1. A graphite joint robot automatically installs a clamp spring and a bolt installing machine, and is characterized by comprising a bolt loading tray, a clamp spring vibration tray, a visual camera, a code scanning system, a graphite joint carrying robot, a bolt installing and clamp spring installing rotary worktable;

the graphite joint carrying robot is arranged at the front end part of a graphite joint conveying rail of a graphite joint automatic processing line, the bolt installing and clamping spring installing rotary workbench is arranged on one side of the graphite joint carrying robot, the bolt installing and clamping spring installing robot is arranged at the front part of the graphite joint carrying robot, and the bolt installing material disc and the clamping spring vibrating disc are respectively arranged on two sides of the front side of the bolt installing and clamping spring installing robot.

2. The automatic clamp spring and bolt installing machine of the graphite joint robot as claimed in claim 1, wherein the graphite joint transporting robot is provided with a graphite joint transporting manipulator, and a vacuum chuck is arranged at the front end of the graphite joint transporting manipulator and is used for sucking the graphite joints to transport the graphite joints from the graphite joint transporting track to the bolt installing clamp spring rotary worktable.

3. The automatic clamp spring and bolt installing machine of the graphite joint robot as claimed in claim 1, wherein a code scanning system is installed on the upper portion of the graphite joint carrying manipulator and used for scanning two-dimensional codes on the graphite joints, identifying information of the graphite joints and carrying and storing the graphite joints in a classified mode.

4. The automatic clamping spring and bolt installing machine of the graphite joint robot as claimed in claim 1, wherein the graphite joint clamp is arranged on a bolt installing and clamping spring rotating table, the graphite joint is clamped through an air cylinder, a servo motor is arranged at the lower part of the bolt installing and clamping spring rotating table, and the servo motor drives the bolt installing and clamping spring rotating table to rotate, so that the clamping spring and the bolt installing of the graphite joint are conveniently installed.

5. The automatic clamp spring and bolt installing machine of the graphite joint robot as claimed in claim 4, wherein the bolt installing and clamp spring installing rotary table is provided with four rotary stations.

6. The automatic clamp spring installing and bolt installing machine of the graphite joint robot as claimed in claim 1, wherein the bolt installing and clamp spring robot is provided with two sets of bolt installing and clamp spring installing manipulators, a vision camera is arranged at the upper part of the bolt installing and clamp spring manipulator and is used for identifying the positions of the bolt and the clamp spring hole on the graphite joint, and pneumatic fingers are arranged at the front end of the upper part of the bolt installing and clamp spring manipulator and are used for clamping and installing the bolt and the clamp spring.

7. The automatic circlip installing and bolt installing machine of the graphite joint robot as claimed in claim 1, wherein a plurality of bolt material holes are uniformly distributed on the bolt material loading tray, and bolts are installed in the bolt material holes.

8. The automatic dress jump ring of graphite adapter robot, dress bolt machine of claim 1, characterized by, the jump ring vibration dish lower part is equipped with electromagnetic vibrator, jump ring vibration dish upper portion is provided with jump ring output track, jump ring vibration dish lower part is equipped with electromagnetic vibrator, the jump ring in the jump ring vibration dish passes through electromagnetic vibrator vibration, exports through jump ring output track, supplies the pneumatic finger clamp of dress bolt jump ring manipulator to get.

9. The automatic circlip installing and bolt installing working method of the graphite joint robot as claimed in claim 1, wherein the graphite joint transporting robot is characterized in that a vacuum chuck arranged at the front end of a graphite joint transporting manipulator of the graphite joint transporting robot sucks a graphite joint, and transports the graphite joint from a graphite joint conveying rail to a bolt installing and bolt installing rotary worktable; when the bolt and the clamp spring are implanted, the graphite joint is required to be read by a code scanning system, then the graphite joint is conveyed to a rotary worktable for installing the bolt and the clamp spring, the graphite joint is conveyed to a gripping position of a graphite joint conveying robot, and a graphite joint workpiece is gripped by the graphite joint conveying robot and is placed into a rotary station; four pin and clamp spring hole sites are circularly and uniformly distributed on the graphite joint, after the graphite joint is placed by the graphite joint carrying robot, a bolt installing and clamp spring manipulator of the bolt installing and clamp spring robot respectively grabs a bolt and a clamp spring from a bolt loading plate and a clamp spring vibration plate, the pin and clamp spring hole sites on the graphite joint are accurately found by a vision camera, and then the bolt and the clamp spring are implanted; after the bolt and the clamp spring are assembled on the graphite joint, the graphite joint product with the bolt and the clamp spring is grabbed by a graphite joint carrying robot and placed on a conveying line body, and then flows into the next work station.

