Vehicle-mounted automatic spindle loading and unloading device and spindle loading and unloading method
Through step-by-step propulsion and angle adjustment, combined with magnetic suction components and intelligent AGV trolley, the existing spindle automatic loading and unloading device has solved the problems of complex structure and high spindle length requirements, and achieved efficient and low-cost spindle loading and unloading, which is suitable for old machine renovation.
Patent Information
- Application Number
- CN202510713947.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-30
- Publication Date
- 2025-08-01
AI Technical Summary
The existing spindle automatic loading and unloading devices have complex structures, high cost, large space, and high requirements for spindle shaft length, which affects loading efficiency, especially when the spindle shaft length is short, it is difficult to achieve effective loading.
The step-by-step pushing method is combined with the magnetic suction assembly and angle adjustment part. Through the coordinated work of the main push cylinder, the secondary push cylinder and the angle adjustment cylinder, the precise loading and unloading of the spindle on the spindle shaft is achieved, the requirements for the spindle shaft length are reduced, and the intelligent AGV cart is used to provide power and positioning.
It improves spindle loading efficiency, reduces equipment costs and energy consumption, is suitable for old machine renovation, simplifies mechanical structure, and reduces the difficulty and cost of old machine renovation.
Smart Images
Figure CN120397682A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of spindle loading and unloading, and in particular to a vehicle-mounted automatic spindle loading and unloading device and a spindle loading and unloading method. Background Art
[0002] In automobile tires, a lot of steel wires are wound to reinforce the tires. These steel wires are assembled by individual spindles through steel wire transmission. The spindles are usually stored on spindle racks in the spindle storage room. In the spindle storage room of a tire factory, a relatively large number of spindle racks are arranged side by side. The number of spindle rods for placing spindles on the spindle racks is large and the adjacent distance is small. Therefore, the number of spindles to be loaded is large and it is not easy to load.
[0003] Traditional spindle loading and unloading usually adopts manual feeding and discharging. The weight of a single spindle is about 45-50 kilograms. Manual feeding and discharging not only has a high labor cost, but also has a low work efficiency.
[0004] At present, automatic loading and unloading devices are also used to realize automatic spindle feeding and discharging. The existing automatic spindle loading and unloading devices usually have a relatively complex structure, are not convenient to operate, and require a lot of additional auxiliary devices to assist the spindle feeding and discharging work. Not only the equipment cost is high, the occupied space is large, but also the consumed energy is high. In addition, when the existing automatic loading and unloading device loads the spindle, it usually pushes the spindle from the loading and unloading device to the spindle shaft on the spindle rack in one step. This one-step method has relatively high requirements for the length of the spindle shaft. The length of the spindle shaft needs to be set very long. If the length of the spindle shaft is too short, it may not be possible to successfully load the spindle, affecting the loading efficiency of the spindle. Summary of the Invention
[0005] In view of the above-mentioned disadvantages of the existing automatic spindle loading and unloading devices, the applicant of the present invention provides a vehicle-mounted automatic spindle loading and unloading device and a spindle loading and unloading method with a reasonable structure, which is simple in structure, simple in operation, reduces the equipment cost, saves space and energy.
[0006] The technical solution adopted by the present invention is as follows: A vehicle-mounted automatic spindle loading and unloading device includes a carrier cart, a frame, a loading and unloading unit and an angle adjustment part. The frame is arranged on the carrier cart, and a plurality of sets of loading and unloading units and angle adjustment parts are arranged on the frame; Each set of loading and unloading units includes a sliding bracket, an adjustment frame and a pushing and pulling assembly; A plurality of support rods are arranged on the sliding bracket. Every two of the plurality of support rods form a support station as a group. The support rods are movably inserted on the adjustment frame, and the adjustment frame is rotatably arranged on the frame; The push-pull assembly includes a main push cylinder, a push plate, and an auxiliary push cylinder; the main push cylinder is arranged on the adjustment frame, and the push rod of the main push cylinder is connected to the sliding bracket; the auxiliary push cylinder is arranged on the sliding bracket, the push plate is connected to the push rod of the auxiliary push cylinder, and the push plate is located above the support rod at the loading and unloading station; when loading the ingot, the main push cylinder drives the sliding bracket, and the auxiliary push cylinder drives the push plate to push the ingot into the working position of the ingot shaft in a step-by-step manner. The angle adjustment part includes an adjustment cylinder, an adjustment rod, and a support arm. The adjustment cylinder is connected to the frame, the push rod of the adjustment cylinder is connected to the adjustment rod, one end of the support arm is connected to the adjustment rod, and the other end is connected to the adjustment frame. The adjustment cylinder can drive the adjustment frame to rotate through the adjustment rod and the support arm to adjust the angle of the loading and unloading unit.
