CN111071807A

CN111071807A - Automatic intelligent welding workstation that makes up of mine belt feeder bearing roller bearing frame

Info

Publication number: CN111071807A
Application number: CN202010149256.4A
Authority: CN
Inventors: 不公告发明人
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-03-06
Filing date: 2020-03-06
Publication date: 2020-04-28

Abstract

The invention belongs to the technical field of mining machinery manufacturing equipment, and relates to an automatic assembly intelligent welding workstation for a carrier roller bearing seat of a mine belt feeder. The clamping rotator is responsible for clamping and positioning all workpieces. The sleeve stocker is responsible for storage and supply of sleeves. The sleeve pusher takes out the sleeves from the sleeve storage hopper and transfers the sleeves to the sleeve transverse rib holder. The transverse bar stocker is responsible for storing and supplying transverse bars, and the transverse bar conveyor is responsible for taking out the transverse bars from the transverse bar stocker and conveying the transverse bars to the sleeve transverse bar clamp. The longitudinal bar storage device is used for storing and supplying longitudinal bars, and the longitudinal bar conveyor is used for taking out the longitudinal bars from the longitudinal bar storage device and conveying the longitudinal bars to the sleeve transverse bar clamp. The floor stocker is responsible for storing and feeding the floors, and the floor conveyor is responsible for taking the floors out of the floor stocker and conveying them to the floor holding assembly. The invention changes the boring machine processing into lathe processing, has higher efficiency, higher automation degree and reduced labor intensity, and ensures the processing precision.

Description

Automatic intelligent welding workstation that makes up of mine belt feeder bearing roller bearing frame

Technical Field

The invention belongs to the technical field of manufacturing equipment of mining machinery, relates to manufacturing equipment of a belt feeder, and particularly relates to an automatic assembly intelligent welding workstation for a carrier roller bearing seat of the mine belt feeder.

Background

The carrier roller bearing block 100 for the belt feeder shown in fig. 1 comprises a sleeve 101, a transverse rib 102, a longitudinal rib 103 and a bottom plate 104; a sleeve inner cylindrical surface 1015 in the front-back horizontal direction is arranged in the middle of the sleeve 101, the sleeve 101 is provided with a sleeve front end surface 1011 and a sleeve rear end surface 1012, a front clamping groove 1013 is arranged at the position, close to the front end, of the sleeve inner cylindrical surface 1015, and a rear clamping groove 1014 is arranged at the position, close to the rear end, of the sleeve inner cylindrical surface 1015; the transverse ribs 102 are plate-shaped, the transverse ribs 102 are perpendicular to the front-back horizontal direction, the first ends of the transverse ribs 102 are inner circular arcs, the second ends of the transverse ribs 102 are straight edges, the left side edges of the transverse ribs 102 are transverse rib side edges I, the right side edges of the transverse ribs 102 are transverse rib side edges II, the inner circular arcs of the first ends of the transverse ribs 102 are matched with the rear ends of the outer cylindrical surfaces of the sleeves 101, and the inner circular arcs and the rear ends of the outer cylindrical surfaces of the sleeves 101 are embedded; the longitudinal ribs 103 are right trapezoid plates, the longitudinal ribs 103 are vertical to the left and right horizontal directions, the short bottom edges of the right trapezoid longitudinal ribs 103 are tightly attached to the outer cylindrical surface of the sleeve 101, the waist, vertical to the bottom edges, of the right trapezoid longitudinal ribs 103 is tightly attached to the middle of the front side surface of the transverse ribs 102, and the inclined waist of the right trapezoid longitudinal ribs 103 faces forwards; the bottom plate 104 is arranged right below the sleeve 101, the bottom plate 104 is horizontally arranged, the straight edge of the second end of the transverse rib 102 is abutted against the rear edge of the upper surface of the bottom plate 104, and the downward long bottom edge of the right-angle trapezoidal longitudinal rib 103 is abutted against the left-right center line of the upper surface of the bottom plate 104; welding adjacent edges; the left end of the bottom plate 104 is provided with a bottom plate left hole 1041, the right end of the bottom plate 104 is provided with a bottom plate right hole 1042, and the bottom plate left hole 1041 and the bottom plate right hole 1042 are distributed on the left side and the right side of the longitudinal rib 103.

In a traditional belt feeder, a combination of a carrier roller bearing seat 100 and a deep groove ball bearing is respectively installed at two ends of a carrier roller, the deep groove ball bearing is installed in a space between a front clamping groove 1013 and a rear clamping groove 1014 in a sleeve inner cylindrical surface 1015, and an elastic retainer ring for a hole is respectively installed in the front clamping groove 1013 and the rear clamping groove 1014 to prevent the deep groove ball bearing from moving along the axial direction. The deep groove ball bearing has a high requirement on the coaxiality tolerance of the inner cylindrical surfaces 1015 of the two sleeves, otherwise the service life of the deep groove ball bearing is obviously shortened. Whether the lower surfaces of the base plates 104 of the two idler roller bearing blocks 100 are exactly in the same plane during installation directly determines the coaxiality of the inner cylindrical surfaces 1015 of the two sleeves, so that the distance tolerance between the base plates 104 and the inner cylindrical surfaces 1015 of the sleeves is strict.

In the technical requirements of the idler bearing block 100, the axial lead of the inner cylindrical surface 1015 of the sleeve is taken as a reference, strict requirements are provided for the parallelism tolerance and the distance dimensional tolerance of the lower bottom surface of the bottom plate 104, requirements for the position tolerance of the left hole 1041 and the right hole 1042 of the bottom plate are also provided, and requirements for the position tolerance of the distance between the front clamping groove 1013 and the rear clamping groove 1014 and the position tolerance of the left hole 1041 and the right hole 1042 of the bottom plate relative to the front clamping groove 1013 are also provided. To meet these technical tolerance requirements, the programmed process is such that: 1) the manual assembly is used for spot welding, the manual assembly is used for measuring the size and marking lines on all the workpieces, the marking lines at adjacent positions are made, then the workpieces are welded together in a spot welding mode, and all the workpieces are connected into a whole. 2) And (5) manual full welding. 3) And processing the lower surface of the bottom plate 104, the front end surface 1011 of the sleeve, the left hole 1041 of the bottom plate and the right hole 1042 of the bottom plate on a boring machine or a milling machine by taking the rough surface of the inner cylindrical surface 1015 of the sleeve before processing as a clamping rough reference. 4) On a boring machine, a bottom plate left hole 1041 and a bottom plate right hole 1042 are fixed by bolts by taking the lower surface of the bottom plate 104 as a positioning reference, and a sleeve rear end surface 1012, a sleeve inner cylindrical surface 1015, a front clamping groove 1013 and a rear clamping groove 1014 are machined. The precision requirement of the carrier roller is too high, so that the processing efficiency is lower and the production cost is higher. Later, the deep groove ball bearing is changed into a self-aligning ball bearing, so that the requirement on the coaxiality tolerance of the two sleeve inner cylindrical surfaces 1015 is reduced, and the requirement on the position dimensional accuracy between the axial line of the sleeve inner cylindrical surfaces 1015 and the lower surface of the bottom plate 104 is also reduced, but the requirement cannot be lower than that of GB/T1804-M. The traditional process is excessively dependent on a boring machine, the machining efficiency is low, the requirement on precision is high, many simple and repeated works are repeated manually, and if a machine is used for replacing the manual work, the labor intensity can be greatly reduced, and the productivity is improved. Now after the technology is changed, the sleeve 101 can be subjected to finish machining on a lathe before assembly welding, including turning of a front sleeve end surface 1011, a rear sleeve end surface 1012, an inner sleeve cylindrical surface 1015, a front clamping groove 1013 and a rear clamping groove 1014, then the lower bottom surface of the bottom plate 104 is machined on the planer, drilling is performed on a drilling machine, and finally precise assembly and spot welding are performed, so that a device for precise assembly and spot welding of the carrier roller bearing seat 100 with high efficiency and high precision is urgently needed.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides the automatic pairing intelligent welding workstation for the bearing seats of the carrier rollers of the mine belt feeder, which has the advantages of higher production efficiency, higher automation degree and reduced labor intensity, and can ensure the processing precision.

