An automatic assembly device for rack seat products

Abstract

The application discloses a kind of for rack seat product automatic group pair operation equipment, it is related to coal mine underground scraper conveyor equipment technical field, including protective fence, the center of protective fence is equipped with for handling workpiece handling robot, protective fence is equipped with respectively for placing flat plate, vertical plate and rack seat rack seat material rack and incoming material rack in, incoming material rack is equipped with secondary positioning platform module away from rack seat material rack side, and handling robot is equipped with positioning tool clamp module side away from rack seat material rack, and protective fence is also equipped with welding robot corresponding with positioning tool clamp module in, positioning tool clamp module and rack seat material rack are equipped with for placing rack seat finished product finished product rack between, when using, by handling robot automatic grabbing flat plate, vertical plate and rack seat and cooperating secondary positioning platform module realizes workpiece accurate positioning, effectively reduce manual handling and positioning labor intensity, rack seat group pair precision and product consistency are significantly improved.

Description

Technical Field

[0001] This invention relates to the technical field of scraper conveyor equipment in underground coal mines, and specifically to an automatic assembly operation device for gear rail seat products. Background Technology

[0002] The toothed rail seat is a core component of the central trough of a coal mine scraper conveyor. It is mainly composed of three parts: a flat plate, a vertical plate, and a rail seat. It is used to support the transmission toothed rail and ensure the stability of the equipment operation.

[0003] The assembly accuracy directly determines the overall assembly quality and service life of the central slot. This type of workpiece is a heavy steel structure component. During assembly, it is necessary to strictly ensure that a 10mm weld gap is reserved at the corner of the plate and the vertical plate. At the same time, the distance between the rail seat holes, the distance between the end faces, and the relative positional relationship of the three must be precisely controlled. The production and processing accuracy requirements are high and the operation is difficult. At present, the assembly operation of the gear rail seat product generally adopts the manual assembly mode. The workpiece loading, part positioning, and clamping are all dependent on manual operation. The positioning welding operation is completed after the parts are manually moved, the position is manually adjusted, and the tooling is temporarily fixed.

[0004] Because manual handling of heavy workpieces is extremely labor-intensive, and the accuracy and stability of manual positioning are poor, misalignment of parts, uneven gaps, and deviation of rail positions are likely to occur, which can easily lead to unstable assembly quality. In addition, the manual assembly process is scattered, lacks automated linkage control, and has low process connection efficiency, which cannot meet the needs of modern production for continuous production of heavy workpieces. Summary of the Invention

[0005] In view of the problems existing in the prior art, the present invention is proposed.

[0006] Therefore, the purpose of this invention is to provide an automatic assembly equipment for gear rail seat products. The problem to be solved is that when performing gear rail seat assembly operations, the manual handling of heavy workpieces is labor-intensive, the positioning accuracy is unstable and prone to misalignment, resulting in poor assembly quality; the manual process is scattered and lacks automated linkage, resulting in low process efficiency and difficulty in meeting the needs of continuous production of heavy workpieces.

[0007] To achieve the above objectives, the present invention provides the following technical solution: an automatic assembly operation device for gear rail seat products, comprising a protective enclosure, a handling robot for transporting workpieces at the center of the protective enclosure, a rail seat rack and a material receiving rack for placing flat plates, upright plates and rail seats respectively within the protective enclosure, a secondary positioning platform module for assembling flat plates and upright plates on the side of the material receiving rack away from the rail seat rack, and a positioning tooling fixture module for assembling gear rail seats on the side of the handling robot away from the rail seat rack, and a welding robot corresponding to the positioning tooling fixture module within the protective enclosure, the welding robot being used for welding gear rail seats, and a finished product rack for placing finished gear rail seats between the positioning tooling fixture module and the rail seat rack;

[0008] The rail support rack includes a positioning base, on which an inclined support plate is provided. Bullseye bearings are arranged on the support plate, and the bullseye bearings are embedded in the support plate to form a low-friction sliding surface. The positioning base is also provided with a positioning cylinder for positioning the flat plate, and the piston end of the positioning cylinder is connected to a buffer block. The positioning base is also fixedly installed with a back positioning plate and an end positioning plate for restricting the movement of the workpiece. The end positioning plate is arranged opposite to the buffer block.

[0009] As a preferred embodiment of the automatic assembly equipment for gear rail products described in this invention, the end positioning plate is located at the lowest inclined end of the support platform, and a positioning sensing assembly electrically connected to the handling robot is fixedly installed at one end of the support platform near the end positioning plate.