[0007] As a further improvement of the above technical solution: The push-pull assembly further includes a magnetic attraction component and a hook part; on the push plate, a magnetic attraction component and a hook part are respectively arranged corresponding to each loading and unloading station. The magnetic attraction component can suck the ingot tightly on the plate surface of the push plate, and the hook part can hook the ingot and pull it back to fix it on the plate surface of the push plate.
[0008] The hook part includes two sets of symmetrical hook-pulling components up and down. The hooks of each set of hook-pulling components are hinged on the hook seat, and the hook seat is fixed on the push plate; the hook is connected to the push rod of the driving cylinder through a connecting rod assembly, the driving cylinder is fixed on the push plate, and the driving cylinder can drive the hook to hook or open through the connecting rod assembly; the hook is a "U"-shaped part, including a cross bar part and two vertical bar parts. One vertical bar part is connected to the connecting rod, and the other vertical bar part is used to hook the ingot. A chamfer is arranged on the vertical bar part for hooking the ingot.
[0009] The angle adjustment part is arranged on the back side of the adjustment frame. For one adjustment frame, one adjustment rod and one support arm are provided. A number of adjustment rods are sequentially hinged from top to bottom. The bottom end of the bottom adjustment rod is connected to the push rod of the adjustment cylinder. The top end of each adjustment rod is connected to a support arm. The support arm is fixed to the upper end of the adjustment frame. The height of the connection point of the support arm and each adjustment frame is higher than the height of the connection point of the adjustment frame and the frame.
[0010] Angle limit parts are arranged on the frame corresponding to the adjustment frame to limit the rotation angle of the adjustment frame; the angle rotation range of the angle adjustment part driving the loading and unloading unit is 0 - 7°.
[0011] The sliding bracket includes a vertical plate, and a number of support rods are horizontally arranged at intervals in several layers on the vertical plate and fixedly connected to the vertical plate; the adjustment frame includes a main frame body and a number of guide sleeves. The two sides of the main frame body are respectively rotatably connected to the first support through bearings. The first support is fixed on the frame. A number of guide sleeves are horizontally arranged at intervals in several layers on the main frame body. One guide sleeve corresponds to one support rod. The support rod is inserted into the guide sleeve and can move back and forth along the guide sleeve.
[0012] The main push cylinder, auxiliary push cylinder, drive cylinder, and adjustment cylinder all adopt electric cylinders, and the power supply required for the electric cylinders is provided by the transport trolley; the transport trolley adopts an intelligent AGV trolley, which has functions of automatic alignment and positioning and power supply, and a servo, vision, and ranging system are set on the AGV trolley.
[0013] A method for loading and unloading spindles uses the above-mentioned on-vehicle automatic spindle loading and unloading device to load and unload spindles; When performing the spindle loading work, during the process of pushing the spindle from the loading and unloading unit into the spindle shaft, the main push cylinder works first, driving the sliding bracket, push-pull assembly and spindle to advance along the axial direction of the spindle shaft. After part of the spindle enters the spindle shaft, the main push cylinder stops working and the sliding bracket stops advancing. Then the auxiliary push cylinder starts to work, driving the push plate to continue to push the spindle along the axial direction of the spindle shaft until the spindle is completely pushed into the working position of the spindle shaft. When performing the spindle unloading work, during the process of loading the spindle from the spindle shaft to the loading and unloading unit, the main push cylinder drives the sliding bracket and the push-pull assembly, and the auxiliary push cylinder drives the push plate to advance along the axial direction of the spindle shaft towards the spindle shaft until the surface of the push plate is completely in contact with the end face of the spindle; the hook of the hook part hooks, and the end face of the spindle is pulled and fixed on the surface of the push plate; the main push cylinder drives the sliding bracket and the push-pull assembly, and the auxiliary push cylinder drives the push plate to retract respectively until the spindle is completely taken out of the spindle shaft.