The invention is realized by the following technical scheme:

an intelligent welding workstation for automatic assembly of a bearing seat of a carrier roller of a mine belt feeder comprises a welding robot, a frame, a sleeve pusher, a sleeve stocker, a transverse rib conveyor, a vertical rib stocker, a vertical rib conveyor, a bottom plate stocker, a bottom plate conveyor and a clamping rotator, wherein the welding robot is fixedly connected with the frame;

the sleeve material storage device comprises a sleeve material storage V-shaped bin and a sleeve material storage vertical barrel, the sleeve material storage V-shaped bin is a V-shaped cavity, and the upper opening of the sleeve material storage V-shaped bin is large, and the lower opening of the sleeve material storage V-shaped bin is small; the sleeve material storage vertical cylinder is a rectangular cylindrical cavity, the opening of the sleeve material storage vertical cylinder faces upwards, and the lower end of the sleeve material storage vertical cylinder is closed; the lower port of the sleeve material storage V-shaped bin is communicated with the upper port of the sleeve material storage vertical barrel; the bottom of the sleeve material storage vertical cylinder is provided with a sleeve material storage front outlet forward and a sleeve material storage rear outlet backward;

the sleeve pusher comprises a sleeve pushing cylinder I, a sleeve pushing cylinder II, a sleeve pushing cylinder III, a sleeve pushing rod, a parallel opening and closing type three-jaw I and three supporting fingers I; the sleeve pushing cylinder I, the sleeve pushing cylinder II and the sleeve pushing cylinder III are all guide rod type cylinders and are pushed backwards along the front and back horizontal directions; the sleeve pushing cylinder I comprises a sleeve pushing cylinder body I and a combination I of a sleeve pushing piston rod and a guide rod, and the sleeve pushing cylinder body I is fixedly connected with the rack; the sleeve pushing cylinder II comprises a sleeve pushing cylinder body II and a combination II of a sleeve pushing piston rod and a guide rod, and the combination I of the sleeve pushing piston rod and the guide rod is fixedly connected with the sleeve pushing cylinder body II; the sleeve pushing cylinder III comprises a sleeve pushing cylinder III and a combination III of a sleeve pushing piston rod and a guide rod, and the sleeve pushing cylinder III is fixedly connected with the combination II of the sleeve pushing piston rod and the guide rod; the sleeve pushing rod is provided with a cylindrical outer surface of the pushing rod, the axial lead of the sleeve pushing rod is arranged along the front-back horizontal direction, and the front end of the sleeve pushing rod is fixedly connected with the combination III of the sleeve pushing piston rod and the guide rod; the radius of the cylindrical outer surface of the pushing rod is equal to that of the outer cylinder of the sleeve of the carrier roller bearing seat; the cylindrical outer surface of the pushing rod is used for supporting the rest sleeves in the sleeve stocker; the parallel opening and closing type three-jaw body I comprises a parallel opening and closing type three-jaw cylinder body I and three parallel opening and closing type three-jaw body I; the first support finger is provided with a support finger support arc surface, a front end surface of the support finger and a rear positioning surface of the support finger; the three support fingers I are fixedly connected with the three parallel opening and closing type three-claw bodies I respectively; the supporting finger is provided with a rear positioning surface which is close to the front end surface of the sleeve and used for axially positioning the sleeve from front to back; the first parallel opening and closing type three-jaw drives three support fingers to synchronously get away from the axial lead of the first parallel opening and closing type three-jaw, and a support circular arc surface of the three support fingers supports the inner cylindrical surface of the sleeve to radially position the sleeve; at least one supporting finger is provided with a supporting finger lifting arc surface, the supporting finger lifting arc surface and the outer cylindrical surface of the sleeve have the same radius and the axes are superposed, at least one supporting finger lifting arc surface faces upwards, and the upwards supporting finger lifting arc surface is used for supporting the rest sleeves in the sleeve stocker; the rear end face of the sleeve pushing rod is provided with a mounting hole, the parallel opening-closing type three-jaw cylinder body I is fixedly mounted in the mounting hole in the rear end face of the sleeve pushing rod, and the axis of the cylindrical outer surface of the pushing rod is superposed with the axis of the sleeve clamped by the supporting finger I; the front end surface of the supporting finger is close to the rear end surface of the sleeve pushing rod;