[0010] As a preferred embodiment of the automatic assembly equipment for gear rail seat products described in this invention, the positioning fixture module includes a base frame assembly base, which is slidably connected to a three-bar linkage plate via a linear slide rail along its length. A first three-bar linkage bracket and a second three-bar linkage bracket are respectively installed on the three-bar linkage plate, and the first three-bar linkage bracket and the second three-bar linkage bracket are respectively provided with corresponding first upright plate hooks and second upright plate hooks, and both the first upright plate hooks and the second upright plate hooks are used for auxiliary hanging of workpieces.

[0011] As a preferred embodiment of the automatic assembly equipment for gear rail products described in this invention, the base frame assembly is further provided with clamping assemblies driven by cylinders. One set of clamping assemblies is slidably arranged on the base frame assembly via linear slide rails, and another set of clamping assemblies is fixedly installed on the base frame assembly. The base frame assembly is provided with anti-top blocks corresponding to the clamping assemblies, and the piston rod of the clamping assembly is connected to a positioning pin.

[0012] As a preferred embodiment of the automatic assembly equipment for gear rail seat products described in this invention, the positioning pins are respectively a reference positioning pin and a rhombus positioning pin, and the reference positioning pin and the rhombus positioning pin are respectively adapted to round holes and elongated holes for positioning.

[0013] As a preferred embodiment of the automatic assembly operation equipment for gear rail seat products described in this invention, the material receiving rack includes a flat plate and upright plate rack seat for placing flat plates and upright plates, and vertically distributed first positioning rods are fixedly installed at the four corners of the flat plate and upright plate rack seat.

[0014] As a preferred embodiment of the automatic assembly equipment for gear rail seat products described in this invention, an integrally formed side positioning frame is fixedly installed outside the flat plate upright material rack seat, and a vertically distributed second positioning bar is fixedly installed at the end of the side positioning frame.

[0015] As a preferred embodiment of the automatic assembly operation equipment for gear rail seat products described in this invention, the flat plate upright material rack is further provided with relatively distributed through-beam sensor assemblies, and the through-beam sensor assemblies are electrically connected to the handling robot.

[0016] As a preferred embodiment of the automatic assembly equipment for gear rail seat products described in this invention, the gear rail seat rack is provided with vertically arranged gear rail seat positioning rods, which are used for separating and placing the gear rail seats.

[0017] Including at least one of the following beneficial effects:

[0018] 1. This invention enables precise workpiece positioning by automatically grabbing flat plates, upright plates, and rail bases using a handling robot and cooperating with a secondary positioning platform module. This effectively reduces the labor intensity of manual handling and positioning, and significantly improves the assembly accuracy and product consistency of the gear rail base.

[0019] 2. This invention achieves automatic workpiece clamping, precise positioning welding, and automatic finished product transfer by linking the positioning fixture module with the welding robot, simplifying the operation process and meeting the needs of continuous production. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0021] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0022] Figure 2 This is the overall assembly layout diagram of the present invention;

[0023] Figure 3 This is a structural diagram of the secondary positioning platform module of the present invention;

[0024] Figure 4 This is a three-dimensional structural diagram of the positioning tooling fixture module of the present invention;

[0025] Figure 5 This is a top view of the positioning tooling fixture module of the present invention;

[0026] Figure 6 This is a structural diagram of the material receiving rack of the present invention;

[0027] Figure 7 This is a structural diagram of the rail support frame of the present invention;

[0028] Figure 8 This is a structural diagram of the finished product rack of the present invention;

[0029] Figure 9 This is a flowchart of the welding process for the product of the present invention.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Protective fencing; 2. Handling robot; 3. Rail-mounted material rack; 31. Rail-mounted positioning rod; 4. Material receiving rack; 41. Flat vertical plate material rack base; 411. First positioning rod; 42. Side positioning frame; 421. Second positioning rod; 43. Through-beam sensor assembly; 5. Secondary positioning platform module; 51. Positioning base; 52. Material support plate; 521. Bullseye bearing; 522. Positioning sensor assembly; 53. Positioning cylinder; 5 31. Buffer block; 54. Back positioning plate; 55. End positioning plate; 6. Positioning fixture module; 61. Base frame assembly seat; 62. Three-bar linkage plate; 621. First three-bar linkage bracket; 6211. First upright plate hook; 622. Second three-bar linkage bracket; 6221. Second upright plate hook; 63. Clamping assembly; 631. Positioning pin; 64. Anti-top block; 7. Welding robot; 8. Finished product rack. Detailed Implementation

[0032] 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.

