Chain link type assembly robot and assembly process for high-precision cement chain

Abstract

The invention discloses a chain link type assembly robot for a high-precision cement chain, and relates to the field of assembly equipment, and the chain link type assembly robot comprises a main assembly rack, a chain plate feeding frame, a pin shaft feeding frame, a sleeve feeding frame and a press fitting bracket. The invention further discloses an assembly process of the chain link type assembly robot for the high-precision cement chain. The assembly process comprises the following steps of chain plate positioning and feeding, pin shaft and sleeve pre-combination, pin shaft and chain plate pre-combination, asynchronous press fitting and discharging. Pin shafts and sleeves are pre-combined so as to guarantee the precision after chain links are assembled, independent feeding of the pin shafts and the sleeves is completed in an intermittent feeding mode, it is guaranteed that the interval between the fed pin shafts and the sleeves is precise, the precision of the interval between the pin shafts in the chain links is guaranteed from the source, and in addition, the precision of the interval between the pin shafts in the chain links is guaranteed. And the pin shaft and the sleeve are pre-combined in the feeding process, so that the assembling efficiency of the device is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of assembly equipment, and in particular to a high-precision cement chain link assembly robot and assembly process. Background Technology

[0002] Cement chains (i.e. heavy-duty conveyor chains for the cement industry) are core transmission components in key equipment in industries such as building materials, mining, and metallurgy. Their chain links are usually composed of two chain plates, two pins, and sleeves, etc. They have large structural dimensions, require high precision in fit, and must withstand enormous tensile forces and wear.

[0003] Currently, the assembly of this type of chain is generally carried out manually in conjunction with a press. Operators need to manually move the chain plates and align the pin holes. For cement chains with a large pitch, the distance between the two pins (i.e., the chain link pitch) is a key dimension to ensure the smooth operation of the chain. Traditional assembly equipment or manual methods cannot accurately ensure the parallelism, spacing, and alignment with the chain plate holes of the two pins at the same time during the assembly process, which can easily lead to chain jamming and increased wear. In addition, in order to meet the high dust and high wear usage scenarios, current cement chains usually use high-strength plastic, nylon, or coated composite material sleeves. The material of the sleeve will increase the difficulty of gripping and positioning during the assembly process, ultimately affecting the assembly accuracy of the pins and sleeves.

[0004] Therefore, it is necessary to invent a high-precision cement chain link assembly robot and assembly process to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a high-precision cement chain link assembly robot and assembly process to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a high-precision cement chain link assembly robot, comprising: The main assembly frame has a circulating conveyor line at its top, and multiple assembly supports are installed around the outside of the circulating conveyor line. The pin-shaft feeding rack is fixedly installed on the outer middle of the main assembly frame. A guide rack is fixedly installed at the top of the pin-shaft feeding rack. A fixed guide rail and a movable guide rail are fixedly installed inside the guide rail. The guide rack, fixed guide rail and movable guide rail are all designed with a "V" shape. The upper surface of the fixed guide rail and the movable guide rail are provided with multiple slots at equal intervals, and the distance between two adjacent slots is equal to the distance between two pins in the chain link. The sleeve feeding rack is fixedly installed between the pin feeding rack and the main assembly frame. The top center of the sleeve feeding rack is provided with an inclined material groove, the bottom end of the inclined material groove is provided with a feeding groove, one end of the bottom of the feeding groove is provided with an arc-shaped guide groove, and the opening of the arc-shaped guide groove is fixedly provided with a spacer protrusion.

[0007] Preferably, it also includes a chain plate loading rack, which is fixedly installed on one side of the main assembly frame, and a chain plate conveyor line is installed on the top of the chain plate loading rack; A chain plate transfer slide rail is fixedly installed on the top of the chain plate loading rack. A chain plate transfer slide block is slidably installed on the outer side of the chain plate transfer slide rail. A chain plate transfer cylinder is fixedly installed on the outer side of the chain plate transfer slide block. A chain plate gripping head is fixedly installed at the bottom end of the chain plate transfer cylinder.