the clamping rotator comprises a sleeve transverse rib clamp holder, a bottom plate fixing assembly and a pinning assembly; the sleeve transverse rib clamp holder comprises a rotary servo motor, a rotary bracket, a parallel opening and closing type three-jaw II, a support finger II, a transverse rib rotary parallel clamping jaw and two transverse rib clamping fingers II; the rotating bracket comprises a rotating shaft and a rotating plate, the axis of the rotating shaft is arranged along the front-back horizontal direction, the rotating plate is vertical to the axis of the rotating shaft, and one end of the rotating plate is fixedly connected with the front end of the rotating shaft; the rotating shaft is connected with the frame through a rotating pair; a shell flange of the rotary servo motor is fixedly connected with the rack; an output shaft of the rotary servo motor is fixedly connected with the rotary shaft; the parallel opening and closing type three-jaw II comprises a parallel opening and closing type three-jaw II cylinder body and three parallel opening and closing type three-jaw II bodies; the rear end of the parallel opening and closing type three-jaw two cylinder body is fixedly connected with the front of the rotating plate, the axial lead of the parallel opening and closing type three-jaw two cylinder body and the axial lead of the rotating shaft are on the same straight line, and one end of the parallel opening and closing type three-jaw two cylinder body, which is connected with the three parallel opening and closing type three-jaw two cylinder bodies, faces forwards; the three parallel opening-closing type three-claw two-claw bodies are respectively fixedly connected with the three support fingers two; the second support finger is provided with a second support finger arc support surface, a second support finger front boss and a second support finger rear boss; the two parallel opening and closing type three-jaw drives the two three support fingers to be away from the axial lead of the two parallel opening and closing type three-jaw synchronously, the two circular arc support surfaces of the three support fingers support the inner cylindrical surface of the sleeve, the two front protruding platforms of the support fingers are embedded into the front clamping groove of the sleeve, the two rear protruding platforms of the support fingers are embedded into the rear clamping groove of the sleeve, and the sleeve is fixed in the axial direction and the radial direction; the sleeve transverse rib clamp is arranged behind the sleeve pusher, the axis of the parallel opening and closing type three-jaw II and the axis of the parallel opening and closing type three-jaw I are on the same straight line, and one of the three support fingers is aligned with the space between the adjacent two support fingers in the front and back directions; the transverse rib rotating parallel clamping jaw comprises a transverse rib rotating parallel clamping jaw cylinder body and two transverse rib rotating parallel clamping jaw bodies; a transverse rib clamping groove II is formed in the transverse rib clamping finger II; the two transverse rib clamping fingers are fixedly connected with the two transverse rib rotating parallel clamping jaw bodies respectively; two transverse rib clamping grooves II on the two transverse rib clamping fingers II are opposite in opening, the transverse ribs rotate parallel clamping jaws to drive the two transverse rib clamping fingers II to synchronously translate in opposite directions, and the two transverse rib clamping grooves translate in opposite directions to respectively clamp a transverse rib side edge I and a transverse rib side edge II of a transverse rib of a middle carrier roller bearing seat; the axial lead of the parallel opening and closing type three-jaw II is on the symmetrical plane of the two transverse rib clamping fingers II; the bottom plate fixing assembly comprises a bottom plate connecting frame, a bottom plate telescopic cylinder, a bottom plate fixing plate and a corner pressing cylinder; the bottom plate telescopic cylinder is a cylinder with a guide rod; the bottom plate telescopic cylinder comprises a bottom plate telescopic cylinder body and a combination of a bottom plate telescopic piston rod and a guide rod; one end of the bottom plate connecting frame is provided with a bottom plate connecting frame mounting hole, and the other end of the bottom plate connecting frame is fixedly connected with the tail end of the bottom plate telescopic cylinder body; the bottom plate connecting frame mounting hole is matched with the rotating shaft to form a hinge, and the bottom plate telescopic cylinder stretches along the radius direction of the rotating shaft; the bottom plate fixing plate and the tail end of the combination of the bottom plate telescopic piston rod and the guide rod are fixedly connected; the telescopic directions of the bottom plate fixing plate and the bottom plate telescopic cylinder are vertical; a bottom plate placing surface is arranged on the bottom plate fixing plate, two bottom plate positioning pins are arranged on the bottom plate placing surface and are positioned in front of the combination of the bottom plate telescopic piston rod and the guide rod, one of the two bottom plate positioning pins is positioned on the left side, and the other of the two bottom plate positioning pins is positioned on the right side; the bottom plate fixing plate is also provided with a bottom plate fixing plate positioning groove which is parallel to the telescopic direction of the bottom plate telescopic cylinder; the corner pressing cylinder is fixedly connected with the bottom plate fixing plate; the pin tightening assembly comprises a pin tightening cylinder and a pin; the pinning cylinder comprises a pinning cylinder body and a combination of a pinning cylinder piston rod and a guide rod; the pin-tight cylinder body is fixedly connected with the frame; the combination of the bolt and the piston rod of the locking cylinder is fixedly connected with the guide rod; when the pin-tightening cylinder is stretched, the inserted pin is inserted into the positioning groove of the bottom plate fixing plate to prevent the bottom plate fixing assembly from rotating around the rotating shaft, the bottom plate telescopic cylinder is telescopic, and the inserted pin slides along the positioning groove of the bottom plate fixing plate; when the pinning cylinder contracts, the inserted pin leaves the positioning groove of the bottom plate fixing plate, the bottom plate fixing assembly freely rotates around the rotating shaft, the bottom plate fixing assembly droops under the action of gravity, and the positioning groove of the bottom plate fixing plate and the inserted pin are always opposite to each other front and back;

the transverse bar stocker comprises a transverse bar storage bin, a transverse bar bin sensor, a transverse bar lifting electric cylinder, a transverse bar lifting bracket, a transverse bar lifting air cylinder, a transverse bar pushing air cylinder and a transverse bar pushing plate; the transverse bar storage bin is through up and down; the side plates on the left side and the right side of the transverse bar storage bin are shorter than the side plates on the front side and the rear side; the transverse bar bin sensor is fixedly connected to the top end of the front side plate of the transverse bar storage bin; the transverse bar lifting electric cylinder is a guide rod type electric cylinder; the transverse bar lifting electric cylinder comprises a transverse bar lifting electric cylinder body and a combination of a transverse bar lifting push rod, a guide rod and a push plate; the transverse bar lifting cylinder body is fixedly connected with the transverse bar storage bin; the combination of the transverse bar lifting push rod, the guide rod and the push plate is positioned in the transverse bar storage bin; the transverse rib pushing cylinder is a cylinder with a guide rod; the transverse rib pushing cylinder comprises a transverse rib pushing cylinder body and a combination of a transverse rib pushing piston rod and a guide rod; the transverse bar pushing cylinder body is fixedly connected with the transverse bar storage bin; the transverse rib pushing plate and the transverse rib pushing piston rod are fixedly connected with the guide rod in a combined manner; the transverse ribs are horizontally stacked in the transverse rib storage bin and on the upper part of the transverse rib lifting push rod-guide rod-push plate combination; the transverse bar lifting electric cylinder lifts the transverse bar upwards; the transverse rib lifting cylinder is a cylinder with a guide rod; the transverse bar lifting cylinder comprises a transverse bar lifting cylinder body and a combination of a transverse bar lifting piston rod and a guide rod; the transverse bar lifting cylinder body is fixedly connected with the frame; the combination of the transverse bar lifting piston rod and the guide rod is fixedly connected with the transverse bar storage bin through a transverse bar lifting bracket;

the transverse rib conveyor comprises a transverse rib pushing cylinder, a transverse rib swinging parallel clamping jaw and a transverse rib clamping finger I; the transverse rib pushing cylinder is a cylinder with a guide rod; the transverse rib pushing cylinder comprises a transverse rib pushing cylinder body and a combination of a transverse rib pushing piston rod and a guide rod; the transverse rib swinging cylinder comprises a transverse rib swinging cylinder body and a transverse rib swinging cylinder rotating rod; the transverse rib swinging cylinder body and the transverse rib pushing piston rod are fixedly connected with the guide rod in a combined manner; the transverse rib swinging parallel clamping jaw comprises a transverse rib swinging parallel clamping jaw cylinder body and two transverse rib swinging parallel clamping jaw bodies; the transverse rib swinging parallel clamping jaw cylinder body is fixedly connected with a transverse rib swinging cylinder rotating rod; the two transverse rib clamping fingers are fixedly connected with the two transverse rib swinging parallel clamping jaw bodies respectively; the two transverse rib clamping grooves I are opposite, and the axial lead of the rotating rod of the transverse rib swinging cylinder is on the symmetrical plane of the two transverse rib clamping grooves I;