Background

The two ends of the graphite electrode joint are both provided with conical threads, and the graphite electrode joint is widely applied to the metallurgical industry. The bolt (pin) and the clamp spring in the joint are assembled manually. In practice, along with the continuous progress of science and technology, the phenomenon of wasting time and energy exists in artifical transport work piece equipment bolt (round pin), jump ring to lead to process time overlength, influence efficiency.

Disclosure of Invention

Aiming at the defects, the invention provides the automatic clamp spring and bolt installing machine for the graphite joint robot, which adopts a robot assembly pin and a clamp spring to improve the working efficiency and reduce the labor amount of manual labor.

The automatic clamp spring and bolt installing machine of the graphite joint robot is realized by adopting the following technical scheme:

the graphite joint robot automatically installs the clamp spring and the bolt installing machine comprises a bolt (pin) feeding disc, a clamp spring vibration disc, a vision camera, a code scanning system, a graphite joint carrying robot, a bolt installing and clamp spring installing rotary workbench.

The graphite joint carrying robot is arranged at the front end part of a graphite joint conveying rail of a graphite joint automatic processing line, the clamp spring mounting rotary workbench is arranged on one side of the graphite joint carrying robot, the bolt mounting clamp spring robot is arranged at the front part of the graphite joint carrying robot, and the bolt (pin) feeding disc and the clamp spring vibration disc are respectively arranged on two sides of the front side of the bolt mounting clamp spring robot.

The graphite joint carrying robot is provided with a graphite joint carrying manipulator, and a vacuum sucker is arranged at the front end of the graphite joint carrying manipulator and used for sucking the graphite joints and carrying the graphite joints from a graphite joint conveying rail to a bolt clamping spring rotating workbench. A code scanning system is arranged on the upper portion of the graphite joint carrying manipulator and used for scanning a two-dimensional code on the graphite joint, identifying information of the graphite joint, and carrying and storing the graphite joint in a classified mode. The code scanning system adopts a two-dimensional code scanner.

And a graphite joint clamp is arranged on the bolt and clamp spring mounting rotary worktable, and the graphite joint is clamped through an air cylinder. And a servo motor is arranged at the lower part of the bolt installing and clamping spring installing rotary workbench and drives the bolt installing and clamping spring installing rotary workbench to rotate at a station, so that the bolt installing and clamping spring installing of the graphite joint are facilitated. The rotary worktable for installing the bolt and the clamp spring is provided with four rotary stations.

The bolt-mounting clamp spring robot is provided with two groups of bolt-mounting clamp spring manipulators, a vision camera is arranged at the upper part of each bolt-mounting clamp spring manipulator and used for identifying positions of bolts (pins) and clamp spring holes on the graphite connector, and pneumatic fingers are arranged at the front end of the upper part of each bolt-mounting clamp spring manipulator and used for clamping and mounting the bolts and the clamp springs.

A plurality of bolt (pin) material holes are uniformly distributed on a material plate on the bolt (pin), and the bolt (pin) material holes are internally provided with the bolt (pin).

The lower part of the clamp spring vibration disc is provided with an electromagnetic vibrator, the upper part of the clamp spring vibration disc is provided with a clamp spring output track, the lower part of the clamp spring vibration disc is provided with the electromagnetic vibrator, and a clamp spring in the clamp spring vibration disc is vibrated by the electromagnetic vibrator and output along the clamp spring output track to be clamped by a pneumatic finger of a bolt clamp spring manipulator.