[0008] Preferably, it also includes a pin gripping cylinder, which is located above the pin loading rack. A pin gripping disc is fixedly installed at the output end of the pin gripping cylinder. A pin gripping seat is fixedly installed at one end of the lower surface of the pin gripping disc. Both ends of the lower surface of the pin gripping seat are provided with arc-shaped pin gripping grooves. A pin feeding slide rail is fixedly installed above the pin feeding rack. A pin feeding slide block is slidably installed at the bottom end of the pin feeding slide rail. A pin lifting cylinder is fixedly installed at the bottom end of the pin feeding slide block. A pick-and-place flip cylinder is fixedly installed at the output end of the pin lifting cylinder. The output end of the pick-and-place flip cylinder is fixedly connected to the middle part of the pin gripping cylinder. The pick-and-place flip cylinder is used to flip the pin gripped by the pin gripping seat to a vertical state so that the pin and the chain plate can complete the initial combination.

[0009] Preferably, it also includes a transmission plate, which is movably installed inside the pin-shaft loading rack. A connecting rod is fixedly installed on the bottom outer side of the transmission plate, and one end of the connecting rod is connected to the bottom end of the movable guide rail. Two eccentric wheels are rotatably installed on the top of the transmission plate through a pin, and both eccentric wheels are rotatably installed on the top of the pin-shaft loading rack. The pin-shaft feeding motor has its output shaft connected to one end of two eccentric wheels. The two eccentric wheels simultaneously drive the top of the transmission plate to move, so that the transmission plate and the movable guide rail make circular motion around the central axis of the eccentric wheels, thereby realizing intermittent feeding of the pin shaft.

[0010] Preferably, it also includes a pressure seat, which is slidably mounted above the feeding trough. Both ends of the lower surface of the pressure seat are provided with arc-shaped pressure surfaces. The pressure seat controls the distance between the two sleeves by pressing down so that the pin and the sleeve can be precisely matched. The sleeve adjusting cylinder is fixedly installed at one end of the sleeve feeding rack, and a connecting plate is installed between the output end and the pressure seat.

[0011] Preferably, it also includes a press-fit bracket, which is fixedly installed on the upper end of the main assembly frame away from the feed rack on the chain plate, and a press-fit seat is installed inside the press-fit bracket that can slide up and down; The press-fit cylinder is fixedly installed on the top of the press-fit bracket and its output end is fixedly connected to the top of the press-fit base. The press-fit positioning groove is located on the lower surface of the press-fit base and is adapted to the chain plate.

[0012] Preferably, it also includes a chain plate intermittent gripping head, which penetrates the middle of the press base, the chain plate intermittent gripping head being used to pick up chain plates that are not combined with the pin shaft and disengage them from the assembly support; An intermittent cylinder is fixedly installed inside the press base, and its output end is connected to the top of the intermittent gripping head of the chain plate.

[0013] Preferably, it also includes a press-fitting support, which is slidably installed at the bottom of the inside of the press-fitting bracket. A press-fitting top rod is fixedly installed on the upper surface of the press-fitting support. The press-fitting support and the press-fitting top rod are used to provide support for the assembly support during the press-fitting process. A support cylinder is fixedly installed between the lower surface of the press-fitting platform and the press-fitting bracket. The support cylinder is used to drive the press-fitting platform to move upward so that the assembly support is lifted slightly to ensure stability during the press-fitting process.

[0014] Preferably, the upper surface of the mounting support is provided with a groove adapted to the chain plate, and both ends of the groove bottom are provided with circular grooves corresponding to the pin.

[0015] An assembly process for a high-precision cement chain link assembly robot includes the following steps: Step 1: Chain plate positioning and feeding. The chain plate is conveyed by the chain plate conveyor line 21, picked up by the chain plate gripper head 25, and accurately placed into the groove of the empty assembly support on the circulating conveyor line. Step 2: Pre-assembly of pins and sleeves. Two pins are conveyed to the gripping point via the movable guide rail. Two sleeves are guided to one end of the feeding trough via the pressure seat and the spacing is adjusted. The pin gripping disc grips the two pins and guides the pins through the two sleeves to complete the combination of pins and sleeves. Step 3: Pre-assembly of the pin and chain plate. After the pin and sleeve are assembled, they follow the pin gripping disc to rotate and move to the top of the assembly support. Then the pin and the chain plate above the assembly support complete the pre-assembly. Step 4: Asynchronous pressing. The assembly support drives the chain plate to move into the inside of the pressing bracket. The intermittent gripping head of the chain plate picks up the chain plate that is not combined with the pin shaft, so that it is temporarily suspended away from the assembly support. After the chain plate that is combined with the pin shaft is in place, the pressing bracket drives the chain plate to move downward so that the chain plate, pin shaft and sleeve are pressed together. Step 5: Unloading. After pressing is completed, the intermittent gripping head of the chain plate is de-energized and demagnetized, the pressing seat is reset, and the assembled chain link continues to move to the unloading station along with the assembly support.