the longitudinal bar stocker comprises a longitudinal bar storage bin, a longitudinal bar sensor and a longitudinal bar lifting electric cylinder; the longitudinal bar storage bin is through up and down; the longitudinal bar storage bin is fixedly connected with the frame; the longitudinal bar lifting electric cylinder is a guide rod type electric cylinder; the longitudinal rib lifting electric cylinder comprises a longitudinal rib lifting electric cylinder body and a combination of a longitudinal rib lifting push rod, a guide rod and a supporting plate; the longitudinal bar lifting cylinder body is fixedly connected with the longitudinal bar storage bin; the combination of the longitudinal bar lifting push rod, the guide rod and the supporting plate is positioned in the longitudinal bar storage bin; the longitudinal bar sensor is fixedly connected to the upper edge of the longitudinal bar storage bin; the longitudinal bar lifting electric cylinder lifts a stack of longitudinal bars upwards, and the longitudinal bar lifting electric cylinder stops after the uppermost longitudinal bar enters the sensing area of the longitudinal bar sensor; the longitudinal bar stocker is positioned in front of the left of the parallel opening and closing type three-jaw II;

the stud conveyer comprises a stud conveying horizontal cylinder, a stud conveying vertical cylinder and a stud conveying electromagnet assembly; the vertical rib conveying horizontal cylinder and the vertical rib conveying vertical cylinder are both cylinder with guide rods; the vertical rib conveying horizontal cylinder comprises a vertical rib conveying horizontal cylinder body and a combination of a vertical rib conveying horizontal piston rod and a guide rod; the stud conveying vertical cylinder comprises a stud conveying vertical cylinder body and a combination of a stud conveying vertical piston rod and a guide rod; the stud conveying electromagnet assembly comprises a stud conveying electromagnet and a stud conveying electromagnet bracket which are fixedly connected with each other; the extending direction of the vertical rib conveying horizontal cylinder is from left front to right back; the stud conveying horizontal cylinder body is fixedly connected with the frame; the combination of the stud transmission horizontal piston rod and the guide rod is fixedly connected with the stud transmission vertical cylinder body; the stand bar transmission electromagnet bracket and the stand bar transmission vertical piston rod are fixedly connected with the guide rod in a combined manner; the extending direction of the vertical rib conveying vertical cylinder is vertical upwards; the stud conveying electromagnet is fixedly connected with the stud conveying electromagnet bracket;

the bottom plate stocker comprises a bottom plate storage bin, a bottom plate storage sensor and a bottom plate storage electric cylinder; the bottom plate storage bin is through up and down, and the bottom plate storage sensor is fixedly arranged on the upper edge of the bottom plate storage bin; the bottom plate storage bin is fixedly connected with the frame; the bottom plate material storage electric cylinder is an electric cylinder with a guide rod; the bottom plate material storage electric cylinder comprises a bottom plate material storage electric cylinder body and a combination of a bottom plate material storage electric cylinder push rod, a guide rod and a supporting plate; the bottom plate storage cylinder body is fixedly connected with the bottom plate storage bin; the combination of the push rod, the guide rod and the supporting plate of the bottom plate storage electric cylinder is positioned in the bottom plate storage bin; a plurality of bottom plates are vertically stacked in the horizontal direction and are stacked in the bottom plate storage bin and on the combination of the push rod, the guide rod and the supporting plate of the bottom plate storage electric cylinder; the bottom plate conveyor comprises a bottom plate conveying horizontal cylinder, a bottom plate conveying lifting cylinder and a bottom plate conveying electromagnet assembly; the bottom plate conveying horizontal cylinder and the bottom plate conveying lifting cylinder are both cylinder with guide rods; the bottom plate conveying horizontal cylinder comprises a bottom plate conveying horizontal cylinder body and a combination of a bottom plate conveying horizontal piston rod and a guide rod; the bottom plate conveying lifting cylinder comprises a bottom plate conveying lifting cylinder body and a combination of a bottom plate conveying lifting piston rod and a guide rod; the bottom plate transmission electromagnet assembly comprises a bottom plate transmission electromagnet bracket and a bottom plate transmission electromagnet which are fixedly connected with each other; the bottom plate conveying horizontal cylinder body is fixedly connected with the frame; the combination of the bottom plate conveying horizontal piston rod and the guide rod is fixedly connected with the bottom plate conveying lifting cylinder body; the combination of the bottom plate conveying lifting piston rod and the guide rod is fixedly connected with the bottom plate conveying electromagnet bracket; the bottom plate conveying horizontal cylinder drives the combination of the bottom plate conveying lifting cylinder and the bottom plate conveying electromagnet assembly to translate along the front-back direction, and the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly to translate along the up-down direction.

The working process of the present invention is as follows.

0) The sleeve stocker is filled with sleeves. A pile of transverse bars is placed in the transverse bar storage bin and on the upper part of the transverse bar lifting push rod-guide rod-push plate combination. A pile of longitudinal ribs are arranged in the longitudinal rib storage bin and on the upper part of the combination of the longitudinal rib lifting push rod, the guide rod and the supporting plate. A pile of bottom plates are placed on the upper part of the combination of the push rod, the guide rod and the supporting plate of the bottom plate storage electric cylinder in the bottom plate storage bin.

1) The sleeve pushing cylinder I, the sleeve pushing cylinder II and the sleeve pushing cylinder III are in a retracted state in an initial state, and the three supporting fingers one is positioned in the sleeve material storage front outlet; the sleeve pushing cylinder I is started, the sleeve pushing cylinder II is driven, the sleeve pushing cylinder III, the sleeve pushing rod, the parallel opening and closing type three-jaw I and the combination body of the three supporting fingers I move backwards, the supporting finger I is provided with a rear positioning face which is close to and pushes the bottommost sleeve front end face in the sleeve stocker, then the parallel opening and closing type three-jaw I drives the three supporting fingers to be away from the axial lead of the parallel opening and closing type three-jaw I synchronously, and the three supporting fingers support the inner cylindrical surface of the sleeve through a supporting circular arc surface, so that the sleeve is clamped.

2) Keeping the sleeve pushing cylinder in an extending state, simultaneously extending the sleeve pushing cylinder II and the sleeve pushing cylinder III, driving a sleeve pushing rod, a parallel opening and closing type three-jaw I, a combination of a sleeve clamped by a supporting finger I and a sleeve clamped by the supporting finger I to move backwards through a sleeve storage outlet, and supporting the arc surface and the upper side of the cylindrical outer surface of the pushing rod upwards to support the rest sleeves on the inner upper part of the sleeve when passing through the interior of the sleeve storage device; the sleeve clamped by the first support finger is pushed to the periphery of the common area of the circular arc support surfaces of the second three support fingers, and the first three support fingers are respectively inserted into the space between the second three support fingers, namely the first three support fingers and the second three support fingers are arranged along the circumference around the axial lead of the second three parallel opening-closing type claws and are arranged at intervals, staggered and not interfered with each other. The two parallel opening and closing type three-jaw drives the two three support fingers to be away from the axial lead of the two parallel opening and closing type three-jaw synchronously, the two circular arc support surfaces of the three support fingers support the inner cylindrical surface of the sleeve, the two front protruding platforms of the support fingers are embedded into the front clamping groove, the two rear protruding platforms of the support fingers are embedded into the rear clamping groove, and the sleeve is fixed in the axial direction and the radial direction; the first parallel opening and closing type three-jaw drives the three supporting fingers to be close to the axial lead of the first parallel opening and closing type three-jaw simultaneously, the third supporting finger drives a supporting arc surface to leave the inner cylindrical surface of the sleeve, the third sleeve pushing cylinder is started reversely, the sleeve pushing rod, the first parallel opening and closing type three-jaw and the three supporting fingers are driven to move forwards until the supporting fingers are located in front of the sleeve stocker, and the first supporting finger is far away from the sleeve.

