Automatic cutting pick assembling equipment

Abstract

The utility model relates to the technical field of cutting pick assembly, in particular to cutting pick automatic assembly equipment which comprises an index plate, three groups of pick body positioning mechanisms are distributed on the peripheral side of the index plate, and the pick body positioning mechanisms are used for clamping and fixing pick bodies; the three groups of desktop robots are close to the index plate, and the index plate rotates to sequentially rotate the three groups of tooth body positioning mechanisms to the front of each group of desktop robot; and the three groups of desktop robots are respectively used for clamping alloy heads, sucking small brazing filler metal and clamping alloy beans, and sequentially loading the alloy heads, the small brazing filler metal and the alloy beans into the tooth bodies positioned by the tooth body positioning mechanism. The alloy head, the alloy bean, the brazing filler metal and the tooth body are automatically mounted, and the operation efficiency is greatly improved.

Description

Technical Field

[0001] This utility model relates to the field of cutting tooth assembly technology, specifically to automatic cutting tooth assembly equipment. Background Technology

[0002] Mining cutters are the "cutting tools" used by mining machinery for breaking rocks and cutting coal. They come in many varieties and have a wide range of applications, requiring high strength and high wear resistance. To ensure the high hardness and wear resistance of the cutters, the tooth body and alloy are connected by brazing. Traditionally, the brazing filler metal, alloy tip, alloy bead, and tooth body are assembled manually, which is inefficient and difficult to control.

[0003] Therefore, it is necessary to design an automated assembly device for cutting teeth to solve the above problems. The closest existing technology is disclosed in patent CN202111626056.4, which discloses a robot-based optical module precision assembly system and method that uses three robotic arms to achieve automated assembly of fluorescent optical modules.

[0004] The above solutions are designed for different purposes, and therefore differ in their specific structural settings and fit. They are not suitable for assembling cutting tooth alloy tips, alloy beads, brazing filler metal, and tooth bodies.

[0005] The automatic assembly equipment for cutting teeth provided in this solution aims to replace the traditional manual assembly method and solve problems such as low efficiency and uncontrollable process. Utility Model Content

[0006] (I) Technical Issues

[0007] This invention aims to at least solve the problem of low automation in the assembly of brazing filler metal, alloy head, alloy bead, and tooth body in the prior art.

[0008] (II) Technical Content

[0009] This solution provides an automated cutting tooth assembly device, achieved through the following specific technical means, including:

[0010] The indexing plate has two sets, and three sets of tooth positioning mechanisms are distributed around the periphery of the indexing plate. The tooth positioning mechanisms are used to clamp and fix the teeth.

[0011] There are three sets of desktop robots, distributed between two sets of indexing plates. The rotation of the indexing plates will rotate the three sets of tooth positioning mechanisms to each set of desktop robots in turn.

[0012] The three desktop robots are referred to as Robot A, Robot B, and Robot C, respectively. Robot A, Robot B, and Robot C are used to grip the alloy head, pick up small pieces of solder, and grip the alloy beads, and then sequentially load them onto the teeth positioned by the tooth positioning mechanism.

[0013] Preferred technical solution one: It also includes three sets of vibratory feeders, namely the large brazing filler metal vibratory feeder, the small brazing filler metal vibratory feeder, and the alloy bead vibratory feeder; it also includes an alloy head feeding device; the alloy head feeding device and the large brazing filler metal vibratory feeder are located near robot A; the small brazing filler metal vibratory feeder is located near robot B; and the alloy bead vibratory feeder is located near robot C.

[0014] Preferred technical solution 2: The operating end of the robot A is equipped with an alloy-headed gripper and a large brazing filler suction cup;

[0015] The operating end of robot B is equipped with a small chisel suction cup and a positioning rod.

[0016] The operating end of the robot C is also equipped with a positioning rod, a push rod, and an alloy bean clamp.

[0017] Preferred technical solution 3: On the indexing plate, the three workstations near robot A, robot B and robot C are respectively referred to as position 1, position 2 and position 3;

[0018] The indexing plate drives each set of tooth positioning mechanisms to rotate sequentially to position 1, position 2, and position 3.