[0014] As a further improvement of the above technical solution: When performing the spindle loading work, after the transport trolley sends the spindle into the spindle rack and aligns the center hole of the spindle with the stator shaft of the spindle rack, the angle adjustment part drives the loading and unloading unit to adjust the angle of the support rod so that the center hole of the spindle is parallel to the spindle shaft. After the angle adjustment is completed, the spindle is then pushed from the loading and unloading unit into the spindle shaft; after the spindle is pushed in place, the auxiliary push cylinder drives the push plate to retract, the main push cylinder drives the sliding bracket and the push-pull assembly to retract, and the angle adjustment part adjusts the support rod back to the horizontal position, and the transport trolley takes the device back to the loading station.
[0015] When performing the spindle unloading work, after the transport trolley takes the device into the spindle rack and aligns the supporting position with the spindle shaft of the spindle rack, the angle adjustment part drives the loading and unloading unit to adjust the angle of the support rod so that the support rod is parallel to the spindle shaft. After the angle adjustment is completed, the spindle is then loaded from the spindle shaft to the loading and unloading unit; after the spindle is completely taken out of the spindle shaft, the angle adjustment part adjusts the support rod back to the horizontal position, thereby adjusting the spindle to the horizontal state; the transport trolley takes the device and moves to the unloading station.
[0016] The beneficial effects of the present invention are as follows: The present invention adopts a step-by-step approach in the process of loading spindles, which reduces the requirement for the length of the spindle shaft. Even if the spindle shaft is relatively short, the spindle can be loaded smoothly, thereby improving the loading efficiency of the spindle. Since the length of the spindle shaft is reduced, for an existing spindle rack with a relatively short spindle shaft, the spindle can be loaded even if the original spindle shaft is retained, thereby laying a foundation for the transformation of old machines, being suitable for old machine transformation projects, making effective use of existing old equipment, reducing the difficulty and cost of old machine transformation projects, and having high economic value and promotion value.
[0017] The support rod of the present invention can be slidably inserted into the adjusting frame, and has both supporting and guiding functions. The rod portion of the support rod located on the front side of the adjusting frame is responsible for supporting the spindle, and the rod portion of the support rod located on the rear side of the adjusting frame is responsible for guiding the pushing of the spindle, realizing the dual-purpose function of one rod, with a simpler and more practical structure and simpler and more convenient operation.
[0018] The present invention connects the adjusting rods of each assembly and disassembly unit to an adjusting cylinder after being hinged, and the adjusting cylinder drives each assembly and disassembly unit to rotate synchronously, so that the rotation angles of each assembly and disassembly unit maintain synchronization and consistency, which makes it easier to load and unload the spindle and improves the loading and unloading efficiency of the spindle.
[0019] Our transport vehicle utilizes an intelligent AGV (Automated Guided Vehicle) that provides power and transport, features automatic alignment and positioning, and provides ample power. Equipped with servo, vision, and ranging systems, the AGV not only enables more accurate and efficient positioning but also eliminates the need for mechanical positioning, simplifies the mechanical structure and control procedures, and makes operation easier and more convenient.
[0020] The main push cylinder, auxiliary push cylinder, drive cylinder, and adjustment cylinder of this invention are all electric cylinders. Compared to pneumatic cylinders, electric cylinders eliminate the need for air pipes and corresponding bridges, reducing equipment costs and energy consumption while simplifying equipment layout. The electric cylinders are powered by the transport trolley, which has its own power supply. This eliminates the need for cables and bridges, saving both space and space, significantly simplifying the loading and unloading system. BRIEF DESCRIPTION OF THE DRAWINGS
[0021] Figure 1 A structural diagram of one perspective of the present invention.
[0022] Figure 2 This is a structural diagram from another perspective of the present invention.
[0023] Figure 3 It is a structural diagram of the loading and unloading unit.
[0024] Figure 4 It is a structural diagram of the push-pull assembly.
[0025] Figure 5 It is a structural schematic diagram of the hook part.
[0026] Figure 6 It is a structural schematic diagram of angle adjustment.
[0027] Figure 7 It is a structural schematic diagram of the present invention loaded with spools.