[0016] The technical effects and advantages of this invention are as follows: 1. This invention ensures the accuracy of the chain links after assembly by pre-assembling the pins and sleeves. It uses an intermittent feeding method to feed the pins and sleeves separately and ensures that the spacing between the pins and sleeves after feeding is accurate. This ensures the accuracy of the pin spacing in the chain links from the source. Furthermore, the pre-assembly of the pins and sleeves during the feeding process effectively improves the assembly efficiency of the device. During the assembly process, the pins are pre-assembled with the sleeves by plugging them in, eliminating the need to use a gripping structure to grip the sleeves. This avoids the influence of the sleeve material itself on the gripping difficulty and thus ensures the accuracy of the pre-assembly. 2. This invention assembles chain links using an asynchronous collaborative assembly process. By employing an intermittent gripping head to pick up empty chain plates, the empty chain plates can be combined with chain plates that have already been pre-assembled with pins. This ensures that the chain plates, pins, and sleeves stably form the chain links while simplifying the chain plate feeding structure. Furthermore, it allows the feeding of chain plates, pins, and sleeves to operate independently, effectively improving the feeding efficiency of each structure during the chain link assembly process. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the pin-shaft feeding rack and sleeve feeding rack of the present invention.

[0018] Figure 2 This is a schematic diagram of the overall structure of the present invention.

[0019] Figure 3 This is a schematic diagram of the chain plate loading rack structure of the present invention.

[0020] Figure 4 This is a schematic diagram of the main assembly frame structure of the present invention.

[0021] Figure 5 This is a schematic diagram of the press-fit bracket structure of the present invention.

[0022] Figure 6 This is a schematic diagram of the press-fit base structure of the present invention.

[0023] Figure 7 This is a schematic diagram of the pin gripping seat structure of the present invention. Figure 1 .

[0024] Figure 8 This is a schematic diagram of the pin gripping seat structure of the present invention. Figure 2 .

[0025] Figure 9 This is a schematic diagram of the sleeve feeding rack structure of the present invention.

[0026] Figure 10 This is a cross-sectional schematic diagram of the sleeve feeding rack structure of the present invention.

[0027] Figure 11 This is a schematic diagram of the internal structure of the pin-shaft loading rack of the present invention.

[0028] In the diagram: 1. Main assembly frame; 11. Circulating conveyor line; 12. Assembly support; 2. Chain plate loading rack; 21. Chain plate conveyor line; 22. Chain plate transfer slide rail; 23. Chain plate transfer slide block; 24. Chain plate transfer cylinder; 25. Chain plate gripper head; 3. Pin shaft loading rack; 31. Guide rack; 32. Fixed guide rail; 33. Movable guide rail; 34. Pin shaft gripper cylinder; 35. Pin shaft feeding slide rail; 36. Pin shaft feeding slide block; 37. Pin shaft lifting cylinder; 341. Pin shaft gripper disc; 342. Pin shaft gripper seat; 343. Pin shaft gripper groove; 371. Pick-up and drop mechanism. 331. Rotary cylinder; 332. Transmission plate; 333. Connecting rod; 334. Eccentric wheel; 335. Pin shaft feeding motor; 4. Sleeve feeding frame; 46. Inclined chute; 47. Feeding chute; 48. Arc-shaped guide groove; 49. Spacer protrusion; 40. Press seat; 41. Arc-shaped pressing surface; 42. Connecting plate; 426. Sleeve adjusting cylinder; 57. Pressing bracket; 51. Press seat; 52. Pressing positioning groove; 53. Chain plate intermittent gripper head; 54. Intermittent cylinder; 55. Pressing support platform; 56. Pressing top rod; 57. Support cylinder. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0030] like Figures 1 to 11 As shown, the high-precision cement chain link assembly robot provided by the present invention is essentially a machine for assembling the chain plate, pin, metal parts and sleeve non-metal parts in the chain link.

[0031] In terms of specific structural installation, the structural body can be constructed according to the inventive concept of this embodiment. In this embodiment, no special limitations are imposed.