[0033] This invention discloses an automatic assembly equipment for gear rail seat products.

[0034] Example, refer to Figure 1-9This invention provides an automatic assembly equipment for gear rail seat products. The equipment includes a protective enclosure 1, a handling robot 2 for transporting workpieces located at the center of the enclosure 1, and a rail seat rack 3 and a material receiving rack 4 for placing flat plates, upright plates, and rail seats within the enclosure 1. A secondary positioning platform module 5 for assembling flat plates and upright plates is located on the side of the material receiving rack 4 away from the rail seat rack 3. A positioning fixture for assembling gear rail seats is located on the side of the handling robot 2 away from the rail seat rack 3. The protective enclosure 1 also includes a welding robot 7 corresponding to the positioning fixture module 6. The welding robot 7 is used to weld the gear rail seat. Between the positioning fixture module 6 and the rail seat rack 3, there is a finished product rack 8 for placing the finished gear rail seat. The rail seat rack 3 includes a positioning base 51, and the positioning base 51 is also provided with an inclined support plate 52. Bullseye bearings 521 are arranged on the support plate 52. The bullseye bearings 521 are embedded in the support plate 52 to form a low-friction sliding surface. The positioning base 51 is also provided with a positioning cylinder for positioning the plate. 53, and the piston end of the positioning cylinder 53 is connected to a buffer block 531. The positioning base 51 is also fixedly installed with a back positioning plate 54 and an end positioning plate 55 for restricting the movement of the workpiece. The end positioning plate 55 is set opposite to the buffer block 531. The protective enclosure 1 forms a closed working area. The handling robot 2 is a multi-joint heavy-duty robot, responsible for the automatic gripping and transfer between workstations of flat plates, vertical plates, and rail seats. The rail seat rack 3 and the incoming material rack 4 are stored in sections according to the type of parts to ensure that the workpiece posture is consistent and facilitates the robot to pick up the parts. It is a manual loading system. Secondary positioning platform module 5. The plate and upright plate can be precisely positioned again to eliminate incoming material deviation. The positioning tooling fixture module 6 completes the precise assembly and clamping of the three. The welding robot 7 completes the positioning welding. The finished product rack 8 centrally buffers the welded workpieces to realize continuous operation. The support plate 52 is inclined and cooperates with the bullseye bearing 521 to reduce sliding resistance, so that the workpiece slides by its own weight. The positioning cylinder 53 provides lateral positioning force. The buffer pressure block 531 makes flexible contact to prevent the workpiece from being bumped and deformed. The back positioning plate 54 and the end positioning plate 55 limit the position from both sides to ensure the stability of the upright plate and plate before the part is picked up from the rail seat.

[0035] The end positioning plate 55 is located at the lowest inclined end of the support platform 52, and a positioning sensor assembly 522 electrically connected to the handling robot 2 is fixedly installed at the end of the support platform 52 near the end positioning plate 55. The end positioning plate 55 ensures that the workpiece automatically closes and positions itself after sliding down. The positioning sensor assembly 522 detects the workpiece arrival signal and feeds it back to the handling robot 2 to realize automatic workpiece picking trigger.

[0036] The positioning fixture module 6 includes a base frame assembly 61. A three-bar linkage plate 62 is slidably connected to the base frame assembly 61 along its length via a linear slide rail. A first three-bar linkage bracket 621 and a second three-bar linkage bracket 622 are respectively installed on the three-bar linkage plate 62. The first three-bar linkage bracket 621 and the second three-bar linkage bracket 622 are respectively provided with corresponding first upright plate hooks 6211 and second upright plate hooks 6221. Both the first upright plate hooks 6211 and the second upright plate hooks 6221 are used for auxiliary hanging of workpieces. The base frame assembly 61 is the bearing base of the fixture. The three-bar linkage plate 62 is slidably adjustable to adapt to different specifications of gear rail seats. The first three-bar linkage brackets 621 and the second three-bar linkage brackets 622 provide rigid support. The first upright plate hooks 6211 and the second upright plate hooks 6221 assist in supporting the upright plates to prevent tipping and ensure the stability of the assembly posture.

