby completing the automatic assembly of workpieces. The roller automatic assembly system and control method described in the present invention use technologies such as distributed PLC controllers, human-machine interface HMIs, robots, servo motors, etc., with reliable control, realizing high-efficiency and high-quality automatic assembly of roller workpieces, thus replacing traditional manual labor and solving problems such as low manual efficiency, poor assembly quality, missing parts and workpiece damage, and difficulty in quality traceability.

[0161] The present invention has been described exemplarily in combination with the accompanying drawings. Obviously, the specific implementation of the present invention is not limited by the above-mentioned manner. As long as various non-substantive improvements are made by adopting the method concept and technical solution of the present invention; or without improvement, the above-mentioned concept and technical solution of the present invention are directly applied to other occasions, they are all within the protection scope of the present invention.

Claims

1. The roller automatic assembly system is characterized in that: It includes a tray manipulator, a first conveying device, a second conveying device, a first grasping device for grasping a roller workpiece on the tray manipulator and placing the roller workpiece on the first conveying device, a cleaning and blowing machine for receiving the roller workpiece conveyed by the first conveying device and for jetting a cleaning medium onto the roller workpiece, a transfer manipulator for transferring the roller workpiece that has completed the cleaning work by the cleaning and blowing machine to the second conveying device, and a component assembly system for assembling components onto the roller workpiece located on the second conveying device.

2. The roller automatic assembly system according to claim 1, wherein: It further includes a laser marking machine unit for printing marks on the roller workpiece on the second conveying device.

3. The roller automatic assembly system according to claim 1, characterized in that: The component assembly system includes a bearing pressing unit for pressing bearings onto the roller workpiece.

4. The roller automatic assembly system according to claim 3, characterized in that: The component assembly system further includes a protective sleeve and plug assembly unit for assembling protective sleeves and plugs onto the roller workpiece.

5. The roller automatic assembly system according to claim 4, characterized in that: An air-operated butter injection and rust-preventive oil spraying unit is arranged between the bearing pressing unit and the protective sleeve and plug assembly unit, and the air-operated butter injection and rust-preventive oil spraying unit is configured to inject butter and spray rust-preventive oil onto the roller workpiece.

6. The roller automatic assembly system according to any one of claims 1 to 5, characterized in that: It further includes an offline manipulator, a transfer storage station, and a mobile roller rust-preventive oil spraying unit, and the offline manipulator is configured to transfer the roller workpiece to the transfer storage station or the mobile roller rust-preventive oil spraying unit.

7. The roller automatic assembly system according to claim 6, wherein: It further includes a second grasping device and an automatic combination tightening machine, and the second grasping device is configured to transfer the roller workpiece between the transfer storage station and the automatic combination tightening machine.

8. The roller automatic assembly system according to claim 7, characterized in that: It further includes a straightening and detection unit and a third grasping device, and the third grasping device is configured to transfer the roller workpiece between the straightening and detection unit, the automatic combination tightening machine, and the mobile roller rust-preventive oil spraying unit.

9. The roller automatic assembly system according to claim 7, wherein: It further includes an automatic film wrapping and packaging machine, a fourth grasping device, and a material box, and the fourth grasping device is configured to transfer the roller workpiece taken off the automatic film wrapping and packaging machine to the material box.

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