Automatic position covering process and automatic position covering device for moving cutter assembly

Abstract

The invention relates to an automatic position covering process and an automatic position covering device for moving cutter assembly. The process comprises the following steps: S1, carrying out automatic position covering on a carrier; s2, the blades are subjected to one-by-one position covering. On one hand, automatic position complementing of the carrying table can be achieved, the time needed for material complementing is effectively shortened, the blade assembling efficiency is improved, meanwhile, the multiple movable blades are stacked on the carrying table with the rest as the reference, the number of the stackable blades is increased, and the accidental overturning rate in the carrying table displacement process is reduced; on the other hand, jacking is formed based on multi-point-position supporting and cooperative cooperation of the frame rods and the inner penetrating side walls of the blades, the bearing force bearing points of the stacked blades are changed to be separated from the carrying table and move along the frame rods for position covering, meanwhile, the adhesive force formed by the blades to be taken and the blades to be subjected to position covering is eliminated or reduced based on airflow blowing, and in other words, material taking and position covering are achieved. Not only is the deformation rate of the tooth edge part of the blade at the covering position reduced, but also the adhesion rate existing in piece-by-piece material taking is reduced.

Description

Technical Field

[0001] This invention belongs to the field of product assembly technology, specifically relating to an automatic offset process for moving tool assembly, and also to an automatic offset device. Background Technology

[0002] Currently, in the assembly of the cutter head, the moving blades need to be fed into the assembly platform, and the assembly of each component is carried out based on the continuous operation of the robot. However, the moving blades are mainly stacked, that is, the moving blades are stacked on the carrier (and since the moving blades are not products on the same plane, the stacking is based on the simultaneous contact of the tooth cutting edge and tooth root with the carrier to stack them in a relatively arched manner). Then, the carrier automatically fills in the movement of the carrier to form a rapid feeding.

[0003] However, the resulting automatic replacement includes replacement of the carrier with a full load of blades and replacement of blades one by one on the carrier located in the feeding station. However, the following technical defects exist in the above two replacement processes: For carrier replacement, the cutting tool preparation channel and carrier return channel are generally the same. Therefore, the previous carrier must be completely withdrawn before the next carrier can be replaced. As a result, the time consumed by carrier return and full-load cutting tool replacement will cause interruption or time stop in the cutting tool assembly, which will not only seriously affect the efficiency of moving tool assembly, but also increase the probability of stacked cutting tools tipping overturning during hasty replacement. At the same time, due to the stability of stacking, the number of cutting tools stacked is relatively low, generally not exceeding 50. Once the number of stacked cutting tools is too large, the risk of tipping over will increase. Therefore, frequent replacement operations are required, which will further reduce the replacement efficiency of cutting tools. In addition, since the force formed by stacking is on the tip and root of the cutting tool, it will increase the deformation rate of the cutting tool itself. For blade replacement, the usual method is to lift the carrier frame to achieve equal height replacement. Once a single carrier frame is lifted to the top, it needs to be lowered back to the initial position. Continuous replacement is then performed by replacing the carrier frame and stacking the blades. Therefore, the operation is not only time-consuming and labor-intensive, but there is still a probability of tipping over during the lifting process. At the same time, the blades have an oil film on them, which is not easy to separate once they are stacked. Therefore, multiple blades may adhere during the replacement process. This not only increases the difficulty of feeding the blades one by one, but also increases the probability of blade tipping over during the adsorption and unloading process. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide an improved automatic compensation process for moving tool assembly.

[0005] The present invention also relates to an automatic replacement device.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: An automatic offsetting process for moving tool assembly includes the following steps: S1, Automatic Vehicle Replacement Based on the parallel arrangement of the material preparation channel and the return channel, a transverse channel is used to connect the material preparation channel and the return channel. The replenishment station is connected to both the transverse channel and the return channel. When the carrier is replenished, firstly, multiple blades are inserted through the frame rod from the inside and stacked on the platform to complete the full load of the carrier. At the same time, through holes are formed on each platform in an array based on the frame rod. Secondly, the fully loaded carrier passes through the material preparation channel, the transverse channel and the return channel in sequence, and is then pushed horizontally to the replenishment station to complete the automatic replenishment of the carrier. S2, Blade replacement piece by piece Based on the lifting material group arranged at the bottom of the feeding station, the auxiliary module arranged at the top of the feeding station, and the picking module, during the replacement of blades one by one, firstly, the lifting material group passes through the through hole from the bottom, and at the same time, based on the height difference formed by the top of the lifting material group, the stacked blades are lifted upward. At this time, the stacked blades are stacked with the toothed edge facing down and the tooth root flattened, and the support rod abuts against the side wall of the blade inside. Next, the lifting material group lifts the blade to remove it from the carrier and place it in the feeding area. At the same time, the airflow generated by the auxiliary module blows the air into the blades in the feeding area to eliminate or reduce the adhesion between the blade to be picked up and the blade to be replaced. Finally, the picking module picks up the blade to be picked up from the top to remove it from the blade to be replaced, and the lifting material group lifts the blade to replace it, thus completing the replacement of blades one by one.