[0037] The base frame assembly 61 is also equipped with clamping assemblies 63 driven by cylinders. One set of clamping assemblies 63 is slidably arranged on the base frame assembly 61 via linear slide rails, while the other set of clamping assemblies 63 is fixedly installed on the base frame assembly 61. The base frame assembly 61 is equipped with anti-top blocks 64 corresponding to the clamping assemblies 63. The piston rod of the clamping assembly 63 is connected to the positioning pin 631. The clamping assembly 63 is driven by a cylinder to provide reliable clamping force. The combination of sliding and fixed types is suitable for workpieces of various sizes. The anti-top blocks 64 limit the movement on both sides to prevent the workpiece from bending and deforming during clamping. The positioning pin 631 achieves precise positioning of the workpiece and ensures accurate positioning of the relative positions of the plate, the vertical plate, and the rail seat.

[0038] The positioning pins 631 are a reference positioning pin and a diamond positioning pin. The reference positioning pin and the diamond positioning pin are respectively adapted to the positioning of round holes and elongated holes. The positioning of the ingot base adopts two types of pin positioning: round positioning pins are used for round holes and diamond positioning pins are used for elongated holes to ensure accurate positioning.

[0039] The material rack 4 includes a flat plate and upright plate rack seat 41 for placing flat plates and upright plates. The four corners of the flat plate and upright plate rack seat 41 are fixedly installed with vertically distributed first positioning rods 411. The flat plate and upright plate rack seat 41 is a flat plate type load-bearing structure, which is suitable for flat plates and upright plates to be placed flat. The first positioning rods 411 limit the position at the four corners to prevent the workpiece from shifting laterally.

[0040] An integrally formed side positioning frame 42 is also fixedly installed outside the flat plate upright material rack base 41. A vertically distributed second positioning rod 421 is fixedly installed at the end of the side positioning frame 42, and the side positioning frame 42 extends laterally to limit the movement of the workpiece; the second positioning rod 421 further restricts the lateral movement of the workpiece, so that the bottom plate and the upright plate are neatly stacked.

[0041] Outside the flat upright material rack base 41, there are also relatively distributed through-beam sensor assemblies 43, and the through-beam sensor assemblies 43 are electrically connected to the handling robot 2. The through-beam sensor assemblies 43 detect whether there are workpieces on the rack; when there are workpieces, the robot is allowed to pick up the workpieces, and when there are no workpieces, an alarm is triggered or the robot is put into standby mode.

[0042] The rail base rack 3 is arranged with vertically set rail base positioning rods 31. The rail base positioning rods 31 are used to separate the rail bases. The rail base positioning rods 31 are arranged vertically at intervals to separate multiple rail bases, prevent them from colliding or stacking with each other, ensure the independent posture of each rail base, and facilitate the robot to grasp them in sequence.

[0043] When the automatic assembly equipment for gear rail seats is working, the operator places the flat plate and the upright plate on the flat plate and upright plate rack 41 of the material rack 4. The first positioning rod 411 and the second positioning rod 421 limit the neat stacking. At the same time, the rail seat is placed in the rail seat rack 3 and separated and positioned by the rail seat positioning rod 31. The photoelectric sensor assembly 43 detects the presence of the workpiece in the material rack 4 and feeds it back to the transport robot 2. The transport robot 2 grabs the flat plate and the upright plate in sequence and transfers them to the support plate 52 of the secondary positioning platform module 5. The workpiece slides down the low friction sliding surface of the bullseye bearing 521 by its own weight to the end positioning plate 55. After the positioning sensor assembly 522 detects that the workpiece is in place, the positioning cylinder 53 drives the buffer block 531 to press the workpiece tightly. The back positioning plate 54 and the end positioning plate 55 achieve secondary precision positioning.

[0044] Subsequently, the transport robot 2 picks up the plate and upright plate after secondary positioning and transfers them to the three-bar linkage plate 62 of the positioning fixture module 6. The first upright plate hook 6211 and the second upright plate hook 6221 assist in the mounting and positioning. Then, the transport robot 2 picks up the rail seat and transfers it into the positioning fixture module 6 to complete the initial assembly. The clamping assembly 63 drives the positioning pin shaft 631 to extend under the drive of the cylinder. The reference positioning pin and the diamond positioning pin respectively achieve precise positioning of the round hole and the long hole of the workpiece. The anti-top block 64 cooperates with the clamping assembly 63 to complete the clamping and fixing of the workpiece. The welding robot 7 starts and performs positioning welding operation on the connection of the gear rail seat according to the preset trajectory. After the welding is completed, the clamping assembly 63 resets and releases the workpiece. The transport robot 2 picks up the welded gear rail seat and transfers it into the finished product rack 8 to complete the buffering. The above actions are repeated in sequence to realize the continuous production line operation of automatic assembly and welding of gear rail seat products.