[0032] In this embodiment, a high-precision cement chain link assembly robot includes: The main assembly frame 1 has a circulating conveyor line 11 at its top. Multiple assembly supports 12 are installed around the outside of the circulating conveyor line 11. The circulating conveyor line 11 is a rotary structure driven by a ring synchronous belt, a double speed chain, or a precision cam divider. It sequentially transports multiple assembly supports 12 to various functional workstations in a constant rhythm and precise indexing manner, thereby realizing the rhythmization and automation of the assembly process. The upper surface of the mounting support 12 is provided with a groove that matches the chain plate, and both ends of the groove bottom are provided with round grooves corresponding to the pin. The chain plate loading rack 2 is fixedly installed on one side of the main assembly frame 1. The top of the chain plate loading rack 2 is equipped with a chain plate conveyor line 21. The chain plate conveyor line 21 is responsible for separating the stacked or arranged chain plates one by one and conveying them to the picking position. It can be a vibratory feeder, belt line or servo push rod mechanism. The chain plate transfer slide rail 22 is fixedly installed on the top of the chain plate loading rack 2. The chain plate transfer slide 23 is slidably installed on the outer side of the chain plate transfer slide rail 22. The chain plate transfer cylinder 24 is fixedly installed on the outer side of the chain plate transfer slide 23. The chain plate gripping head 25 is fixedly installed at the bottom of the chain plate transfer cylinder 24. The pin feeding rack 3 is fixedly installed on the outer middle of the main assembly frame 1. The top of the pin feeding rack 3 is fixedly installed with a guide rack 31. The guide rack 31 is fixedly installed with a fixed guide rail 32 and a movable guide rail 33. The guide rack 31, the fixed guide rail 32 and the movable guide rail 33 are all designed with a "V" shape. The "V" shape can naturally guide the cylindrical pin to roll or slide along the axial direction, so as to facilitate the intermittent feeding of the pin and the adjustment of the spacing. The upper surfaces of the fixed guide rail 32 and the movable guide rail 33 are provided with multiple slots at equal intervals, and the spacing between two adjacent slots is equal to the spacing between two pins in the chain link. The transmission plate 331 is movably installed inside the pin-shaft loading rack 3. A connecting rod 3311 is fixedly installed on the bottom outer side of the transmission plate 331, and one end of the connecting rod 3311 is connected to the bottom end of the movable guide rail 33. Two eccentric wheels 332 are rotatably installed on the top of the transmission plate 331 through the pin shaft, and both eccentric wheels 332 are rotatably installed on the top of the pin-shaft loading rack 3. The pin-shaft feeding motor 333 has its output shaft connected to one end of two eccentric wheels 332. The two eccentric wheels 332 simultaneously drive the top of the transmission plate 331 to move so that the transmission plate 331 and the movable guide rail 33 make circular motion around the central axis of the eccentric wheels 332, thereby realizing the intermittent feeding of the pin shaft. A pin gripping cylinder 34 is located above the pin loading rack 3. A pin gripping disc 341 is fixedly installed at the output end of the pin gripping cylinder 34. A pin gripping seat 342 is fixedly installed at one end of the lower surface of the pin gripping disc 341. Both ends of the lower surface of the pin gripping seat 342 are provided with arc-shaped pin gripping grooves 343. The pin feeding slide rail 35 is fixedly installed above the pin feeding rack 3. The bottom end of the pin feeding slide rail 35 is slidably installed with a pin feeding slide 36. The bottom end of the pin feeding slide 36 is fixedly installed with a pin lifting cylinder 37. The output end of the pin lifting cylinder 37 is fixedly installed with a pick-up and put-down flip cylinder 371. The output end of the pick-up and put-down flip cylinder 371 is fixedly connected to the middle part of the pin gripping cylinder 34. The pick-up and put-down flip cylinder 371 is used to flip the pin gripped by the pin gripping seat 342 to a vertical state so that the pin and the chain plate can complete the initial combination. The sleeve feeding rack 4 is fixedly installed between the pin feeding rack 3 and the main assembly frame 1. The top center of the sleeve feeding rack 4 is provided with an inclined material groove 41, the bottom end of the inclined material groove 41 is provided with a feeding groove 42, one end of the bottom of the feeding groove 42 is provided with an arc-shaped guide groove 421, and the opening of the arc-shaped guide groove 421 is fixedly provided with a spacer protrusion 422. Two upward-opening strip slots are provided at one end of the sleeve feeding rack 4 to facilitate the insertion of the pin and the upward movement of the pin and sleeve after assembly; The pressure seat 423 is slidably mounted above the feeding trough 42. Both ends of the lower surface of the pressure seat 423 are provided with arc-shaped pressure surfaces 424. The pressure seat 423 controls the distance between the two sleeves by pressing down so that the pin and the sleeve can be precisely matched. A sleeve adjusting cylinder 426 is fixedly installed at one end of the sleeve feeding rack 4 and a connecting plate 425 is installed between the output end and the pressure seat 423; The press-fit bracket 5 is fixedly installed on the upper end of the main assembly frame 1 away from the chain plate feed rack 2. The press-fit bracket 5 has a press-fit seat 51 that can slide up and down inside. The press-fit cylinder 511 is fixedly installed on the top of the press-fit bracket 5 and its output end is fixedly connected to the top of the press-fit base 51. The press-fit positioning groove 52 is located on the lower surface of the press-fit base 51 and is adapted to the chain plate. The intermittent gripping head 53 of the chain plate penetrates the middle of the press seat 51. The intermittent gripping head 53 of the chain plate is used to pick up the chain plate that is not combined with the pin and detach it from the assembly support 12. Intermittent cylinder 531 is fixedly installed inside the press base 51 and its output end is connected to the top of the chain plate intermittent gripping head 53; The press-fitting support 54 is slidably installed at the bottom of the inside of the press-fitting bracket 5. A press-fitting top rod 541 is fixedly installed on the upper surface of the press-fitting support 544. The press-fitting support 544 and the press-fitting top rod 541 are used to provide support for the assembly support 12 during the press-fitting process. The support cylinder 542 is fixedly installed between the lower surface of the press-fitting platform 54 and the press-fitting bracket 5. The support cylinder 542 is used to drive the press-fitting platform 54 to move upward so that the assembly support 12 is lifted slightly to ensure stability during the press-fitting process.