[0007] According to a specific embodiment and preferred aspect of the present invention, in step S1, after the carrier completes the blade feeding, the empty carrier retracts from the replenishment station to the return channel and avoids the replenishment path formed by the transverse movement channel; then, the fully loaded carrier in the preparation channel moves transversely to the return channel, at which point the fully loaded carrier is pushed to the replenishment station based on the forward movement of the empty carrier in the return channel or based on the horizontal pushing arrangement within the return channel. In short, the empty carrier can be removed, or it can remain in place, and the empty carrier can be used for contact limiting.

[0008] Preferably, the carrier retracts from the replenishment station to the return channel, and the retraction distance is twice the width of a single carrier. This twice-distance smoothly pushes the platform from the lateral movement channel to the return channel, effectively forming a limiting guide and thus improving the stability of the platform's lateral movement.

[0009] In some specific implementations, the empty carrier that returns to the return channel fills the channel and then removes the material in one go. This one-time removal after filling effectively shortens the operation cycle and saves labor.

[0010] According to another specific embodiment and preferred aspect of the present invention, in step S2, after the fully loaded platform is delivered to the replenishment station, the lifting assembly is lifted to push the stacked blades upward away from the platform, and the upward lifting is based on the root of the blade as a support reference, with each lifting height being the thickness of the root of one blade. Based on the flat support, the gradual lifting and replenishment is performed with the root of the blade as a reference, which is not only stable but also has high replenishment accuracy and is easy to implement.

[0011] Preferably, there are multiple through holes, and the lifting assembly includes multiple support rods corresponding to each through hole, a chassis fixed to the bottom of the multiple support rods, and a lifting power unit. The lifting support is formed by the contact support created by the multiple support rods and the cooperative cooperation between the support rods and the internal through-walls of the blades. Here, the support rods serve the following functions: 1. For through-hole positioning to prevent tipping; 2. To help flatten the stacked blades and create a constraint; 3. To prevent the lifting of the stacked blades to assist in the layering of the blades.

[0012] In some specific embodiments, the airflow used in step S2 can enter through the gap between the stacked two moving blades. In some cases, there is still a gap between two adjacent blades, so the airflow can relatively dry the oil film or reduce adhesion to assist in the separation of the stacked blades.

[0013] Another technical solution of the present invention is: an automatic positioning device for assembling moving blades, which adopts the above-mentioned automatic positioning process for assembling moving blades, and includes a carrier positioning structure and a blade positioning structure, wherein the carrier positioning structure includes a material rack, a carrier, and a power unit, and the blade positioning structure includes a lifting material assembly, an auxiliary module, and a material picking module.

[0014] Preferably, the material rack forms two parallel material channels, the first material channel being a preparation channel with inlet and outlet ends, and the second material channel being a return channel with inlet and outlet ends. A third material channel connects the outlet end of the first material channel and the inlet end of the second material channel, and connects to a replenishment station at the inlet end of the second material channel. The carrier includes a platform and a frame rod erected on the platform. The platform can move laterally in the first, second, and third material channels, and the frame rod can automatically fit through the internal space of the cutting blades. Multiple moving blades are stacked on the platform with the frame rod as a reference. The power unit includes a first, second, and third power unit that moves laterally along the length of the first, second, and third material channels to push the platform. The second power unit has two sets: one set located in the second material channel to form a push group, and the other set located in the replenishment station to form a retraction group. Based on the collaborative pushing of the first, second, and third power units, the platform in the preparation channel is pushed into the return channel through the third material channel, while the push group pushes the platform to the replenishment station.

[0015] Furthermore, the material rack includes a material platform and baffles set on the material platform, wherein first, second, and third material channels are formed between the baffles and the material platform. The use of modular material channels not only facilitates implementation but also allows for adaptive adjustment of the channel width according to the actual dimensions of the platform.

[0016] According to another specific embodiment and preferred aspect of the invention, the baffle includes first, second, and third side plates arranged side by side; and an end plate forming an end, wherein a first and second material channel are formed between the first, second, and third side plates; and a third material channel is formed between the second side plate and the end plate to match the transverse movement of the platform. The assembly of the baffle and the end plate forms the required channels and feeding station to facilitate automatic feeding.

[0017] Preferably, the end plate includes a first end body forming the discharge end of the first material channel, and a second end body connecting the first end body to the third side plate and forming a matching platform to constitute a feeding station.

[0018] According to another specific embodiment and preferred aspect of the invention, one of the stage and the baffle is provided with an inner groove and the other is formed with a matching outer convex ridge, wherein the movement of the inner groove and the outer convex ridge is matched relative to the lateral movement. In short, the movement guide formed by the inner groove and the outer convex ridge makes the translation of the stage more stable and reduces the overturning rate of stacked blades due to impact.