[0019] Preferred technical solution four: A clamping rotation positioning mechanism is installed at positions 1, 2 and 3 to clamp and fix the tooth body that has rotated to positions 1, 2 and 3, and to drive the tooth body to rotate.

[0020] When a set of tooth positioning mechanisms moves to the position of a set of clamping rotary positioning mechanisms, the tooth positioning mechanisms release their clamping and fixing of the teeth, while the clamping rotary positioning mechanisms clamp the teeth.

[0021] Preferred technical solution five: Photoelectric sensors are distributed on both sides of the indexing plate near position 1 to identify whether there is a workpiece.

[0022] (III) Technical Effects

[0023] The above structure gives this solution the following advantages:

[0024] 1. Enables automatic installation of alloy heads, alloy beads, brazing filler metal, and tooth bodies, significantly improving work efficiency;

[0025] 2. To avoid substandard brazing quality due to human error in omitting parts;

[0026] 3. Alloy bean-shaped cutting teeth and ordinary cutting teeth can be assembled at the same time, and two types of products can be produced simultaneously. Attached Figure Description

[0027] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0028] Figure 1 This is a schematic diagram of the overall structure of this solution;

[0029] Figure 2 This is a schematic diagram of the structure of the photoelectric sensor in this scheme;

[0030] Figure 3 This is a schematic diagram of the tooth positioning mechanism in this solution;

[0031] Figure 4 This is a structural diagram of robot A in this solution;

[0032] Figure 5 This is a structural diagram of robot B in this solution;

[0033] Figure 6 This is a structural diagram of robot C in this solution;

[0034] Figure 7 This is a schematic diagram of the clamping and rotating positioning mechanism in this solution.

[0035] Among them, 1. Robot A, 2. Robot B, 3. Robot C, 4. Alloy head feeding device, 5. Large brazing filler vibratory plate, 6. Small brazing filler vibratory plate, 7. Indexing plate, 8. Alloy bean vibratory plate, 9. Through-beam photoelectric sensor, 10. Tooth positioning mechanism, 11. Large brazing filler suction cup, 12. Alloy head gripper, 13. Positioning rod one, 14. Small brazing filler suction cup, 15. Clamping rotation positioning mechanism, 16. Positioning rod two, 17. Push rod, 18. Alloy bean gripper. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0037] Please see Figure 1 , Figure 3 Automatic assembly equipment for cutting teeth, including an indexing plate 7 and a desktop robot, wherein:

[0038] The indexing plate 7 has two sets, and three sets of tooth positioning mechanisms 10 are distributed around the indexing plate 7. The tooth positioning mechanisms 10 are used to clamp and fix the teeth.

[0039] There are three sets of desktop robots, distributed between two indexing plates 7. The rotation of the indexing plates 7 rotates the three sets of tooth positioning mechanisms 10 sequentially to each set of desktop robots. The three sets of desktop robots are referred to as Robot A1, Robot B2, and Robot C3, and are distributed from front to back between the two sets of indexing plates 7. Robot A1, Robot B2, and Robot C3 are used to grip alloy tips, pick up small pieces of brazing filler metal, and grip alloy beads, respectively, and load them onto the tooth body in sequence. The three workstations on the indexing plates 7, close to Robot A1, Robot B2, and Robot C3, are referred to as positions 1, 2, and 3, respectively. The indexing plates 7 drive each set of tooth positioning mechanisms 10 to rotate sequentially to positions 1, 2, and 3.

[0040] There are three sets of vibratory feeders, namely the large filler metal vibratory feeder 5, the small filler metal vibratory feeder 6, and the alloy bean vibratory feeder 8. The large filler metal vibratory feeder 5 is used to hold large filler metal; the small filler metal vibratory feeder 6 is used to hold small filler metal; and the alloy bean vibratory feeder 8 is used to hold alloy beans. The small and large filler metals are 1-2mm thick round pieces.

[0041] Alloy head feeding device 4 is used to hold alloy heads. There are two sets of alloy head feeding devices 4, which are close to the two set of indexing plates 7 respectively. Alloy head feeding device 4, large brazing material vibrating plate 5 are close to robot A1; small brazing material vibrating plate 6 are close to robot B2; alloy bean vibrating plate 8 are close to robot C3.