[0033] When using a high-precision cement chain link assembly robot according to this embodiment, the chain plate, pin, and sleeve components of the chain link are placed in the corresponding chain plate conveyor line 21, pin loading rack 3, and sleeve loading rack 4 by manual labor or a feeding robot. During the assembly of chain links, the circulating conveyor line 11 drives the assembly support 12 to circulate. The assembly support 12 stops intermittently when it moves to the corresponding positions of the chain plate feeder 2, the pin feeder 3, and the press bracket 5. When the assembly support 12 moves to the corresponding position of the chain plate loading rack 2, the chain plate is loaded. During this process, the chain plate transfer slide 23 moves along the chain plate transfer slide rail 22, and the chain plate transfer cylinder 24 drives the chain plate gripper head 25 to descend and pick up the single chain plate above the chain plate conveyor line 21. Then, the chain plate is lifted, moved laterally, and lowered so that the chain plate is accurately placed in the positioning groove on the surface of the assembly support 12. After the assembly of the chain plate is completed, the assembly support 12 continues to move. During this process, the pin feeding motor 333 drives the two eccentric wheels 332 to rotate. The two eccentric wheels 332 drive the transmission plate 331 to move. At this time, the transmission plate 331 makes a circular motion around the center point of the eccentric wheels 332, and drives the movable guide rail 33 to make a circular motion through the connecting rod 3311. During the circular motion of the movable guide rail 33, the pin moves through the slot at its top, so that the pin moves intermittently upward along the fixed guide rail 32. During the process, the pin is inserted into the slot above the fixed guide rail 32 to control the distance between two adjacent pins. When the pin moves to the top of the fixed guide rail 32, the pin reaches the gripping position. The pin gripping cylinder 34 drives the pin gripping seat 342 to move downward. The pin gripping seat 342 accurately picks up the two pins through the pin gripping groove 343 on its lower surface. Then the pin feeding slide 36 moves along the pin feeding slide rail 35, so that the pin slides horizontally to one side of the sleeve feeding rack 4. At this time, the pin waits to be combined with the sleeve. During the gripping process, multiple sleeves slide along the inclined material groove 41 into the feeding groove 42 under the action of gravity. The sleeve adjusting cylinder 426 drives the pressure seat 423 to move downward through the connecting plate 425. The pressure seat 423 squeezes two sleeves at one end of the feeding groove 42 through the arc-shaped pressure surface 424 on the lower surface, so that one sleeve is pressed into the arc-shaped guide groove 421, while the other sleeve is squeezed and slides past the spacer protrusion 422 and continues to move until the pressure seat 423 moves to the lowest point. At this time, the distance between the two sleeves is equal to the distance between the two pins. At this time, the sleeve completes the preparation before being combined with the pin. At this time, the pin feeding slide 36 continues to slide along the pin feeding slide rail 35, so that the pin passes through the corresponding through groove on the sleeve feeding rack 4 and is inserted into the sleeve, so as to realize the pre-combination of the pin and the sleeve. After the pin and sleeve are pre-assembled, the pin lifting cylinder 37 drives the pin and sleeve to move upward, and the pick-and-place flip cylinder 371 drives the pin and sleeve to flip 90°, so that the pin is flipped to a vertical state. During this process, the bottom end of the sleeve is supported by the pin gripping seat 342 and will not fall off. Then the pin feeding slide 36 continues to move until the pin and sleeve move to the top of the circulating conveyor line 11 and coincide with the position of the chain plate above the assembly support 12. Then the pin and sleeve move down and insert into the corresponding hole on the surface of the chain plate to complete the pre-assembly of the pin, sleeve and chain plate. It should be noted that only one of the two adjacent chain plates is combined with the pin, and the other chain plate is in an unloaded state. The chain plate combined with the pin is the lower chain plate of the chain link after assembly, and the unloaded chain plate is the upper chain plate of the chain link. After the pin and chain plate are combined, the chain plate continues to follow the assembly support 12 to the inside of the press-fit bracket 5. During this process, the chain plate that is not combined with the pin first reaches the press-fit bracket 5. At this time, the chain plate intermittent gripping head 53 moves downward and picks up the empty chain plate, and then drives the empty chain plate to move upward until the empty chain plate moves into the press-fit positioning groove 52 below the press-fit seat 51. After the chain plate that is combined with the pin moves into place, the press-fit seat 51 drives the empty chain plate to move downward, so that the empty chain plate, pin, sleeve and combined chain plate complete the press-fit combination. At this time, the chain link is combined. The combined chain link continues to move along the circulating conveyor line 11 with the assembly support 12, and then the material is dropped under the action of gravity when the assembly support 12 turns. It should be noted that the chain link in this embodiment is a structure composed of two chain plates, two pins and two sleeves, and the two chain plates are consistent on both sides. The sleeves are made of high-strength, wear-resistant plastic or nylon. The positions and dimensions of the fixed guide rail 32, movable guide rail 33, pressure seat 423, pin gripping groove 343 and other structures in this embodiment are adapted to the corresponding structures in the chain link. The power source of each slide, slide rail and cylinder involved in this embodiment is one of pneumatic, electromagnetic drive or linear screw drive, and is equipped with a programmable PLC controller for coordinated control. The gripping structure in this embodiment can be a variety of gripping structures such as magnetic attraction, suction cup, and claw. In this technical solution, it is described as magnetic attraction. For chain links of different materials, the corresponding gripping structure can be changed, which is not limited here. It should be further explained that the pin involved in this embodiment is a pin with chamfers at both ends for assembly. Its end can be initially inserted into the reserved hole on the chain plate to complete the initial assembly, and after assembly, it remains perpendicular to the chain plate. To ensure the assembly effect, a press-fit bracket 5 can be added to the pin and chain plate assembly station to ensure the quality of the pre-assembly.