[0019] Preferably, protruding ridges are formed on the inner sides of the first, second, and third side plates, and inner grooves are formed on the opposite sides of each stage. Based on the constraints and guidance at both ends of the stage, misalignment of the stage ends during the flat pushing process is avoided, which not only reduces the probability of stage movement jamming, but also achieves smoother transfer of stacked blades.

[0020] In some specific embodiments, the first power unit includes a first push plate and a first telescopic rod, wherein the first push plate is parallel to the platform, and the extension and retraction of the first telescopic rod causes the first push plate to push the platform horizontally in the first material channel. Here, the platform is smoothly transferred based on parallel pushing.

[0021] Alternatively, the first power unit includes a first push plate and a first telescopic rod, wherein the first push plate is respectively attached to the first material channel from both ends and the bottom, and the opposite ends of the first push plate have notches that match the outward protruding ridge. Here, based on the attachment of the push plate and the motion guidance, not only is the uniformity of the force on the carrier increased during flat pushing to reduce the stacking sway rate caused by impact, but the motion trajectory is also fixed to achieve high-precision transfer and replacement of the carrier platform.

[0022] In some specific embodiments, the pusher assembly includes a second pusher plate and a second telescopic rod, wherein the second pusher plate is parallel to the platform, and the extension and retraction of the second telescopic rod allows the second pusher plate to push the platform horizontally in the second material channel. Here, the platform is smoothly transferred based on parallel pushing.

[0023] Alternatively, the supplementary push assembly includes a second push plate and a second telescopic rod, wherein the second push plate is attached to the second material channel from both ends and the bottom, and the opposite ends of the second push plate have notches that match the outward protruding ridges. Here, based on the push plate attachment and motion guidance, not only is the uniformity of force on the carrier increased during flat pushing to reduce the stacking sway rate caused by impact, but the motion trajectory is also fixed to achieve high-precision transfer and replacement of the carrier platform.

[0024] In some specific embodiments, the retraction assembly includes a third push plate and a third telescopic rod, wherein a channel opening is formed in the second end body, and the third push plate can move in and out of the channel opening to push the platform horizontally towards the return channel. Based on the horizontal pushing of the third push plate, the unloaded platform is retracted towards the retraction channel. At this time, the retraction distance is at least the width of two platforms. Then, after the third push plate is reset, the platform in the material preparation channel can move laterally towards the retraction channel, and then the retraction channel pushes the platform to fill the gap at the material replenishment station.

[0025] In addition, the third power unit is a telescopic rod, and the movement of the telescopic rod will move the platform laterally from the material preparation channel to the return channel along its own length direction.

[0026] According to another specific embodiment and preferred aspect of the present invention, the lifting assembly includes a set of top rods extending from the top of the through hole, a power unit for driving the top rods to move up and down for automatic positioning, wherein there are multiple through holes, the top rods form multi-point support, and the cooperation between the frame rods and the internal through-side wall of the blade forms a top support. That is to say, based on the flattening stacking, not only is the stability of the stacking effectively increased, but the number of blades stacked at one time is also increased. More importantly, the force is concentrated entirely at the root of the tooth, avoiding deformation of the cutting edge.

[0027] Preferably, there are two through holes located on opposite sides of the frame rod. The top rod assembly includes two top rods that pass through the corresponding through holes and are parallel to the frame rod, and a frame plate fixed to the bottom of the two top rods. The power unit drives the frame plate to rise and fall to form automatic positioning. The top surface of the top rod is an uneven contact surface. The two contact surfaces, the frame rod, and the internal through-wall of the blade cooperate to form a top support surface, and the multiple moving blades are stacked with their centers aligned vertically.

[0028] In some specific embodiments, the cross-section of the through hole is polygonal, and the top rod is prism-shaped with a corresponding number of sides. Generally, a combination of quadrilateral and square columns is used, which not only meets the guiding requirements but also forms lateral restraint.

[0029] According to another specific embodiment and preferred aspect of the invention, the auxiliary module is based on the flow of air into the space between the top blades to eliminate or reduce the adhesion force formed between the blade to be picked up and the blade to be replaced.

[0030] Preferably, the auxiliary module (airflow auxiliary component) includes a mounting base located in the replacement area, a nozzle mounted on the mounting base, an air pump, and an air pipe, wherein the nozzle faces the blade to be picked up and the blade to be replaced. Based on airflow purging, the adhesion between the blades is minimized as much as possible to reduce the error rate of picking up a single blade.

[0031] Preferably, the moving blades form a U-shaped notch on the side away from the comb teeth, and the mounting base is located within the U-shaped notch. The airflow sweeping area of ​​the nozzle covers the entire mounting base corresponding to the multiple moving blades. This coverage of the airflow sweeping area facilitates the relative separation of the blades, providing better assistance for single-blade material handling.