3) The transverse bar lifting electric cylinder lifts a stack of transverse bars upwards, when the uppermost transverse bar reaches the upper edge of the transverse bar storage bin, the transverse bar bin sensor is triggered, the transverse bar lifting electric cylinder stops, the transverse bar pushing air cylinder drives the transverse bar pushing plate to translate from left to right, the first end, with the inner arc shape, of the uppermost transverse bar is pushed, the second end of the transverse bar is hung out of the transverse bar storage bin, but the gravity center of the transverse bar cannot be hung out of the transverse bar storage bin, and the second end of the transverse bar extends to a space between the first transverse bar clamping grooves; the transverse rib swinging parallel clamping jaw drives the two transverse rib clamping fingers to move horizontally in opposite directions, and the two transverse rib clamping grooves I clamp a transverse rib side edge I and a transverse rib side edge II of the second end of the transverse rib; the transverse rib lifting cylinder drives the transverse rib storage bin, the transverse rib bin sensor, the transverse rib lifting electric cylinder, the transverse rib lifting support, the transverse rib pushing cylinder, the transverse rib pushing plate and the combination of the rest of transverse ribs below to descend, enough space is provided for the next step that the transverse rib swinging cylinder drives the transverse rib swinging parallel clamping jaws, the transverse rib clamping fingers I and the combination swinging of the transverse ribs, and the transverse rib clamped by the two transverse rib clamping fingers is separated from the transverse rib storage bin; the transverse rib swinging cylinder drives the transverse rib swinging parallel clamping jaw, the combination of the transverse rib clamping finger I and the transverse rib swings ninety degrees from front to bottom to back and up around the axis line of the rotating rod of the transverse rib swinging cylinder, and the transverse rib is in a vertical state which is vertical to the front-back horizontal direction and has a first end facing left; the transverse rib pushing cylinder drives the combination of the transverse rib swinging cylinder, the transverse rib swinging parallel clamping jaw, the transverse rib clamping finger I and the transverse rib to translate from right to left, and the inner circular arc of the transverse rib is just embedded with the rear end of the right side of the outer cylindrical surface of the sleeve clamped by the supporting finger II; the first transverse rib side edge and the second transverse rib side edge at the first end of the transverse rib are also just positioned in the space between the two second transverse rib clamping grooves; the transverse rib rotates and the parallel clamping jaw drives the two transverse rib clamping fingers to synchronously translate in opposite directions, and the two transverse rib clamping grooves translate in opposite directions to respectively clamp the first transverse rib side edge and the second transverse rib side edge in the middle; the transverse rib swinging parallel clamping jaw drives the two transverse rib clamping fingers to synchronously move back to back, and the two transverse rib clamping grooves are respectively separated from a transverse rib side edge I and a transverse rib side edge II; the transverse rib pushing cylinder drives the combination of the transverse rib swinging cylinder, the transverse rib swinging parallel clamping jaw and the transverse rib clamping finger I to translate from left to right, and the two transverse rib clamping grooves I are separated from the upper side and the lower side of the transverse rib; the transverse rib swinging cylinder drives the transverse rib swinging parallel clamping jaw and the transverse rib clamping finger I to be combined and swing for ninety degrees from back to top to front and back, and the transverse rib conveyer returns to the initial state. The transverse rib pushing cylinder drives the transverse rib pushing plate to horizontally move from right to left to return to the initial state. The transverse bar lifting cylinder drives the transverse bar storage bin, the transverse bar bin sensor, the transverse bar lifting electric cylinder, the transverse bar lifting support, the transverse bar pushing cylinder, the transverse bar pushing plate and the combination of the rest transverse bars in a stack to ascend and return to an initial state.

4) The welding robot spot-welds the transverse rib in the clamping of the transverse rib clamping groove II and the adjacent edge of the sleeve in the clamping of the support finger II; when necessary, the servo motor is rotated to drive the clamp holder of the transverse rib of the sleeve to rotate, so that the adjacent edges of the transverse rib and the sleeve face towards an angle suitable for welding.

5) The servo motor is rotated to drive the sleeve transverse rib clamp holder to rotate, so that the transverse rib rotates the parallel clamping jaw to turn over to the left side of the parallel opening and closing type three-jaw II; the longitudinal bar lifting electric cylinder lifts a stack of longitudinal bars upwards, and the longitudinal bar lifting electric cylinder stops lifting after the uppermost longitudinal bar enters the sensing area of the longitudinal bar sensor; the stud conveying vertical cylinder drives the stud conveying electromagnet assembly to descend, the stud conveying electromagnet touches and attracts the uppermost longitudinal stud, and the stud conveying vertical cylinder drives the stud conveying electromagnet assembly to ascend; the combination of the vertical cylinder of stud conveying horizontal cylinder drive stud conveying, stud conveying electromagnet assembly and vertical stud is along the level from left the place ahead rear translation right, and the vertical cylinder of stud conveying drives stud conveying electromagnet assembly to descend simultaneously, and right trapezoid's the muscle of indulging leans on tight horizontal rib leading flank middle part with base vertically waist, and the short base of indulging the muscle leans on tightly towards the right side and the left side of the outer face of cylinder of sleeve.

6) The welding robot spot-welds the adjacent edges between the longitudinal ribs and the transverse ribs or the sleeves; after welding is firm and cooling is carried out, the stud conveying electromagnet stops attracting, the stud conveying vertical cylinder drives the stud conveying electromagnet assembly to ascend, the stud conveying electromagnet leaves the longitudinal stud, and the stud conveying horizontal cylinder drives the combination of the stud conveying vertical cylinder and the stud conveying electromagnet assembly to horizontally move from the right rear to the left front along the horizontal direction to return to the initial position; when necessary, the servo motor is rotated to drive the sleeve transverse rib clamp to rotate to an angle convenient for welding, and a welding robot supplements a plurality of welding spots.