[0028] In the figure: 100, carrier trolley; 200, frame; 201, bottom plate; 202, vertical beam; 203, top plate; 204, first support; 205, second support; 206, angle limit member; 300, loading and unloading unit; 1, sliding bracket; 11, vertical plate; 12, supporting rod; 2, adjusting frame; 21, main frame body; 22, guide sleeve; 3, main push cylinder; 4, push plate; 5, auxiliary push cylinder; 51, bracket; 6, magnetic attraction assembly; 7, hook part; 71, hook; 72, hook seat; 73, first connecting rod; 74, second connecting rod; 75, connecting plate; 76, driving cylinder; 77, support plate; 400, angle adjustment part; 8, adjusting cylinder; 9, adjusting rod; 10, supporting arm. Detailed implementation manners
[0029] The following combines the accompanying drawings to illustrate the detailed implementation manners of the present invention.
[0030] As Figure 1 、 Figure 2 shown, the vehicle-mounted automatic spindle loading and unloading device of the present invention includes a carrier trolley 100, a frame 200, a loading and unloading unit 300 and an angle adjustment part 400. The frame 200 is fixed on the carrier trolley 100. A number of loading and unloading units 300 and angle adjustment parts 400 are arranged on the frame 200. The carrier trolley 100 can drive the frame 200, the loading and unloading unit 300 and the angle adjustment part 400 to move to a set position. The angle adjustment part 400 can adjust the angle of the loading and unloading unit 300 to realize the loading and unloading of spindles.
[0031] The carrier trolley 100 adopts an intelligent AGV trolley. The AGV trolley can provide power and transportation, has an automatic alignment and positioning function, and can provide sufficient power. Servo, vision, ranging and other systems are arranged on the AGV trolley, which can not only make the positioning more accurate and the efficiency higher, but also save the use of a lot of mechanical positioning, simplify the mechanical structure and control program, and make the operation simpler and more convenient.
[0032] The frame 200 is a square frame including a bottom plate 201, vertical beams 202 erected on both sides and a top plate 203. The bottom plate 201 is fixedly connected to the transport trolley 100. Several assembly and disassembly units 300 are arranged in sequence from top to bottom in the device frame 200.
[0033] like Figure 1 、 Figure 3 As shown, each assembly disassembly unit 300 includes a sliding bracket 1, an adjustment frame 2 and a push-pull assembly. The sliding bracket 1 includes a vertical plate 11 and a plurality of support rods 12. The plurality of support rods 12 are arranged on the vertical plate 11 in a plurality of layers and are fixedly connected to the vertical plate 11. Figure 7 As shown, each layer of support rods 12 is grouped into two (two adjacent support rods 12) as a support station, and each layer has several support stations, each of which is used to support one ingot. Figure 1 、 Figure 3 As shown, the adjustment frame 2 includes a main frame 21 and a plurality of guide sleeves 22. Both sides of the main frame 21 are rotatably connected to a first support 204 via bearings. The first support 204 is fixed to the vertical beam 202 of the frame 200. The plurality of guide sleeves 22 are arranged on the main frame 21 in a plurality of horizontally spaced layers. Each guide sleeve 22 corresponds to a support rod 12. The support rod 12 is inserted into the guide sleeve 22 and can move back and forth along the guide sleeve 22. The support rod 12 is slidably inserted into the adjustment frame 2, and simultaneously performs both supporting and guiding functions. The rod portion of the support rod 12 located on the front side of the adjustment frame 2 is responsible for supporting the spindle, while the rod portion of the support rod 12 located on the rear side of the adjustment frame 2 is responsible for guiding the spindle. This realizes the dual function of a single rod, making the structure simpler and more practical, and the operation easier and more convenient.