[0032] In addition, the material handling module is a robotic arm. The robotic arm uses a negative pressure adsorption method.

[0033] Due to the implementation of the above technical solutions, the present invention has the following advantages compared with the prior art: In existing automatic replacement systems for moving tool assembly, for carrier replacement, the tool preparation channel and carrier return channel are generally the same. Therefore, the previous carrier must be completely withdrawn before the next carrier can be replaced. This time consumption for carrier return and full-load tool insertion causes interruptions or pauses in tool assembly, severely impacting the efficiency of moving tool assembly. Furthermore, hasty replacement increases the probability of stacked tool tipping. Due to the stability of the stack, the number of stacked tools is relatively low, generally not exceeding 50. A larger stack increases the risk of tipping, requiring frequent replacement operations, further reducing replacement efficiency. Additionally, the forces generated by stacking are applied to the tool tips and roots, increasing tool deformation. For piece-by-piece tool replacement, equal-height replacement is typically achieved by lifting the carrier. Once a single carrier reaches its top, it needs to be lowered back to its initial position, and continuous replacement is performed by changing carriers and stacking tools. Therefore, the operation is not only time-consuming and labor-intensive, but there is still a probability of tipping over during the lifting process. At the same time, the blades have an oil film on them, and once they are stacked, they are not easy to separate. Therefore, during the replenishment process, multiple blades will adhere. That is, it not only increases the difficulty of feeding the blades one by one, but also increases the probability of the blades tipping over during the adsorption and picking process. This invention is based on the automatic replenishment process for moving blade assembly and is designed as a whole to cleverly solve the various shortcomings of the existing technology. After adopting the automatic replenishment process, firstly, based on the parallel material preparation channel and the return channel, a transverse channel is used to connect the material preparation channel and the return channel. The replenishment station is connected to the transverse channel and the return channel respectively. When the carrier is replenished, multiple blades are inserted through the frame rod from the inside and stacked on the platform to complete the full load of the carrier. At the same time, each platform has through holes arranged in an array based on the frame rod. Then, the fully loaded carrier passes through the material preparation channel, the transverse channel and the return channel in sequence and is pushed to the replenishment station to complete the automatic replenishment of the carrier.Secondly, based on the lifting material group arranged at the bottom of the replenishment station, the auxiliary module arranged at the top of the replenishment station, and the picking module, during the replacement of blades one by one, the lifting material group passes through the through hole from the bottom. At the same time, based on the height difference formed by the top of the lifting material group, the stacked blades are lifted upward. At this time, the stacked blades are stacked with the toothed edge facing down and the toothed root flattened. The support rod abuts against the inner side wall of the blade from the side. Then, the lifting material group lifts the blade to remove it from the carrier and place it in the feeding area. At the same time, the airflow generated by the auxiliary module blows the air into the blades in the feeding area to eliminate or reduce the adhesion between the blade to be picked up and the blade to be replaced. Then, the picking module picks up the blade to be picked up from the top to remove it from the blade to be replaced, and the lifting material group lifts the blade to replace it. That is, the replacement of blades one by one is completed. Therefore, this invention is based on the material preparation channel, the horizontal The layout of the transfer channel, return channel, and replenishment station, based on the cooperation of the flat pushing process, not only enables automatic replenishment of the platform but also effectively shortens the replenishment time, thereby improving the efficiency of blade assembly. Simultaneously, multiple moving blades are stacked on the platform with the support rod as a reference, increasing the number of stackable blades (more than four times the original, at least 200-300 blades) and reducing the accidental overturning rate during platform movement. Furthermore, the multi-point support and the cooperation between the support rod and the internal through-wall of the blade form a top support, changing the load-bearing point of the stacked blades from detaching from the platform and allowing them to move and replenish along the support rod. Simultaneously, airflow purging eliminates or reduces the adhesion between the blade to be picked up and the blade to be replenished; that is, it not only reduces the deformation rate of the blade teeth during replenishment but also, based on the obstruction of the support rod and the cooperation of airflow purging, reduces the adhesion rate during blade-by-blade picking. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the automatic positioning device for assembling moving blades according to the present invention; Figure 2 for Figure 1 A schematic diagram of the mid-vehicle replacement structure; Figure 3 for Figure 2 Front view diagram; Figure 4 for Figure 3 A left-view diagram; Figure 5 for Figure 3 A top-down view; Figure 6 for Figure 5 A top-view diagram of the vehicle in its replacement position; Figure 7 for Figure 1 Schematic diagram of the blade replacement structure; Figure 8 for Figure 1 A simplified schematic diagram of the structure; Figure 9 for Figure 8 A diagram showing the view from the right. Figure 10 for Figure 8 A top-down view; Among them: ①, carrier positioning structure; 1, material rack; 10, material platform; 11, baffle; s1, first material channel; s2, second material channel; s3, third material channel; 111, first side plate; 112, second side plate; 113, third side plate; t, external protrusion; 114, end plate; d1, first end body; d2, second end body; t, external protrusion; 2, carrier; 20, platform; 200, inner groove; 21, frame rod; 3, power unit; 31, first power unit ; 310, First push plate; 311, First telescopic rod; 32, Second power unit; 320, Second push plate; 321, Second telescopic rod; 322, Third push plate; 323, Third telescopic rod; q, Notch; 33, Third power unit; M, Moving blade; ②, Blade replacement structure; E, Lifting material assembly; e1, Top rod assembly; e10, Top rod; e11, Frame plate; e2, Power unit; F, Auxiliary module; f1, Mounting base; f2, Nozzle; G, Material picking module. Detailed Implementation