7) After spot welding is finished, the servo motor is rotated to drive the sleeve transverse rib clamp holder to rotate, and the transverse rib rotates the parallel clamping jaw to turn to be right below the parallel opening and closing type three-jaw II; the transverse ribs and the longitudinal ribs are positioned right below the parallel opening and closing type three-jaw II; the bottom plate storage electric cylinder drives a stacked plurality of bottom plates to move upwards, and the bottom plate storage electric cylinder stops moving upwards after the uppermost bottom plate enters the sensing area of the bottom plate storage sensor; the pin-tightening cylinder is extended, and the pin is inserted into the positioning groove of the bottom plate fixing plate, so that the bottom plate fixing assembly can be prevented from rotating around the rotating shaft; the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly to descend, the bottom plate conveying electromagnet touches and attracts the uppermost bottom plate, the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly and the bottom plate to be combined to ascend, and the bottom plate conveying horizontal cylinder drives the bottom plate conveying lifting cylinder, the bottom plate conveying electromagnet assembly and the bottom plate to be combined to translate from front to back; the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly and the bottom plate to be combined to descend, the bottom plate conveying electromagnet assembly stops attracting, the attracted bottom plate falls onto the bottom plate placing surface, a left bottom plate hole and a right bottom plate hole penetrate through the two bottom plate positioning pins respectively, the corner pressing cylinder starts to press the upper surface of the bottom plate, and the bottom plate is fixed on the bottom plate fixing plate; the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly to move upwards in a translation mode, the bottom plate conveying electromagnet assembly is far away from the bottom plate, the bottom plate conveying horizontal cylinder drives the combination of the bottom plate conveying lifting cylinder and the bottom plate conveying electromagnet assembly to move forwards from back to front, and the bottom plate conveying electromagnet assembly is far away from the upper space of the bottom plate; the floor conveyor returns to the initial state; the flexible cylinder of bottom plate starts, and the combination that drive bottom plate fixed plate, corner compressed tightly cylinder and bottom plate translates upwards, and the upper surface of bottom plate leans on tight horizontal muscle and indulges muscle limit down, and bottom plate fixed plate constant head tank translation up slides the bolt in bottom plate fixed plate constant head tank to prevent that the fixed subassembly of bottom plate from revoluting the axis of rotation and rotating. The bottom plate is accurately positioned by the bottom plate fixing component, the sleeve, the transverse rib and the longitudinal rib are accurately positioned by the sleeve transverse rib clamping device, and the sleeve, the transverse rib and the longitudinal rib are close to each other to ensure that the mutual position relation meets the technical requirements. And spot-welding the bottom plate with the adjacent edges of the transverse ribs and the longitudinal ribs by a welding robot.

8) The pin tightening cylinder contracts, and the pin leaves the positioning groove of the bottom plate fixing plate. Because the bottom plate has already spot welding hookup with horizontal muscle and indulge the muscle, rotate the horizontal muscle holder of servo motor drive sleeve rotatory, rotatory together with sleeve, horizontal muscle, indulge muscle and bottom plate, bottom plate fixed subassembly, rotate servo motor drive work piece and treat that the welded seam is rotatory to the position that the orientation is most convenient to weld, generally will avoid welding on one's back, rotate while full weld, until full weld completion, sleeve, horizontal muscle, indulge muscle and bottom plate mutual fixed hookup become bearing roller bearing frame.

9) And fully cooling the welded workpiece. The sleeve transverse rib clamp and the bottom plate fixing component are rigidly connected through a hinge, and can resist partial shrinkage deformation resistance in the cooling process, so that the position relation among important geometric elements such as the inner cylindrical surface of the sleeve, the front clamping groove, the rear clamping groove, the lower surface of the bottom plate, the left hole of the bottom plate and the right hole of the bottom plate is ensured to the maximum extent, and the precision of a finished product is improved.

10) The servo motor is rotated to drive the transverse rib holder of the sleeve to rotate, so that the bottom plate is positioned right below the sleeve. The sleeve pushing cylinder I and the sleeve pushing cylinder II are kept in an extending state, the sleeve pushing cylinder III is started to drive the sleeve pushing rod, the parallel opening and closing type three-jaw I and the three supporting fingers I to move backwards in a horizontal moving mode, and the supporting fingers I stretch into the inner space surrounded by the sleeve. The first parallel opening and closing type three-jaw drives the three support fingers to be away from the axial lead of the first parallel opening and closing type three-jaw simultaneously, and the three support fingers support the inner cylindrical surface of the sleeve barrel through a support circular arc surface, so that the carrier roller bearing block is clamped. The two parallel opening and closing type three-jaw drives the two three support fingers to synchronously approach the axial lead of the two parallel opening and closing type three-jaw, and the two three support fingers release the clamping of the carrier roller bearing seat. The sleeve pushing cylinder I and the sleeve pushing cylinder II are kept in an extending state, the sleeve pushing cylinder III is started reversely, the sleeve pushing rod, the parallel opening and closing type three-jaw I, the three supporting fingers I and the carrier roller bearing seat are driven to move forwards in a translation mode, and the carrier roller bearing seat is translated to a space at the rear portion of the sleeve stocker. The first parallel opening and closing type three-jaw drives the three support fingers to synchronously approach the axial lead of the first parallel opening and closing type three-jaw, so that the clamping of the carrier roller bearing seat is released. The sleeve pushing cylinder I and the sleeve pushing cylinder II contract synchronously to drive the parallel opening and closing type three-jaw I and the supporting finger to move forwards and return to an initial position, the supporting finger returns to an outlet before the sleeve is stored after the sleeve is stored, the roller bearing seat is blocked by the outlet after the sleeve is stored and falls into a roller bearing seat receiving device below, the sleeve close to the upper portion in the sleeve stocker automatically falls to the bottom to become the next lowest sleeve, and a production cycle is completed.

Parallel open-close type three-jaw, including parallel open-close type three-jaw one and parallel open-close type three-jaw two, use comparatively ripe pneumatic element in the industrial automation, parallel open-close type three-jaw includes parallel open-close type three-jaw cylinder body and three parallel open-close type three-jaw body, three parallel open-close type three-jaw body is around the even array distribution of axial lead of parallel open-close type three-jaw cylinder body, three parallel open-close type three-jaw body leaves in step or is close to the axial lead of parallel open-close type three-jaw cylinder body in step.

Parallel clamping jaw, including horizontal muscle swing parallel clamping jaw and horizontal muscle rotation parallel clamping jaw, use comparatively ripe pneumatic component in the industrial automation, parallel clamping jaw includes parallel clamping jaw cylinder body and two parallel clamping jaw bodies, and two parallel clamping jaw bodies are synchronous to the translation in opposite directions or carry the translation on the back mutually. No matter which position the two parallel clamping jaw bodies move, a symmetrical plane with unchanged position is formed.

The invention has the beneficial effects that: the boring machine is changed into lathe machining, the efficiency is high, the machining precision is guaranteed, the automation degree is high, and the labor intensity is reduced.

Drawings

Fig. 1 is a schematic partially cut-away view of the three-dimensional structure of an idler chock 100;

fig. 2 is a schematic diagram of a three-dimensional structure of an embodiment of the present invention, in which a bottom plate telescopic cylinder 922 drives a combination of a bottom plate fixing plate 923, a corner pressing cylinder 924, and a bottom plate 104 to move upward, and an upper surface of the bottom plate 104 abuts against downward edges of a transverse rib 102 and a longitudinal rib 103;

fig. 3 is a partial sectional view of the three-dimensional structure of the combination of the sleeve pusher 1 and the sleeve stocker 2, and the sleeve pushing cylinder three 13 is reversely activated to drive the sleeve pushing rod 14, the parallel opening and closing type three claws one 15, the three support fingers one 16 and the idler chock 100 to translate forward, and the idler chock 100 translates to the space at the rear of the sleeve stocker 2;