[0034] like Figure 3 、 Figure 4 As shown, the push-pull assembly includes a main push cylinder 3, a push plate 4, an auxiliary push cylinder 5, a magnetic component 6 and a hook portion 7. The main push cylinder 3 is fixedly connected to the adjustment frame 2, and the push rod of the main push cylinder 3 is connected to the vertical plate 11 of the sliding bracket 1. The push rod of the main push cylinder 3 is retracted and can drive the sliding bracket 1 to move forward and backward along the adjustment frame 2. The auxiliary push cylinder 5 is fixedly connected to the vertical plate 11 of the sliding bracket 1 through the bracket 51, and the push plate 4 is connected to the push rod of the auxiliary push cylinder 5. The push rod of the auxiliary push cylinder 5 is retracted and can drive the push plate 4 to be pushed out or retracted. The push plate 4 is vertically arranged above the support rod 12 of the supporting station. The magnetic component 6 and the hook portion 7 are respectively arranged on the push plate 4 corresponding to each supporting station. When loading and unloading the spindle, the magnetic component 6 can suck the spindle tightly onto the plate surface of the push plate 4, and the hook portion 7 can hook the spindle from the spindle rack and pull it back to the plate surface of the push plate 4 when unloading the spindle.
[0035] like Figure 5As shown, the hook part 7 includes two sets of symmetrical hooking components, upper and lower. Each set of hooking components includes a hook 71 and a hook seat 72. The hook 71 is hinged to the hook seat 72 through a pin shaft, and the hook seat 72 is fixed on the push plate 4. One end of the hook 71 is hinged with a first connecting rod 73, and the other end of the first connecting rod 73 is hinged to a second connecting rod 74. The hooks 71 of the upper and lower two sets of hooking components are respectively connected to the upper and lower ends of the second connecting rod 74. The middle part of the second connecting rod 74 is fixedly connected with a connecting plate 75, and the connecting plate 75 is connected with the push rod of the driving cylinder 76. The driving cylinder 76 is fixed on the push plate 4 through a support plate 77. The telescopic movement of the push rod of the driving cylinder 76 can drive the hook 71 to hook or open through the connecting rod assembly. The hook 71 is a "U"-shaped part, including a cross bar part and two vertical bar parts. One vertical bar part is connected to the first connecting rod 73, and the other vertical bar part is used for hooking the spindle. A chamfer is provided on the vertical bar part for hooking the spindle, which allows a certain amount of deformation of the spindle end face, reducing the error rate of loading and unloading.
[0036] As Figure 2 , Figure 6 shown, the angle adjustment part 400 is arranged on the back side of the adjustment frame 2. The angle adjustment part 400 includes an adjustment cylinder 8, an adjustment rod 9 and a support arm 10. The adjustment cylinder 8 is connected to the second support 205, and the second support 205 is fixed on the bottom plate 201 of the frame 200. A number of adjustment rods 9 are sequentially hinged from top to bottom. One adjustment rod 9 corresponds to one adjustment frame 2. The bottom end of the bottommost adjustment rod 9 is connected to the push rod of the adjustment cylinder 8. The top end of each adjustment rod 9 is connected to one end of the support arm 10, and the other end of the support arm 10 is fixed to the upper end of the adjustment frame 2. The height of the support arm 10 connected to each adjustment frame 2 is higher than the height of the first support 204 connected to this adjustment frame 2. The telescopic movement of the push rod of the adjustment cylinder 8 can drive the adjustment frame 2 to rotate around the bearing center of the first support 204 through the adjustment rod 9 and the support arm 10, so as to drive the entire loading and unloading unit 300 to rotate together for angle adjustment. The angle rotation range of the loading and unloading unit 300 is 0 - 7°. In this embodiment, the rotation angle of the loading and unloading unit 300 is preferably 0 - 4°. The adjustment rods 9 corresponding to each set of loading and unloading units 300 are hinged and then connected to an adjustment cylinder 8, and each set of loading and unloading units 300 is driven by one adjustment cylinder 8 to rotate synchronously, so that the rotation angles of each loading and unloading unit 300 are kept synchronous and consistent, which is more convenient for loading and unloading the spindle and improves the loading and unloading efficiency of the spindle. Angle limit parts 206 are arranged on the frame 200 corresponding to the adjustment frame 2, which can limit the rotation angle of the adjustment frame 2 and make it rotate and stay at a specified angle. In this embodiment, the angle limit part 206 can limit the adjustment frame 2 to rotate to 4°.
[0037] The main push cylinder 3, auxiliary push cylinder 5, drive cylinder 76, and adjustment cylinder 8 of the present invention are all electric cylinders. Compared to pneumatic cylinders, electric cylinders eliminate the need for air pipes and corresponding bridges, reducing equipment costs and energy consumption while simplifying equipment layout. The power required for the electric cylinders is provided by the transport trolley 100. The AGV has its own power supply, eliminating the need for cables and bridges. This saves both space and space, significantly simplifying the loading and unloading system.