[0045] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. An automatic assembly and pairing device for gear rail seat products, characterized in that: The system includes a protective enclosure (1), a handling robot (2) for handling workpieces is provided at the center of the protective enclosure (1), a rail seat rack (3) and a material rack (4) for placing flat plates, upright plates and rail seats are respectively provided inside the protective enclosure (1), a secondary positioning platform module (5) for assembling flat plates and upright plates is provided on the side of the material rack (4) away from the rail seat rack (3), and a positioning tooling fixture module (6) for assembling gear rail seats is provided on the side of the handling robot (2) away from the rail seat rack (3), and a welding robot (7) corresponding to the positioning tooling fixture module (6) is also provided inside the protective enclosure (1), the welding robot (7) is used for welding gear rail seats, and a finished product rack (8) for placing finished gear rail seats is provided between the positioning tooling fixture module (6) and the rail seat rack (3). The rail support rack (3) includes a positioning base (51), and the positioning base (51) is also provided with an inclined support plate (52). Bullseye bearings (521) are arranged on the support plate (52). The bullseye bearings (521) are embedded in the support plate (52) to form a low-friction sliding surface. The positioning base (51) is also provided with a positioning cylinder (53) for positioning the plate. The piston end of the positioning cylinder (53) is connected to a buffer block (531). The positioning base (51) is also fixedly installed with a back positioning plate (54) and an end positioning plate (55) for restricting the movement of the workpiece. The end positioning plate (55) is arranged opposite to the buffer block (531).

2. The automatic assembly equipment for gear rail seat products according to claim 1, characterized in that, The end positioning plate (55) is located at the lowest inclined end of the support platform (52), and a positioning sensing assembly (522) electrically connected to the handling robot (2) is fixedly installed at one end of the support platform (52) near the end positioning plate (55).

3. The automatic assembly equipment for gear rail seat products according to claim 2, characterized in that, The positioning fixture module (6) includes a base frame assembly seat (61), and a three-bar mechanism plate (62) is slidably connected to the base frame assembly seat (61) along its length direction via a linear slide rail. A first three-bar bracket (621) and a second three-bar bracket (622) are respectively installed on the three-bar mechanism plate (62), and the first three-bar bracket (621) and the second three-bar bracket (622) are respectively provided with a first upright plate hook (6211) and a second upright plate hook (6221), and the first upright plate hook (6211) and the second upright plate hook (6221) are both used for auxiliary hanging of workpieces.

4. The automatic assembly equipment for gear rail seat products according to claim 3, characterized in that, The base frame assembly (61) is also provided with clamping assemblies (63) driven by cylinders. One set of clamping assemblies (63) is slidably arranged on the base frame assembly (61) via linear slide rails, and another set of clamping assemblies (63) is fixedly installed on the base frame assembly (61). The base frame assembly (61) is respectively equipped with anti-top blocks (64) corresponding to the clamping assemblies (63). The piston rod of the clamping assembly (63) is connected to a positioning pin (631).

5. The automatic assembly equipment for gear rail seat products according to claim 4, characterized in that, The positioning pins (631) are respectively a reference positioning pin and a rhombus positioning pin, which are adapted to round holes and elongated holes for positioning.

6. The automatic assembly equipment for gear rail seat products according to claim 1, characterized in that, The material rack (4) includes a flat plate rack seat (41) for placing flat plates and upright plates. The four corners of the flat plate rack seat (41) are fixedly equipped with vertically distributed first positioning rods (411).

7. The automatic assembly equipment for gear rail seat products according to claim 6, characterized in that, An integrally formed side positioning frame (42) is fixedly installed outside the flat plate upright material rack base (41), and a vertically distributed second positioning rod (421) is fixedly installed at the end of the side positioning frame (42).

8. The automatic assembly equipment for gear rail seat products according to claim 7, characterized in that, The flat plate stand (41) is also provided with relatively distributed through-beam sensor assemblies (43), and the through-beam sensor assemblies (43) are electrically connected to the handling robot (2).

9. The automatic assembly equipment for gear rack products according to claim 1, characterized in that, The rail base rack (3) is arranged with vertically arranged rail base positioning rods (31), which are used for separating and placing the rail bases.

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