FIG. 4 is a schematic three-dimensional structure of the first support finger 16;

fig. 5 is a partial cross-sectional view of the three-dimensional structure of the sleeve stocker 2;

fig. 6 is a schematic three-dimensional structure of the transverse bar stocker 3;

fig. 7 is a schematic diagram of a three-dimensional structure of a combination of the transverse rib conveyor 4 and the clamping rotator 9, in which the transverse rib pushing cylinder 41 drives the combination of the transverse rib swinging cylinder 42, the transverse rib swinging parallel clamping jaw 43, the transverse rib clamping finger 44 and the transverse rib 102 to move horizontally from right to left, and the inner circular shape of the transverse rib 102 is just embedded with the right rear end of the outer cylindrical surface of the sleeve 101 clamped by the supporting finger 914;

FIG. 8 is a schematic three-dimensional view of the first transverse rib holding finger 44;

fig. 9 is a schematic three-dimensional structure of the sleeve cross rib holder 91, and the held sleeve 101 is partially cut;

FIG. 10 is a schematic three-dimensional view of the rotational support 912;

FIG. 11 is a schematic three-dimensional structure of support finger II 914;

fig. 12 is a schematic three-dimensional structure of the second transverse rib clamping finger 916;

FIG. 13 is a schematic three-dimensional view of the bottom plate retaining assembly 92;

FIG. 14 is a schematic three-dimensional structure of pinning assembly 93;

fig. 15 is a schematic three-dimensional structure of the longitudinal bar stocker 5;

figure 16 is a schematic three-dimensional view of the combination of the stud conveyor 6 and the gripper rotor 9,

fig. 17 is a schematic three-dimensional structure of the floor stocker 7;

figure 18 is a schematic view of the three-dimensional structure of the combination of the floor conveyor 8 and the gripper rotor 9,

shown in the figure: 0. a frame; 01. a roller bearing seat receiving device;

1. a sleeve pusher; 11. a sleeve pushing cylinder I; 111. the sleeve pushes the cylinder body I; 112. the sleeve pushes a first combination of a piston rod and a guide rod; 12. a sleeve pushing cylinder II; 121. the sleeve pushes the cylinder body II; 122. the sleeve pushes a second combination of the piston rod and the guide rod; 13. a sleeve pushing cylinder III; 131. the sleeve pushes the cylinder body III; 132. the sleeve pushes a third combination of the piston rod and the guide rod; 14. a sleeve push rod; 141. a push rod cylindrical outer surface; 15. a first parallel opening and closing type three-jaw; 151. a first parallel opening and closing type three-jaw cylinder body; 152. a first parallel opening and closing type three-claw body; 16. a first support finger; 161. the supporting finger is a mounting surface; 162. the supporting finger is used for supporting the arc surface; 163. the supporting fingers lift the arc surface; 164. the supporting finger is arranged on the front end surface; 165. the supporting finger is a rear positioning surface; 2. a sleeve stocker; 21. a sleeve material storage V-shaped bin; 22. a sleeve material storage vertical cylinder; 23. a sleeve storage front outlet; 24. the sleeve stores the material and then is discharged; 3. a transverse bar stocker; 31. a transverse bar storage bin; 32. a transverse tendon bin sensor; 33. the transverse bar lifts the electric cylinder; 331. the transverse ribs lift the cylinder body; 332. the transverse bar lifts the combination of the push rod, the guide rod and the push plate; 34. the transverse bar lifting bracket; 35. a transverse rib lifting cylinder; 351. the transverse ribs lift the cylinder body; 352. the transverse rib lifts the combination of the piston rod and the guide rod; 36. a transverse rib pushing cylinder; 361. the transverse ribs push the cylinder body; 362. the transverse rib pushes the combination of the piston rod and the guide rod; 37. a transverse rib pushing plate; 4. a transverse rib conveyor; 41. a transverse rib pushing cylinder; 411. the transverse ribs push the cylinder body; 412. the transverse rib pushes the combination of the piston rod and the guide rod; 42. a transverse rib swing cylinder; 421. the transverse rib swings the cylinder body; 422. the transverse rib swings the cylinder rotating rod; 43. the transverse rib swings the parallel clamping jaw; 431. the transverse rib swings the parallel clamping jaw cylinder body; 432. the transverse rib swings the parallel clamping claw body; 44. the transverse rib clamping finger I; 441. the transverse rib clamping groove I; 442. the transverse bar clamping refers to an installation surface; 5. a longitudinal bar stocker; 51. a longitudinal bar storage bin; 52. a longitudinal rib sensor; 53. lifting the electric cylinder by the longitudinal bar; 531. the longitudinal ribs lift the cylinder body; 532. the combination of the longitudinal bar lifting push rod, the guide rod and the supporting plate; 6. a stud conveyor; 61. the vertical bar conveying horizontal cylinder; 611. the vertical bars convey the horizontal cylinder body; 612. the vertical rib conveys the combination of the horizontal piston rod and the guide rod; 62. the vertical bar conveying vertical cylinder; 621. the stud conveys the vertical cylinder block; 622. the vertical rib transmits the combination of the vertical piston rod and the guide rod; 63. the stud transmits the electromagnet assembly; 631. the stud transmits the electro-magnet; 632. the vertical bar conveying electromagnet support; 7. a bottom plate stocker; 71. a bottom plate storage bin; 72. a bottom plate storage sensor; 73. a bottom plate material storage electric cylinder; 731. a bottom plate storage cylinder body; 732. the combination of a bottom plate material storage electric cylinder push rod, a guide rod and a supporting plate; 8. a floor conveyor; 81. a bottom plate transfer horizontal cylinder; 811. a bottom plate conveying the horizontal cylinder block; 812. the bottom plate conveys the combination of the horizontal piston rod and the guide rod; 82. a bottom plate conveying lifting cylinder; 821. the bottom plate conveys and lifts the cylinder block; 822. the bottom plate conveys the combination of the lifting piston rod and the guide rod; 83. a bottom plate transfer electromagnet assembly; 831. the bottom plate conveys the electromagnet support; 832. a bottom plate transfer electromagnet; 9. a clamping rotator; 91. a sleeve transverse rib clamp holder; 911. rotating the servo motor; 912. rotating the bracket; 9121. a rotating shaft; 9122. a rotating plate; 91221. a parallel open-close type three-jaw two-mounting surface; 91222. the transverse rib rotates to be parallel to the clamping jaw mounting surface; 913. a second parallel opening and closing type three-jaw; 9131. a parallel opening and closing type three-jaw two-cylinder body; 9132. a parallel opening and closing type three-jaw two-jaw body; 914. a second support finger; 9141. the supporting finger is a two-arc supporting surface; 9142. a second front boss of the supporting finger; 9143. a second support finger rear boss; 9144. mounting surfaces of the second support fingers; 915. the transverse bar rotates the parallel clamping jaw; 9151. the transverse bar rotates the parallel clamping jaw cylinder body; 9152. the transverse ribs rotate the parallel clamping jaw bodies; 916. a second transverse rib clamping finger; 9161. a transverse rib clamping groove II; 9162. the transverse rib clamping finger II is arranged on the mounting surface; 92. a bottom plate fixing assembly; 921. a bottom plate coupling frame; 9211. a bottom plate connecting frame mounting hole; 922. a bottom plate telescopic cylinder; 9221. a base plate telescopic cylinder block; 9222. the combination of a bottom plate telescopic piston rod and a guide rod; 923. a bottom plate fixing plate; 9231. a bottom plate fixing plate positioning groove; 9232. a bottom plate positioning pin; 9233. a floor-standing surface; 924. a corner pressing cylinder; 9241. compressing the cylinder block by a corner; 9242. a corner pressing cylinder pressure head; 93. a pinning assembly; 931. a pinning cylinder; 9311. pinning the cylinder block; 9312. the combination of a piston rod of the pinning cylinder and a guide rod; 932. a bolt; 100. a carrier roller bearing block; 101. a sleeve; 1011. a sleeve front end face; 1012. the rear end surface of the sleeve; 1013. a front card slot; 1014. a rear clamping groove; 1015. an inner cylindrical surface of the sleeve; 102. transverse ribs; 103. longitudinal ribs; 104. a base plate; 1041. a bottom plate left hole; 1042. and a right hole of the bottom plate.