[0035] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0036] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the unit or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0037] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0038] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0039] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0040] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0041] like Figures 1 to 10 As shown, the automatic positioning device for assembling moving blades in this embodiment includes a carrier positioning structure ① and a blade positioning structure ②. The carrier positioning structure ① includes a material rack 1, a carrier 2, and a power unit 3. The blade positioning structure ② includes a lifting material group D, an auxiliary module F, and a material picking module G.

[0042] Specifically, the material rack 1 includes a material platform 10 and a baffle 11 disposed on the material platform 10, wherein a first material channel s1, a second material channel s2, and a third material channel s3 are formed between the baffle 11 and the material platform 10. The use of an assembled material channel not only facilitates implementation but also allows for adaptive adjustment of the channel width according to the actual dimensions of the platform. The carrier 2 includes a platform 20 and a support rod 21 erected on the platform 20, wherein the platform 20 can move laterally within the first material channel s1, the second material channel s2, and the third material channel s3, and the support rod 21 can automatically match and pass through the internal space of the cutting blades M. Multiple moving blades M are stacked on the platform 20 with the support rod 21 as a reference. The power unit 3 includes a first power unit 31, a second power unit 32, and a third power unit 33 that respectively move laterally along the length direction of the first material channel s1, the second material channel s2, and the third material channel s3 to propel the platform 20.

[0043] In some specific embodiments, the material platform 10 is horizontal, and the baffle 11 includes a first side plate 111, a second side plate 112, a third side plate 113 arranged side by side, and an end plate 114 forming the end. A first material channel s1 is formed between the first side plate 111 and the second side plate 112, and a second material channel s2 is formed between the second side plate 112 and the third side plate 113. A third material channel s3 is formed between the second side plate 112 and the end plate 114 to match the transverse movement of the platform. The first material channel s1 is a material preparation channel with inlet and outlet ends, and the second material channel s2 is a material return channel with inlet and outlet ends. The third material channel s3 connects the outlet end of the first material channel s1 and the inlet end of the second material channel s2, and the feeding station is connected to the inlet end of the second material channel s2. The assembly of the baffle and the end plate forms the required channel and feeding station to facilitate automatic feeding. The end plate 114 includes a first end body d1 forming the discharge end of the first material channel s1, and a second end body d2 connecting the first end body d1 to the third side plate 113 and forming a matching platform to constitute a feeding station.

[0044] In this example, protruding ridges t are formed on the inner sides of the first side plate 111, the second side plate 112, and the third side plate 113, respectively, and inner grooves 200 are formed on the opposite sides of each stage 20. Based on the constraints and guidance at both ends of the stage, misalignment of the stage ends during the flat pushing process is avoided, which not only reduces the probability of stage movement jamming, but also achieves smoother transfer of stacked blades.

[0045] In some specific embodiments, the first power unit 31 includes a first push plate 310 and a first telescopic rod 311, wherein the first push plate 310 is parallel to the platform 20, and the extension and retraction of the first telescopic rod 311 causes the first push plate 310 to push the platform 20 horizontally in the first material channel s1. Here, the platform is smoothly transferred based on parallel pushing. Alternatively, the first power unit 31 includes a first push plate 310 and a first telescopic rod 311, wherein the first push plate 310 is attached to the first material channel s1 from both ends and the bottom, and the opposite ends of the first push plate 310 form notches q that match the outward convex ridge t. Here, based on the push plate attachment and motion guidance, not only is the uniformity of force on the frame increased during horizontal pushing to reduce the stacking sway rate caused by impact, but the motion trajectory is also fixed to achieve high-precision transfer and replacement of the platform. The second power unit 32 has two sets, one set located in the second material channel s2 to form a push-back set, and the other set located in the material replenishment station to form a retraction set. Specifically, the supplementary pushing group includes a second push plate 320 and a second telescopic rod 321. The second push plate 320 is parallel to the platform 20, and the extension and retraction of the second telescopic rod 321 allows the second push plate 320 to push the platform 20 horizontally in the second material channel s2. Here, the platform is smoothly transferred based on parallel pushing. Alternatively, the supplementary pushing group includes a second push plate 320 and a second telescopic rod 321. The second push plate 320 is attached to the second material channel s2 from both ends and the bottom, and the opposite ends of the second push plate 320 have notches q that match the outer convex edge t. Here, based on the push plate attachment and motion guidance, not only is the uniformity of force on the carrier increased during horizontal pushing to reduce the stacking sway rate caused by impact, but the motion trajectory is also fixed to achieve high-precision transfer and replacement of the platform. The retraction group includes a third push plate 322 and a third telescopic rod 323. A channel opening is formed in the second end body d2, and the third push plate 322 can enter and exit the channel opening to push the platform 20 horizontally towards the return channel. The third pusher plate pushes the unloaded platform back towards the return channel. The return distance is at least the width of two platforms. After the third pusher plate resets, the platforms in the material preparation channel can move laterally towards the return channel, and then the return channel pushes the platforms to their designated replenishment positions. The third power unit 33 is a telescopic rod, and its movement propels the platform laterally along its length from the material preparation channel to the return channel. In this example, the telescopic rod is an electric cylinder, pneumatic cylinder, or hydraulic cylinder.