[0034] This invention also provides an assembly process for a high-precision cement chain link assembly robot, comprising the following steps: Step 1: Chain plate positioning and feeding. The chain plate is conveyed by the chain plate conveyor line 21, picked up by the chain plate gripper head 25, and accurately placed into the groove of the empty assembly support 12 on the circulating conveyor line 11. The chain plate conveyor line 21 completes the feeding of the chain plate by circulating conveying. The chain plate can be fed by manual placement or mechanical feeding. Step 2: Pre-assembly of pins and sleeves. Two pins are conveyed to the gripping point via the movable guide rail 33. Two sleeves are guided to one end of the feeding trough 42 via the pressure seat 423 and the spacing is adjusted. The pin gripping disc 341 grips the two pins and guides the pins through the two sleeves to complete the combination of pins and sleeves. Step 3: Pre-assembly of the pin and chain plate. After the pin and sleeve are assembled, they follow the pin gripping disc 341 to rotate and move to the top of the assembly support 12. Then the pin and the chain plate above the assembly support 12 are pre-assembled. At this time, the chain plate, pin and sleeve are aligned, but the final pressing has not yet been carried out. The bottom end of the pin is initially inserted into the corresponding position of the chain plate. Step 4: Asynchronous pressing. The assembly support 12 drives the chain plate to move into the inside of the pressing bracket 5. The chain plate intermittent gripping head 53 picks up the chain plate that is not combined with the pin, so that it is temporarily suspended away from the assembly support 12 and waits for the subsequent chain plate combined with the pin to be in place. Then, the pressing seat 51 drives the chain plate to move downward so that the chain plate, pin and sleeve are pressed together. Step 5: Unloading. After pressing is completed, the intermittent gripper head 53 of the chain plate is de-energized and demagnetized, the pressing seat 51 is reset, and the assembled chain link continues to move to the unloading station along with the assembly support 12.