[0038] like Figure 7 As shown, the vehicle-mounted automatic loading and unloading spindle device of the present invention can be used for automatic loading of full spindles and automatic unloading of empty spindles.
[0039] The automatic loading process of spindles: 1) The vehicle-mounted automatic loading and unloading spindle device is in place at the loading station, the support rod 12 of the loading and unloading unit 300 is in a horizontal position, and the hook 71 of the hook part 7 is in an open state; 2) The robot places the spindles wound with steel cord on the supporting station of the loading and unloading unit 300 in turn, and the magnetic suction component 6 on the push plate 4 sucks the spindle tightly onto the plate surface of the push plate 4; 3) After the spindle is loaded, the transport trolley 100 carries the device along the set route to transport the spindle into the spindle rack. The transport trolley 100 automatically aligns and positions the spindle so that the center hole of the spindle is aligned with the spindle axis of the spindle rack; 4) After alignment, the angle adjustment part 400 drives the loading and unloading unit 300 to adjust the angle so that the support rod 12 tilts downward by 4°, and the spindle supported on the support rod 12 tilts downward. 4°, so that the center hole of the spindle is parallel to the spindle axis; 5) After the angle adjustment is completed, the main push cylinder 3 works first, driving the sliding bracket 1, the push-pull assembly (push plate 4, auxiliary push cylinder 5, magnetic component 6, hook part 7) and the spindle to advance along the axial direction of the spindle axis, and move a certain stroke. After the spindle partially enters the spindle axis, the main push cylinder 3 stops working, the sliding bracket 1 stops advancing, and the auxiliary push cylinder 5 starts working, driving the push plate 4 to continue to advance the spindle along the axial direction of the spindle axis until the spindle is completely pushed into the working position of the spindle axis; 6) After the spindle is pushed into place, the auxiliary push cylinder 5 drives the push plate 4 to retract, the main push cylinder 3 drives the sliding bracket 1 and the push-pull assembly to retract, the angle adjustment part 400 adjusts the support rod 12 back to the horizontal position, and the carrying trolley 100 returns to the loading station with the device to complete the automatic loading work.
[0040] Automatic unloading process of the spindle: 1) The hook 71 of the hook part 7 is initially in the open state. The carrier trolley 100 transports the spindle into the spindle rack along the set route with the device. The carrier trolley 100 automatically aligns and positions itself to make the supporting station align with the spindle shaft of the spindle rack; 2) After alignment, the angle adjustment part 400 drives the loading and unloading unit 300 to adjust the angle, making the supporting rod 12 tilt downward by 4°, so that the supporting rod 12 is parallel to the spindle shaft; 3) After the angle adjustment is completed, the main push cylinder 3 drives the sliding bracket 1 and the push-pull assembly, and the auxiliary push cylinder 5 drives the push plate 4 to advance along the axial direction of the spindle shaft towards the spindle shaft until the surface of the push plate 4 is in full contact with the end face of the spindle; 4) The hook 71 of the hook part 7 is engaged to pull and fix the spindle end face on the surface of the push plate 4; 5) The main push cylinder 3 drives the sliding bracket 1 and the push-pull assembly, and the auxiliary push cylinder 5 drives the push plate 4 to retreat respectively until the spindle is completely taken out of the spindle shaft; 6) After the spindle is completely taken out of the spindle shaft, the angle adjustment part 400 adjusts the supporting rod 12 back to the horizontal position, thus adjusting the spindle to the horizontal state; 7) The carrier trolley 100 moves quickly to the unloading station with the device, and the robot takes down the empty spindles in sequence to complete the automatic unloading work.
[0041] In the process of loading the spindle, the present invention adopts a step-by-step propulsion method, which reduces the length requirement for the spindle shaft. Even if the spindle shaft is short, the spindle can be loaded smoothly, improving the loading efficiency of the spindle; due to the reduction of the length of the spindle shaft, for the existing spindle racks with short spindle shafts, even if the original spindle shafts are retained, the spindles can be loaded, laying a foundation for the transformation of old machines. It is applicable to the old machine transformation project, can effectively utilize the existing old equipment, reduces the difficulty and cost of the old machine transformation project, and has high economic value and popularization value.