[0042] Please see Figure 4 , Figure 5 , Figure 6 The automatic assembly equipment for cutting teeth includes a robot A1 with an alloy head gripper 12 and a large brazing filler chuck 11 installed at its operating end. The large brazing filler chuck 11 is used to pick up large brazing filler from the large brazing filler vibrating plate 5 and place it into the main hole of the tooth body. The alloy head gripper 12 is used to pick up the alloy head from the alloy head feeding device 4, straighten it on the indexing plate 7, and place it into the main hole of the tooth body.

[0043] The operating end of robot B2 is equipped with a small chisel suction cup 14 and a positioning rod 13. Robot B2 positions the tooth side hole through the positioning rod 13. The small chisel suction cup 14 is used to pick up small chisels from the small chisel vibrating plate 6 and place them into the tooth side hole in sequence.

[0044] The operating end of robot C3 is also equipped with positioning rod 2 16, push rod 17, and alloy bean clamp 18 claw; robot C3 carries positioning rod 2 16 and extends into the side hole of the tooth body to correct the position of the tooth body; alloy bean clamp 18 claw is used to pick up alloy beans from alloy bean vibrating plate 8 and place them into the side hole of the tooth body in sequence; each time an alloy bean is placed into the side hole, push rod 17 extends and slightly pushes the alloy bean to ensure that the alloy bean is installed in place;

[0045] Both positioning rod 13 and positioning rod 2 16 are elastic telescopic rods, and sensors (pressure sensors) are installed at the ends of positioning rod 13 and positioning rod 2 16.

[0046] Please see Figure 7 The automatic assembly equipment for cutting teeth has clamping and rotating positioning mechanisms 15 installed below positions 1, 2 and 3. Each clamping and rotating positioning mechanism 15 includes a rotary motor mounted and fixed on the base below positions 1, 2 and 3 and a three-jaw chuck fixed on the output shaft of the rotary motor. The three-jaw chuck is located below the tooth positioning mechanism 10, and the three sets of three-jaw chucks are located directly below the three sets of tooth positioning mechanisms 10 at positions 1, 2 and 3 respectively.

[0047] Hydraulic rods or electric push rods are fixed on the bases below positions 1, 2, and 3, and motor frames for fixing rotary motors are fixed on the telescopic ends of the top of the hydraulic rods or electric push rods; a three-jaw chuck is used to hold the tooth shank at the bottom of the tooth body; the rotary motor is used to drive the three-jaw chuck to rotate, thereby driving the tooth body to rotate and moving the mounting side holes on the tooth body closer to the desktop robot.

[0048] Please see Figure 2 The automatic assembly equipment for cutting teeth has photoelectric sensors 9 distributed on both sides of the indexing plate 7 near position 1 to identify whether there is a workpiece.

[0049] The specific steps are as follows:

[0050] S1: The transport robot places the tooth body in position 1 of the indexing plate 7 and positions it using the tooth body positioning mechanism 10 near position 1. The tooth body can rotate on the tooth body positioning mechanism 10.

[0051] S2: Robot A1 picks up large brazing filler metal from large brazing filler metal vibratory plate 5 using a suction cup and places it into the main hole of the tooth body. Specifically, the quantity can be 4-6 pieces.

[0052] S3: After the large brazing filler metal is placed, robot A1 uses a cylinder gripper to pick up the alloy head from the alloy head feeding device 4, straightens it on the indexing plate 7, and places it into the main hole of the tooth body.

[0053] S4: The indexing plate 7 rotates, the tooth body rotates to position 2, the three-jaw cylinder drives the three chucks to clamp the tooth shank, the rotary motor below the three-jaw cylinder drives the three-jaw cylinder to rotate, and the robot B2 positions the side hole of the cutting tooth through the positioning rod 13; during positioning, the three-jaw cylinder drives the tooth body to rotate, the positioning rod 13 is pressed against the outer edge of the tooth body, when it rotates to a certain side hole position, the positioning rod 13 pops out and extends into the side hole, the sensor gives a signal after pressure recognition, and the tooth body stops rotating;

[0054] Once positioning is complete, robot B2 uses a suction cup to pick up small pieces of brazing material from the vibrating plate 6 and places them sequentially into the side holes of the tooth body. For each piece of brazing material installed, the three-jaw chuck at position 2 and the rotary motor drive the cutting tooth to rotate 360° / n, where n is the number of alloy beads distributed circumferentially. Specifically, the number of side holes can be 10-20, but they must be evenly distributed.