[0035] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-precision cement chain link assembly robot, characterized in that, include: The main assembly frame (1) has a circulating conveyor line (11) at its top, and multiple assembly supports (12) are installed around the outside of the circulating conveyor line (11). The pin feed rack (3) is fixedly installed on the outer middle of the main assembly frame (1). The top of the pin feed rack (3) is fixedly installed with a guide rack (31). The guide rack (31) is fixedly installed with a fixed guide rail (32) and a movable guide rail (33). The guide rack (31), the fixed guide rail (32) and the movable guide rail (33) are all set with a "V" shaped structure. The upper surfaces of the fixed guide rail (32) and the movable guide rail (33) are provided with multiple slots at equal intervals, and the distance between two adjacent slots is equal to the distance between two pins in the chain link. The sleeve feeding rack (4) is fixedly installed between the pin feeding rack (3) and the main assembly frame (1). The top center of the sleeve feeding rack (4) is provided with an inclined material groove (41), the bottom end of the inclined material groove (41) is provided with a feeding groove (42), one end of the bottom of the feeding groove (42) is provided with an arc-shaped guide groove (421), and the opening of the arc-shaped guide groove (421) is fixedly provided with a spacer protrusion (422).

2. The high-precision cement chain link assembly robot according to claim 1, characterized in that, Also includes: A chain plate feeder (2) is fixedly installed on one side of the main assembly frame (1), and a chain plate conveyor line (21) is installed on the top of the chain plate feeder (2). A chain plate transfer slide rail (22) is fixedly installed on the top of the chain plate loading rack (2). A chain plate transfer slide block (23) is slidably installed on the outer side of the chain plate transfer slide rail (22). A chain plate transfer cylinder (24) is fixedly installed on the outer side of the chain plate transfer slide block (23). A chain plate gripping head (25) is fixedly installed at the bottom end of the chain plate transfer cylinder (24).

3. The high-precision cement chain link assembly robot according to claim 1, characterized in that, Also includes: A pin gripping cylinder (34) is located above the pin loading rack (3). A pin gripping disc (341) is fixedly installed at the output end of the pin gripping cylinder (34). A pin gripping seat (342) is fixedly installed at one end of the lower surface of the pin gripping disc (341). Both ends of the lower surface of the pin gripping seat (342) are provided with arc-shaped pin gripping grooves (343). A pin feeding slide rail (35) is fixedly installed above the pin feeding rack (3). A pin feeding slide block (36) is slidably installed at the bottom end of the pin feeding slide rail (35). A pin lifting cylinder (37) is fixedly installed at the bottom end of the pin feeding slide block (36). A pick-up and put-down flip cylinder (371) is fixedly installed at the output end of the pin lifting cylinder (37). The output end of the pick-up and put-down flip cylinder (371) is fixedly connected to the middle part of the pin gripping cylinder (34). The pick-up and put-down flip cylinder (371) is used to flip the pin gripped by the pin gripping seat (342) to a vertical state so that the pin and the chain plate can complete the initial combination.

4. The high-precision cement chain link assembly robot according to claim 1, characterized in that, Also includes: The transmission plate (331) is movably installed inside the pin-shaft loading rack (3). A connecting rod (3311) is fixedly installed on the bottom outer side of the transmission plate (331), and one end of the connecting rod (3311) is connected to the bottom end of the movable guide rail (33). Two eccentric wheels (332) are rotatably installed on the top of the transmission plate (331) through the pin shaft, and both eccentric wheels (332) are rotatably installed on the top of the pin-shaft loading rack (3). The output shaft of the pin feeding motor (333) is connected to one end of two eccentric wheels (332). The two eccentric wheels (332) simultaneously drive the top of the transmission plate (331) to move so that the transmission plate (331) and the movable guide rail (33) make circular motion with the central axis of the eccentric wheel (332) as the center, thereby realizing the intermittent feeding of the pin.