[0042] The above description is an explanation of the present invention, not a limitation of the present invention. Without departing from the spirit of the present invention, the present invention can be modified in any form.
Claims
1. An in-vehicle automatic spindle loading and unloading device, characterized in that: It includes a carrier cart (100), a frame (200), a loading and unloading unit (300) and an angle adjustment part (400). The frame (200) is arranged on the carrier cart (100), and several loading and unloading units (300) and the angle adjustment part (400) are arranged on the frame (200); Each loading and unloading unit (300) includes a sliding bracket (1), an adjustment frame (2) and a push-pull assembly; A number of support rods (12) are arranged on the sliding bracket (1). Every two of the support rods (12) form a support station as a group. The support rods (12) are movably inserted on the adjustment frame (2), and the adjustment frame (2) is rotatably arranged on the frame (200); The push-pull assembly includes a main push cylinder (3), a push plate (4), and a secondary push cylinder (5); The main push cylinder (3) is arranged on the adjustment frame (2), and the push rod of the main push cylinder (3) is connected to the sliding bracket (1); The secondary push cylinder (5) is arranged on the sliding bracket (1), and the push plate (4) is connected to the push rod of the secondary push cylinder (5). The push plate (4) is located above the support rods (12) of the support station. When loading the ingot, the main push cylinder (3) drives the sliding bracket (1), and the secondary push cylinder (5) drives the push plate (4) to push the ingot into the working position of the ingot shaft in a step-by-step manner; The angle adjustment part (400) includes an adjustment cylinder (8), an adjustment rod (9) and a support arm (10). The adjustment cylinder (8) is connected to the frame (200), the push rod of the adjustment cylinder (8) is connected to the adjustment rod (9), one end of the support arm (10) is connected to the adjustment rod (9), and the other end is connected to the adjustment frame (2). The adjustment cylinder (8) can drive the adjustment frame (2) to rotate through the adjustment rod (9) and the support arm (10) to adjust the angle of the loading and unloading unit (300).
2. The on-vehicle automatic spindle loading and unloading device according to claim 1, characterized in that: The push-pull assembly further includes a magnetic attraction component (6) and a hook part (7); On the push plate (4), a magnetic attraction component (6) and a hook part (7) are respectively arranged corresponding to each support station. The magnetic attraction component (6) can suck the ingot tightly on the plate surface of the push plate (4), and the hook part (7) can hook and pull the ingot back and fix it to the plate surface of the push plate (4).
3. The on-vehicle automatic spindle loading and unloading device according to claim 2, characterized in that: The hook part (7) includes two groups of symmetric hook-pulling components up and down. The hook (71) of each group of hook-pulling components is hinged on the hook seat (72), and the hook seat (72) is fixed on the push plate (4); The hook (71) is connected to the push rod of the driving cylinder (76) through a connecting rod assembly. The driving cylinder (76) is fixed on the push plate (4), and the driving cylinder (76) can drive the hook (71) to hook or open through the connecting rod assembly; The hook (71) is a "U"-shaped part, including a cross bar part and two vertical bar parts. One vertical bar part is connected to the connecting rod, and the other vertical bar part is used for hooking the ingot. A chamfer is arranged on the vertical bar part for hooking the ingot.
4. The vehicle-mounted automatic spindle loading and unloading device according to claim 1, characterized in that: The angle adjustment part (400) is arranged on the back side of the adjustment frame (2). For each adjustment frame (2), an adjustment rod (9) and a support arm (10) are provided. A number of adjustment rods (9) are hinged in sequence from top to bottom. The bottom end of the lowermost adjustment rod (9) is connected to the push rod of the adjustment cylinder (8). The top end of each adjustment rod (9) is connected to a support arm (10). The support arm (10) is fixed to the upper end of the adjustment frame (2). The height of the connection point of the support arm (10) and each adjustment frame (2) is higher than the height of the connection point of this adjustment frame (2) and the frame (200).
5. The on-vehicle automatic spindle loading and unloading device according to claim 1, characterized in that: Angle limit parts (206) are arranged on the frame (200) corresponding to the adjustment frames (2) to limit the rotation angle of the adjustment frames (2); the angle adjustment range of the handling unit (300) driven by the angle adjustment part (400) is 0 - 7°.