[0055] S5: All small drill bit materials are installed. Rotate indexing plate 7 and rotate the tooth body to position 3.

[0056] S6: Robot C3, carrying positioning rod 16, extends into the side hole of the tooth body to correct the position of the tooth body. After the correction is completed, the three-jaw cylinder at position 3 clamps the tooth handle, and robot C3, carrying the positioning rod, leaves the tooth body and returns to the original position.

[0057] S7: Robot C3 uses grippers to pick up alloy beans from the alloy bean vibrating plate 8 and place them into the side holes of the tooth body in sequence. Each time an alloy bean is installed, the three-jaw chuck at position 3 and the rotary motor drive the cutting tooth to rotate 360° / n, where n is the number of alloy beans distributed around the circumference. Each time an alloy bean is placed into the side hole, push rod 17 extends and slightly pushes the alloy bean to ensure that the alloy bean is installed in place.

[0058] S8: After the alloy bean is installed, the transport robot will remove the assembled cutting teeth, and the indexing plate 7 will rotate to continue the next cycle.

[0059] The two sets of indexing plates 7 can be used to assemble alloy bean-shaped cutting teeth separately, or one set of indexing plates 7 can be used to assemble alloy bean-shaped cutting teeth while the other set of indexing plates 7 simultaneously assembles ordinary cutting teeth (ordinary cutting teeth only require the installation of large brazing filler metal and alloy head).

[0060] After the tooth body is placed in position 1, the tooth body positioning mechanism 10 clamps the tooth shank and also clamps the tooth shank during the rotation of the indexing plate 7 to prevent it from moving. However, when rotating to positions 2 and 3 respectively, the telescopic rod extends to push the three-jaw chuck to rise and clamp the tooth body. The tooth body positioning mechanism 10 is released, the rotary motor starts and drives the tooth body to rotate through the three-jaw chuck to install the small drill bit and alloy bead. After the small drill bit and alloy bead are installed, the tooth body positioning mechanism 10 clamps, and the three-jaw chuck descends back to its original position.

[0061] The photoelectric sensors 9 on both sides of position 1 are used to identify whether there is a workpiece, preventing accidental collisions when the handling robot places the tooth body.

[0062] During use, this solution requires daily maintenance of each component according to the specified maintenance plan to ensure its working condition.

[0063] It is worth noting that the specific models of the indexing plate 7, desktop robot, vibratory feeder, alloy head feeding device 4, tooth positioning mechanism 10, through-beam photoelectric sensor 9, rotary motor and sensor mentioned in this embodiment, as well as their matching power supply and control switch, can also be provided by the manufacturer. The circuits, electronic components and modules involved are all existing technologies, which can be fully implemented by those skilled in the art, and there is no need to elaborate.

[0064] Examples of some component models are provided below: Alloy head chuck 12 is a cylinder chuck, and the cylinder model of the cylinder chuck is HFD20×40; Alloy bean chuck 18 is an electric clamp, model RCP2-GRM-I-28P-1-14-P5-M; The chuck model used in the large solder chuck 11 and the small solder chuck 14 is VPC8-20RN4J (the chuck is connected to an external vacuum generator), and the vacuum generator model is VZKM-HS-6-PW-D; The electric cylinder model of push rod 17 is RCA2-TFA3NA-I-10-1-30-A6-M IAI.

[0065] Unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0066] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An automatic tooth cutting assembly device, comprising an indexing plate (7) and a desktop robot, characterized in that: The indexing plate (7) has three sets of tooth positioning mechanisms (10) distributed around its periphery. The tooth positioning mechanisms (10) are used to clamp and fix the teeth. There are three groups of desktop robots, distributed on the side of the indexing plate (7). The rotation of the indexing plate (7) will rotate the three groups of tooth positioning mechanisms (10) to each group of desktop robots in turn. The three desktop robots are referred to as Robot A (1), Robot B (2) and Robot C (3), respectively. Robot A (1), Robot B (2) and Robot C (3) are used to grip the alloy head, pick up the small brazing material and grip the alloy bead, and load them onto the tooth body in sequence.