5. The high-precision cement chain link assembly robot according to claim 1, characterized in that, Also includes: The pressure seat (423) is installed above the feeding trough (42) in a sliding manner. Both ends of the lower surface of the pressure seat (423) are provided with arc-shaped pressure surfaces (424). The pressure seat (423) controls the distance between the two sleeves by pressing down so that the pin and the sleeve can be precisely matched. The sleeve adjusting cylinder (426) is fixedly installed at one end of the sleeve feeding rack (4) and a connecting plate (425) is installed between the output end and the pressure seat (423).

6. The high-precision cement chain link assembly robot according to claim 1, characterized in that, Also includes: The press-fit bracket (5) is fixedly installed on the upper end of the main assembly frame (1) away from the chain plate feeder (2), and the press-fit bracket (5) has a press-fit seat (51) that can slide up and down inside. The press cylinder (511) is fixedly installed on the top of the press bracket (5) and its output end is fixedly connected to the top of the press base (51). A press-fit positioning groove (52) is provided on the lower surface of the press-fit base (51) and is adapted to the chain plate.

7. A link-type assembly robot for high-precision cement chains according to claim 6, characterized in that, Also includes: A chain plate intermittent gripping head (53) penetrates the middle of the press base (51) and is used to pick up chain plates that are not combined with the pin and disengage them from the assembly support (12). Intermittent cylinder (531) is fixedly installed inside the press base (51) and its output end is connected to the top of the chain plate intermittent gripper head (53).

8. The high-precision cement chain link assembly robot according to claim 1, characterized in that, Also includes: A press-fitting support (54) is installed at the bottom of the press-fitting bracket (5) and can slide up and down. A press-fitting top rod (541) is fixedly installed on the upper surface of the press-fitting support (54). The press-fitting support (54) and the press-fitting top rod (541) are used to provide support for the assembly support (12) during the press-fitting process. A support cylinder (542) is fixedly installed between the lower surface of the press-fitting platform (54) and the press-fitting bracket (5). The support cylinder (542) is used to drive the press-fitting platform (54) to move upward so that the assembly support (12) is lifted slightly to ensure stability during the press-fitting process.

9. A link-type assembly robot for high-precision cement chains according to claim 1, characterized in that, Also includes: The upper surface of the assembly support (12) is provided with a groove that is compatible with the chain plate, and both ends of the groove bottom are provided with circular grooves corresponding to the pin shaft.

10. An assembly process for a link-type assembly robot for high-precision cement chains, applied to the link-type assembly robot for high-precision cement chains as described in any one of claims 1-9, characterized in that, Includes the following steps: Step 1: Chain plate positioning and feeding. The chain plate is conveyed by the chain plate conveyor line (21), grabbed by the chain plate gripper head (25), and accurately placed into the groove of the empty assembly support (12) on the circulating conveyor line (11). Step 2: Pre-assembly of pins and sleeves. Two pins are conveyed to the gripping point via the movable guide rail (33). Two sleeves are guided to one end of the feeding trough (42) via the pressure seat (423) and the spacing is adjusted. The pin gripping disc (341) grips the two pins and guides the pins through the two sleeves to complete the combination of pins and sleeves. Step 3: Pre-assembly of the pin and chain plate. After the pin and sleeve are assembled, they are rotated and moved to the top of the assembly support (12) following the pin gripping disc (341). Then the pin and the chain plate above the assembly support (12) are pre-assembled. Step 4: Asynchronous pressing. The assembly support (12) drives the chain plate to move into the inside of the pressing bracket (5). The chain plate intermittent gripping head (53) picks up the chain plate that is not combined with the pin, so that it is temporarily suspended away from the assembly support (12) and waits for the chain plate that is combined with the pin to be in place. Then the pressing seat (51) drives the chain plate to move downward so that the chain plate, pin and sleeve complete the pressing combination. Step 5: Unloading. After pressing is completed, the chain plate intermittent gripper head (53) is de-energized and demagnetized, the pressing seat (51) is reset, and the assembled chain link continues to move to the unloading station following the assembly support (12).

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