[0046] Recombined Figures 7 to 10 A through hole 200 is formed on the platform 20 with the support rod 21 as the reference. Multiple moving blades M are stacked on the platform 10 with the support rod 11 as the reference. The support rod 11 is at least in contact with the inner space of the moving blades from opposite sides. This not only improves the stability of the blades stacked on the platform, but also creates a movement obstacle when the blades are picked up from the top, which is more conducive to the separation of two blades.

[0047] Specifically, the lifting assembly E includes a set of top rods e1 extending from the top of the through hole 200, and a power unit e2 that drives the top rods e1 to move up and down for automatic positioning. In this example, there are two through holes 200, located on opposite sides of the frame rod 21. The top rods e1 include two top rods e10 extending from the corresponding through holes 200 and arranged parallel to the frame rod 21, and a frame plate e11 fixed to the bottom of the two top rods e10. The power unit e2 drives the frame plate to move up and down to achieve automatic positioning. In some specific embodiments, the top surface of each top rod e10 is an uneven contact surface. The cooperation between the two contact surfaces, the frame rod 21, and the internal through sidewall of the blade forms a top support surface. Multiple moving blades are stacked with their centers aligned vertically. That is to say, based on the flattened stacking, not only is the stability of the stacking effectively increased, but the number of blades stacked at one time is also increased. More importantly, the force is concentrated at the root of the tooth, avoiding deformation of the cutting edge. In this example, each push rod e10 slides relative to the inner wall of the through hole 200 from its side. The motion guidance and constraint provided by the through hole enhances the stability of the lifting motion. In this example, the cross-section of the through hole 200 is polygonal, and the push rod e10 is a prism with a corresponding number of sides. Generally, a combination of quadrilateral and square columns is used, which not only meets the guiding requirements but also provides lateral constraint.

[0048] Specifically, the auxiliary module F is based on the flow of air into the space between the top blades to eliminate or reduce the adhesion between the blade to be picked up and the blade to be replaced.

[0049] In this example, the auxiliary module F (airflow auxiliary component) includes a mounting base f1 located in the filling area, a nozzle f2 mounted on the mounting base f1, an air pump, and air pipes. The moving blades form a U-shaped notch away from the comb tooth side (tooth root), and the mounting base f1 is located within this U-shaped notch. The airflow purging area formed by the nozzle f2 covers the entire multi-blade moving blade M corresponding to the mounting base f1. This coverage of the airflow purging area facilitates the relative separation of the blades, providing better assistance for single-blade material handling. Based on the airflow purging, the adhesion between the blades is minimized as much as possible, thereby reducing the error rate of single-blade material handling.

[0050] Specifically, the material handling module G is a conventional material handling robot, which also uses negative pressure adsorption to adsorb and replenish materials.

[0051] In summary, the implementation process of this invention is as follows: S1, Automatic Vehicle Replacement Based on the parallel arrangement of the material preparation channel and the return channel, a transverse channel is used to connect the material preparation channel and the return channel. The replenishment station is connected to both the transverse channel and the return channel. When the carrier is replenished, firstly, multiple blades are inserted through the frame rod from the inside and stacked on the platform to complete the full load of the carrier. At the same time, through holes are formed on each platform in an array based on the frame rod. Secondly, the fully loaded carrier passes through the material preparation channel, the transverse channel and the return channel in sequence, and is then pushed horizontally to the replenishment station to complete the automatic replenishment of the carrier. S2, Blade replacement piece by piece Based on the lifting material group arranged at the bottom of the feeding station, the auxiliary module arranged at the top of the feeding station, and the picking module, during the replacement of blades one by one, firstly, the lifting material group passes through the through hole from the bottom, and at the same time, based on the height difference formed by the top of the lifting material group, the stacked blades are lifted upward. At this time, the stacked blades are stacked with the toothed edge facing down and the tooth root flattened, and the support rod abuts against the side wall of the blade inside. Next, the lifting material group lifts the blade to remove it from the carrier and place it in the feeding area. At the same time, the airflow generated by the auxiliary module blows the air into the blades in the feeding area to eliminate or reduce the adhesion between the blade to be picked up and the blade to be replaced. Finally, the picking module picks up the blade to be picked up from the top to remove it from the blade to be replaced, and the lifting material group lifts the blade to replace it, thus completing the replacement of blades one by one.