2. The automatic assembly equipment for cutting teeth according to claim 1, characterized in that: The three workstations near robot A (1), robot B (2) and robot C (3) on the indexing plate (7) are respectively called position 1, position 2 and position 3; The indexing plate (7) drives each set of tooth positioning mechanisms (10) to rotate sequentially to position 1, position 2 and position 3.

3. The automatic assembly equipment for cutting teeth according to claim 2, characterized in that: A clamping rotation positioning mechanism (15) is installed at positions 1, 2 and 3; The tooth positioning mechanism (10) at positions 1, 2 and 3 is used alternately with the clamping rotation positioning mechanism (15) to clamp the tooth body, and the clamping rotation positioning mechanism (15) can also drive the tooth body to rotate after clamping the tooth body.

4. The automatic assembly equipment for cutting teeth according to claim 1, characterized in that: The indexing disk (7) has two sets, and the robot A (1), robot B (2) and robot C (3) are located between the two sets of indexing disks (7); The two sets of indexing plates (7) can be used to assemble alloy bean-shaped cutting teeth separately, or one set of indexing plates (7) can be used to assemble alloy bean-shaped cutting teeth while the other set of indexing plates (7) is used to assemble ordinary cutting teeth at the same time.

5. The automatic assembly equipment for cutting teeth according to claim 4, characterized in that: It also includes three sets of vibratory feeders, namely the large brazing filler metal vibratory feeder (5), the small brazing filler metal vibratory feeder (6), and the alloy bean vibratory feeder (8); The large brazing filler metal vibratory plate (5) is used to hold large brazing filler metal; the small brazing filler metal vibratory plate (6) is used to hold small brazing filler metal; the alloy bean vibratory plate (8) is used to hold alloy beans; It also includes an alloy head feeding device (4) for holding alloy heads; there are two sets of alloy head feeding devices (4), which are located near the two sets of scales (7); The alloy head feeding device (4) and the large brazing filler vibrating plate (5) are close to robot A (1); the small brazing filler vibrating plate (6) is close to robot B (2); and the alloy bean vibrating plate (8) is close to robot C (3).

6. The automatic assembly equipment for cutting teeth according to claim 5, characterized in that: The robot A (1) is equipped with an alloy head gripper (12) and a large brazing filler suction cup (11) at its operating end. The large brazing filler suction cup (11) is used to pick up large brazing filler from the large brazing filler vibrating plate (5) and place it into the main hole of the tooth body. The alloy head gripper (12) is used to pick up the alloy head from the alloy head feeding device (4), straighten it on the indexing plate (7), and place it into the main hole of the tooth body. The robot B (2) is equipped with a small brazing chuck (14) and a positioning rod (13) at its operating end. The robot B (2) positions the tooth side hole through the positioning rod (13). The small brazing chuck (14) is used to pick up small brazing materials from the small brazing vibrating plate (6) and place them into the tooth side hole in sequence. The operating end of the robot C (3) is also equipped with a positioning rod (16), a push rod (17), and an alloy bean clamp (18) claw. The robot C (3) carries the positioning rod (16) and extends into the tooth body side hole to correct the tooth body position. The alloy bean clamp (18) claw is used to pick up alloy beans from the alloy bean vibrating plate (8) and place them into the tooth body side hole in sequence. Each time an alloy bean is placed into the side hole, the push rod (17) extends and slightly pushes the alloy bean to ensure that the alloy bean is installed in place.

7. The automatic assembly equipment for cutting teeth according to claim 3, characterized in that: Photoelectric sensors (9) are distributed on both sides of the indexing plate (7) near position 1 to identify whether there is a workpiece.

8. The automatic assembly equipment for cutting teeth according to claim 6, characterized in that: The positioning rod one (13) and positioning rod two (16) are elastic telescopic rods, and sensors are installed at the ends of positioning rod one (13) and positioning rod two (16).

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