The graphite joint robot is automatically provided with a snap spring, a bolt installing machine is matched with an electric appliance control box, a PLC programmable controller and a robot control cabinet, and the graphite joint transfer robot and the bolt installing snap spring robot are controlled to work according to a set numerical control program.

The working method of the graphite joint robot for automatically installing the snap spring and the bolt installing machine comprises the following steps: and a vacuum sucker arranged at the front end of a graphite joint carrying manipulator of the graphite joint carrying robot sucks the graphite joint, and carries the graphite joint from a graphite joint conveying rail to the bolt clamping spring rotary worktable. When the bolt (pin) and the clamp spring are implanted, the graphite joint is conveyed to a bolt installing and clamp spring installing rotary workbench (a four-station rotary system) after the code scanning system reads the code, the graphite joint is conveyed to a gripping position of a graphite joint conveying robot, and a graphite joint workpiece is gripped by the graphite joint conveying robot and is placed into the rotary station. Four round equipartition round above the graphite joint, the jump ring hole site, after graphite joint transfer robot placed the graphite joint, the dress of dress bolt jump ring robot was tied (round pin) feeding plate, snatch on the jump ring vibration dish and is tied (round pin) and jump ring, pinpoint the graphite joint through the vision camera and sell, the jump ring hole site, then tie (round pin), the implantation of jump ring to it, the graphite joint is tied (round pin), behind the jump ring, snatch by graphite joint transfer robot and is adorned and tie (round pin), the graphite joint product of jump ring is placed the transfer line body, flow in next work station.

The automatic clamp spring and bolt installing machine of the graphite joint robot has the following characteristics:

1. the structure layout design and the control design are reasonable, and the operation is stable.

2. The assembly period is between 120-180 seconds, and the processing efficiency is high.

3. The transmission is simple and reliable, the movement is light and flexible, the automation degree is high, and the product quality is stable and reliable.

4. The control system is perfect, has feedback link and safety measure, and is suitable for mass processing.

5. Adopt robot equipment to tie, jump ring to improve work efficiency, reduce artifical physical labor volume.

Drawings

The invention will be further explained with reference to the drawings, in which:

fig. 1 is a schematic structural diagram of an automatic clamp spring and bolt installing machine of a graphite joint robot.

In the figure: 3. the graphite joint robot automatically installs a clamp spring bolt installing machine and a bolt installing machine;

3-1, bolt (pin) feeding disc, 3-2, a clamp spring vibration disc, 3-3, a vision camera, 3-4, a code scanning system, 3-5, a graphite joint carrying robot, 3-6, a bolt and clamp spring loading robot, 3-7, a bolt and clamp spring loading rotary workbench;

3-7-1, graphite joint clamp; 3-2-1, an electromagnetic vibrator, 3-2-2 and a clamp spring output track.

Detailed Description

Referring to the attached figure 1, the automatic clamp spring installing and bolt installing machine 3 of the graphite joint robot comprises a bolt (pin) feeding plate 3-1, a clamp spring vibration plate 3-2, a vision camera 3-3, a code scanning system 3-4, a graphite joint carrying robot 3-5, a bolt installing and clamp spring installing robot 3-6 and a bolt installing and clamp spring installing rotary worktable 3-7.

The graphite joint conveying robot 3-5 is arranged at the front end part of a graphite joint conveying rail 3-8 of a graphite joint automatic processing line, the clamp spring installing rotary worktable 3-7 is arranged at one side of the graphite joint conveying robot 3-5, the bolt installing clamp spring robot 3-6 is arranged at the front part of the graphite joint conveying robot 3-5, and the bolt (pin) upper material disc 3-1 and the clamp spring vibration disc 3-2 are respectively arranged at two sides of the front side of the bolt installing clamp spring robot 3-6.