[0052] In step S1, after the carrier completes the blade feeding, the empty carrier retracts from the replenishment station to the return channel, avoiding the replenishment path formed by the traverse channel. Then, the fully loaded carrier in the preparation channel moves laterally to the return channel. At this time, the fully loaded carrier is pushed to the replenishment station based on the forward movement of the empty carrier in the return channel or the horizontal pushing mechanism arranged in the return channel. In step S1, the carrier retracts from the replenishment station to the return channel, and the retraction distance is twice the width of a single carrier. In step S1, the empty carrier that has retracted to the return channel fills the return channel and is then removed in one go.

[0053] In step S2, after the fully loaded platform is delivered to the replenishment station, the lifting assembly is used to lift the stacked blades upwards away from the platform, with the tooth root as the support reference, and the lifting height each time is equal to the thickness of the tooth root of one blade. At the same time, the airflow used in step S2 can enter through the gap between the two stacked moving blades.

[0054] In summary, after adopting the automatic replenishment process, firstly, based on the parallel arrangement of the material preparation channel and the return channel, a transverse channel is used to connect the material preparation channel and the return channel. The replenishment station is also connected to both the transverse channel and the return channel. During carrier replenishment, multiple blades are inserted through the frame rod from the inside and stacked symmetrically on the platform to fully load the carrier. Simultaneously, each platform has through holes arranged in an array based on the frame rod. Then, the fully loaded carrier passes sequentially through the material preparation channel, the transverse channel, and the return channel before being pushed horizontally to the replenishment station to complete the automatic replenishment of the carrier. Secondly... Based on the lifting material group arranged at the bottom of the feeding station, the auxiliary module arranged at the top of the feeding station, and the picking module, during the sequential feeding of blades, the lifting material group penetrates through the through hole from the bottom. Simultaneously, the height difference formed at the top of the lifting material group lifts the stacked blades upwards. At this point, the stacked blades are stacked with the toothed edges facing downwards and the tooth roots flattened. The support rod abuts against the inner sidewall of the blade from the side. Then, the lifting material group pushes the blades upwards to detach them from the platform and place them in the feeding area. Simultaneously, the airflow generated by the auxiliary module enters between the blades in the feeding area to eliminate or... By reducing the adhesion between the blade to be picked up and the blade to be replaced, the top blade to be picked up is then picked up by the picking module to detach from the blade to be replaced, and the blade is then replaced by the lifting of the lifting material group. That is, the blade is replaced piece by piece. Therefore, this invention, based on the layout of the material preparation channel, the transverse channel, the return channel and the material replenishment station, and based on the cooperation of the horizontal pushing process, can not only realize the automatic replacement of the platform, but also effectively shorten the time required for material replenishment, thereby improving the blade assembly efficiency. At the same time, multiple moving blades are stacked on the platform with the frame rod as the reference, which not only increases the number of stackable blades. The quantity is increased (more than 4 times the original, at least 200 to 300 pieces), and the accidental overturning rate during platform displacement is reduced; on the other hand, based on multi-point support and the cooperation of the support rod and the internal through-side wall of the blade to form a top support, the load-bearing force point of the stacked blades is changed from being separated from the platform, and they move along the support rod to fill the gap. At the same time, based on airflow purging, the adhesion force formed by the blade to be picked up and the blade to be filled is eliminated or reduced. That is, not only is the deformation rate of the blade teeth in the filling reduced, but also the adhesion rate of each piece is reduced by the obstruction of the support rod and the cooperation of airflow purging.

[0055] The present invention has been described in detail above, with the aim of enabling those skilled in the art to understand and implement the invention. However, this description should not be construed as limiting the scope of protection of the invention. All equivalent changes or modifications made in accordance with the spirit and essence of the invention should be included within the scope of protection of the invention.