6. The vehicle-mounted automatic spindle loading and unloading device according to claim 1, characterized in that: The sliding carriage (1) includes a vertical plate (11). A number of support rods (12) are horizontally arranged at intervals in several layers on the vertical plate (11) and fixedly connected to the vertical plate (11); the adjustment frame (2) includes a main frame body (21) and a number of guide sleeves (22). Both sides of the main frame body (21) are rotatably connected to the first support (204) through bearings. The first support (204) is fixed on the frame (200). A number of guide sleeves (22) are horizontally arranged at intervals in several layers on the main frame body (21). One guide sleeve (22) corresponds to one support rod (12). The support rod (12) is inserted into the guide sleeve (22) and can move back and forth along the guide sleeve (22).
7. The vehicle-mounted automatic spindle loading and unloading device according to claim 1 or 3, characterized in that: The main push cylinder (3), the auxiliary push cylinder (5), the drive cylinder (76), and the adjustment cylinder (8) all adopt electric cylinders. The power supply required for the electric cylinders is provided by the transport trolley (100); the transport trolley (100) adopts an intelligent AGV trolley. The AGV trolley has functions of automatic alignment and positioning and power supply. A servo, vision, and ranging system are arranged on the AGV trolley.
8. A method for loading and unloading spindles, characterized in that: Use the on-vehicle automatic handling spindle device described in claim 1 to handle the spindles; When performing the spindle loading work, during the process of pushing the spindle from the handling unit (300) into the spindle shaft, the main push cylinder (3) works first, driving the sliding carriage (1), the push-pull assembly and the spindle to advance along the axial direction of the spindle shaft. After part of the spindle enters the spindle shaft, the main push cylinder (3) stops working, and the sliding carriage (1) stops advancing. Then the auxiliary push cylinder (5) starts to work, driving the push plate (4) to continue to push the spindle along the axial direction of the spindle shaft until the spindle is completely pushed into the working position of the spindle shaft. When performing the spindle unloading work, during the process of loading the spindle from the spindle shaft to the handling unit (300), the main push cylinder (3) drives the sliding carriage (1) and the push-pull assembly, and the auxiliary push cylinder (5) drives the push plate (4) to advance along the axial direction of the spindle shaft towards the spindle shaft until the plate surface of the push plate (4) is completely in contact with the end face of the spindle; the hook (71) of the hook part (7) is hooked to reversely pull and fix the spindle end face on the plate surface of the push plate (4); the main push cylinder (3) drives the sliding carriage (1) and the push-pull assembly, and the auxiliary push cylinder (5) drives the push plate (4) to retract respectively until the spindle is completely taken out of the spindle shaft.
9. The spindle loading and unloading method according to claim 1, characterized in that: When carrying out the spindle loading work, after the carrier trolley (100) sends the spindle into the spindle rack and aligns the central hole of the spindle with the stator shaft of the spindle rack, the angle adjustment part (400) drives the loading and unloading unit (300) to adjust the angle of the supporting rod (12) so that the central hole of the spindle is parallel to the spindle shaft. After the angle adjustment is completed, the spindle is pushed into the spindle shaft from the loading and unloading unit (300); after the spindle is pushed in place, the auxiliary push cylinder (5) drives the push plate (4) to retract, the main push cylinder (3) drives the sliding bracket (1) and the push-pull assembly to retract, the angle adjustment part (400) adjusts the supporting rod (12) back to the horizontal position, and the carrier trolley (100) drives the device back to the loading station.
10. The spindle loading and unloading method according to claim 9, characterized in that: When carrying out the spindle unloading work, after the carrier trolley (100) drives the device into the spindle rack and aligns the supporting station with the spindle shaft of the spindle rack, the angle adjustment part (400) drives the loading and unloading unit (300) to adjust the angle of the supporting rod (12) so that the supporting rod (12) is parallel to the spindle shaft. After the angle adjustment is completed, the spindle is loaded from the spindle shaft to the loading and unloading unit (300); after the spindle is completely taken out of the spindle shaft, the angle adjustment part (400) adjusts the supporting rod (12) back to the horizontal position, thereby adjusting the spindle to the horizontal state; the carrier trolley (100) drives the device to move to the unloading station.