The graphite joint carrying robot 3-5 is provided with a graphite joint carrying manipulator, the front end of the graphite joint carrying manipulator is provided with a vacuum chuck for sucking the graphite joints, and the graphite joints are carried to the bolt installing and clamping spring installing rotary worktable 3-7 from the graphite joint conveying track 3-8. And the upper part of the graphite joint carrying manipulator is provided with a code scanning system 3-4 for scanning two-dimensional codes on the graphite joints, and classifying, carrying and storing the graphite joints after identifying information. And the code scanning system 3-4 adopts a two-dimensional code scanner.

A graphite joint clamp 3-7-1 is arranged on the bolt and clamp spring mounting rotary worktable 3-7, and the graphite joint is clamped through an air cylinder. And a servo motor is arranged at the lower part of the bolt installing and clamping spring installing rotary worktable 3-7, and the servo motor drives the bolt installing and clamping spring installing rotary worktable to rotate, so that the bolt installing and clamping spring installing of the graphite joint are facilitated. The rotary worktable for installing the bolt and the clamp spring 3-7 is provided with four rotary stations.

The bolt-mounting clamp spring robot 3-6 is provided with two groups of bolt-mounting clamp spring manipulators, the upper parts of the bolt-mounting clamp spring manipulators are provided with vision cameras 3-3 for identifying positions of bolts (pins) and clamp spring holes on the graphite connectors, and the front ends of the upper parts of the bolt-mounting clamp spring manipulators are provided with pneumatic fingers for clamping and mounting the bolts and the clamp springs. The visual camera 3-3 adopts an industrial digital camera.

A plurality of bolt (pin) material holes are uniformly distributed on the bolt (pin) upper material disc 3-1, and bolts (pins) are arranged in the bolt (pin) material holes.

The lower portion of the clamp spring vibrating disk 3-2 is provided with an electromagnetic vibrator 3-2-1, the upper portion of the clamp spring vibrating disk 3-2 is provided with a clamp spring output rail 3-2-2, the lower portion of the clamp spring vibrating disk is provided with the electromagnetic vibrator 3-2-1, and a clamp spring in the clamp spring vibrating disk 3-2 is vibrated by the electromagnetic vibrator 3-2-1 and output along the clamp spring output rail 3-2-2 to be clamped by a pneumatic finger of a bolt clamp spring manipulator 3-6.

The graphite joint robot is automatically provided with a snap spring, a bolt installing machine is matched with an electric appliance control box, a PLC programmable controller and a robot control cabinet, and the graphite joint transfer robot and the bolt installing snap spring robot are controlled to work according to a set numerical control program.

The working method of the graphite joint robot for automatically installing the snap spring and the bolt installing machine comprises the following steps: the front end of a graphite joint carrying manipulator of the graphite joint carrying robot 3-5 is provided with a vacuum sucker for sucking a graphite joint and carrying the graphite joint from a graphite joint conveying rail 3-8 to a bolt-mounting clamp spring rotating worktable 3-7. When the bolt (pin) and the clamp spring are implanted, the graphite joint is required to be read by the code scanning system 3-4 and then conveyed to a bolt and clamp spring installing rotary worktable 3-7 (a four-station rotary system), the graphite joint is conveyed to a graphite joint conveying robot 3-5 grabbing position, and a graphite joint workpiece is grabbed by the graphite joint conveying robot 3-5 and then is put into a rotary station. Four pin and clamp spring hole sites are evenly distributed on the graphite joint in a circular mode, after the graphite joint is placed on a graphite joint carrying robot 3-5, a bolt and clamp spring installing manipulator of a bolt and clamp spring installing robot 3-6 respectively grabs a bolt (pin) and a clamp spring from a bolt (pin) feeding plate 1 and a clamp spring vibration plate 3-2, the bolt (pin) and clamp spring hole sites on the graphite joint are found accurately through a vision camera 3-3, then the bolt (pin) and clamp spring are implanted, after the bolt (pin) and the clamp spring are installed on the graphite joint, a graphite joint product with the bolt (pin) and the clamp spring is grabbed by a graphite joint carrying robot 3-5 and placed on a conveying line body, and the graphite joint product flows into the next work station.