Claims

1. An automatic position-filling process for assembling a moving blade, comprising the following steps: S1, automatic position-filling of a carrier; S2, piece-by-piece position-filling of a blade, characterized in that, in step S1, based on the parallel arrangement of a material preparation channel and a material return channel, a cross-moving channel is used to connect the material preparation channel and the material return channel, and the material filling station is connected to the cross-moving channel and the material return channel, wherein when the carrier is position-filled, first, a plurality of blades are internally penetrated through the rack rod and aligned and stacked on the carrier to complete full loading of the carrier, and the penetration holes arranged in an array on each carrier are arranged based on the rack rod; second, after the full loading carrier passes through the material preparation channel, the cross-moving channel, and the material return channel in turn, it is pushed to the material filling station to complete the automatic position-filling of the carrier; in step S2, based on the lifting material group arranged at the bottom of the material filling station, the auxiliary module arranged at the top of the material filling station, and the material taking module, when the blade is position-filled piece by piece, first, the lifting material group penetrates through the penetration hole from the bottom, and based on the high-low difference end face formed at the top end of the lifting material group, the stacked blades are lifted upward, at this time the stacked blades are downward from the blade edge and supported flat from the blade root, and the rack rod is in contact with the internal penetration side wall of the blade; then, the lifting material group lifts to separate the blade from the carrier and place it in the loading area, and in the airflow sweeping formed by the auxiliary module, the airflow enters the space between the blades in the loading area to eliminate or reduce the adhesion between the to-be-taken material and the to-be-position-filled blade; finally, based on the material taking module, the to-be-taken material at the top is separated from the to-be-position-filled blade, and the lifting of the lifting material group is used for blade position-filling, that is, the piece-by-piece position-filling of the blade is completed.

2. The automatic offset process for rotor assembly as claimed in claim 1 wherein, In step S1, after the carrier completes the blade supply, the empty carrier retreats from the material filling station to the material return channel and avoids the material filling path formed by the cross-moving channel; then the full loading carrier in the material preparation channel is moved to the material return channel, at this time based on the forward movement of the empty carrier in the material return channel or based on the arrangement of the push in the material return channel, the full loading carrier is pushed to the material filling station.

3. The automatic offset process for a moving blade assembly as defined in claim 2 wherein, The empty carrier retreats from the material filling station to the material return channel, and the retreat distance is twice the width of a single carrier.

4. The automatic offset process for a moving blade assembly as recited in claim 2, wherein, The empty carrier that retreats to the material return channel is removed at one time after filling the material return channel.

5. The automatic offset process for rotor assembly of claim 1, wherein, In step S2, after the full loading carrier is sent to the material filling station, the lifting of the lifting material group lifts the stacked blades upward away from the carrier, and the blade root is used as the support reference to lift upward, and the height of each lifting is the thickness of the blade root of a single blade.

6. The automatic offset process for a moving blade assembly as recited in claim 5, wherein, The penetration hole has a plurality of penetration holes, the lifting material group includes a plurality of support rods corresponding to the penetration holes, a bottom plate fixed to the bottom of the plurality of support rods, and a lifting power device, wherein based on the contact support formed by the plurality of support rods and the cooperation of the rack rod and the internal penetration side wall of the blade, a top support is formed.

7. The automatic offset process for rotor assembly of claim 1, wherein, In step S2, the airflow sweeping used can enter from the gap between the two stacked moving blades.

8. An automatic compensating device for assembling a moving blade, characterized in that: The position-filling method adopts the automatic position-filling process for assembling a moving blade according to any one of claims 1 to 7, and comprises a carrier position-filling structure and a blade position-filling structure, wherein the carrier position-filling structure comprises a material rack, a carrier, and a power unit, and the blade position-filling structure comprises a lifting material group, an auxiliary module, and a material taking module.

9. The automatic compensating device for the moving blade assembly according to claim 8, characterized in that: The two first and second material channels are formed side by side on the rack, the first material channel is a standby material channel with an inlet end and an outlet end, and the second material channel is a return material channel with an inlet end and an outlet end, wherein the outlet end of the first material channel and the inlet end of the second material channel are communicated by a third material channel, and a material supplementing station is connected to the inlet end of the second material channel; the carrier includes a carrier table and a rack rod standing on the carrier table, wherein the carrier table can move laterally in the first, second and third material channels, the rack rod can automatically match the internal space and pass out, and multiple moving knives are stacked on the carrier table based on the rack rod; the power unit includes first, second and third power units for moving the carrier table along the length direction of the first, second and third material channels, respectively, wherein the second power unit has two groups, one group is located in the second material channel to form a supplementing group, and the other group is located in the material supplementing station to form a returning group, and based on the cooperation of the first, second and third power units, the carrier table in the standby material channel enters the return material channel through the third material channel, and the supplementing group pushes the carrier table to the material supplementing station.

10. The automatic setting device for the moving blade assembly according to claim 8, wherein: The jacking material group includes a top rod group passing out from the top of the through hole and a power unit driving the top rod group to move up and down for automatic position supplementing, wherein the through hole has multiple through holes, the top rod group forms multiple point position supports, and the rack rod and the internal through side wall of the knife blade cooperate to form a top support; And / or, the auxiliary mold group enters between the top knives based on air flow to eliminate or reduce the adhesion force formed by the standby material knives and the position supplementing knives; and / or, the material taking module is a material taking manipulator.

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