Detailed Description

The invention is further illustrated with reference to the following figures and examples:

example (b): see fig. 1-18.

An intelligent welding workstation for automatic pairing of a carrier roller bearing seat of a mine belt feeder comprises a welding robot and a rack 0, wherein the welding robot is fixedly connected with the rack 0, and the intelligent welding workstation further comprises a sleeve pusher 1, a sleeve stocker 2, a transverse rib stocker 3, a transverse rib conveyor 4, a stud stocker 5, a stud conveyor 6, a bottom plate stocker 7, a bottom plate conveyor 8 and a clamping rotator 9;

the sleeve material storage device 2 comprises a sleeve material storage V-shaped bin 21 and a sleeve material storage vertical barrel 22, the sleeve material storage V-shaped bin 21 is a V-shaped cavity, and the upper opening of the sleeve material storage V-shaped bin 21 is large, and the lower opening of the sleeve material storage V-shaped bin is small; the sleeve material storage vertical cylinder 22 is a rectangular cylindrical cavity, the opening of the sleeve material storage vertical cylinder 22 faces upwards, and the lower end of the sleeve material storage vertical cylinder is closed; the lower port of the sleeve material storage V-shaped bin 21 is communicated with the upper port of a sleeve material storage vertical cylinder 22; the bottom of the sleeve material storage vertical cylinder 22 is provided with a sleeve material storage front outlet 23 forward and a sleeve material storage rear outlet 24 backward;

the sleeve pusher 1 comprises a sleeve pushing cylinder I11, a sleeve pushing cylinder II 12, a sleeve pushing cylinder III 13, a sleeve pushing rod 14, a parallel opening and closing type three-jaw I15 and three supporting fingers I16; the sleeve pushing cylinder I11, the sleeve pushing cylinder II 12 and the sleeve pushing cylinder III 13 are all guide rod type cylinders and are pushed backwards along the front and back horizontal directions; the sleeve pushing cylinder I11 comprises a sleeve pushing cylinder I111 and a sleeve pushing piston rod and guide rod combined I112, and the sleeve pushing cylinder I111 is fixedly connected with the rack 0; the second sleeve pushing cylinder 12 comprises a second sleeve pushing cylinder body 121 and a second sleeve pushing piston rod and guide rod combination 122, and the first sleeve pushing piston rod and guide rod combination 112 is fixedly connected with the second sleeve pushing cylinder body 121; the sleeve pushing cylinder III 13 comprises a sleeve pushing cylinder III 131 and a sleeve pushing piston rod and guide rod combined III 132, and the sleeve pushing cylinder III 131 and the sleeve pushing piston rod and guide rod combined II 122 are fixedly connected; the sleeve pushing rod 14 is provided with a pushing rod cylindrical outer surface 141, the axial lead of the sleeve pushing rod 14 is arranged along the front-back horizontal direction, and the front end of the sleeve pushing rod 14 is fixedly connected with a combined third 132 of a sleeve pushing piston rod and a guide rod; the radius of the outer cylindrical surface 141 of the push rod is equal to the radius of the outer cylinder of the sleeve 101 of the idler bearing seat 100; the parallel opening and closing type three-jaw one 15 comprises a parallel opening and closing type three-jaw cylinder one 151 and three parallel opening and closing type three-jaw bodies one 152; the first support finger 16 is provided with a support finger support arc surface 162, a support finger front end surface 164 and a support finger rear positioning surface 165; the three first support fingers 16 are fixedly connected with the three parallel opening and closing type three-claw bodies 152 respectively; the supporting finger rear positioning surface 165 abuts against the sleeve front end surface 1011 of the sleeve 101 to axially position the sleeve 101 in the front-rear direction; the first parallel opening and closing type three-jaw 15 drives the first three support fingers 16 to synchronously get away from the axial lead of the first parallel opening and closing type three-jaw 15, and a support circular arc surface 162 of the first three support fingers supports the inner cylindrical surface 1015 of the sleeve 101 to radially position the sleeve 101; at least one of the first support fingers 16 is provided with a first support finger lifting arc surface 163, the first support finger lifting arc surface 163 has the same radius with the outer cylindrical surface of the sleeve 101, the axial lines of the first support finger lifting arc surface 163 and the outer cylindrical surface of the sleeve 101 are overlapped, at least one of the first support finger lifting arc surface 163 faces upwards, and the upwards first support finger lifting arc surface 163 is used for supporting the rest of the sleeve 101 in the sleeve stocker 2; the rear end face of the sleeve pushing rod 14 is provided with a mounting hole, the parallel opening and closing type three-jaw cylinder I151 is fixedly mounted in the mounting hole in the rear end face of the sleeve pushing rod 14, and the axial lead of the cylindrical outer surface 141 of the pushing rod is superposed with the axial lead of the sleeve 101 clamped by the supporting finger I16; the front end face 164 of the support finger is close to the rear end face of the sleeve pushing rod 14;

the clamping rotator 9 comprises a sleeve transverse rib clamp 91, a bottom plate fixing assembly 92 and a pinning assembly 93; the sleeve transverse rib gripper 91 comprises a rotary servo motor 911, a rotary bracket 912, a parallel opening and closing type three-jaw two 913, a support finger two 914, a transverse rib rotary parallel clamping jaw 915 and two transverse rib gripping fingers two 916; the rotating support 912 comprises a rotating shaft 9121 and a rotating plate 9122, the axis of the rotating shaft 9121 is arranged along the front-back horizontal direction, the axis of the rotating plate 9122 is vertical to that of the rotating shaft 9121, and one end of the rotating plate 9122 is fixedly connected with the front end of the rotating shaft 9121; the rotating shaft 9121 is connected with the frame 0 through a revolute pair; a shell flange of the rotary servo motor 911 is fixedly connected with the frame 0; an output shaft of the rotary servo motor 911 is fixedly connected with the rotary shaft 9121; the parallel opening and closing type second three-jaw 913 includes a parallel opening and closing type second three-jaw cylinder 9131 and three parallel opening and closing type second three-jaw bodies 9132; the rear end of the parallel opening and closing type three-jaw two-cylinder body 9131 is fixedly connected with the front of the rotating plate 9122, the axial lead of the parallel opening and closing type two jaws 913 and the axial lead of the rotating shaft 9121 are on the same straight line, and one end of the parallel opening and closing type three-jaw two-cylinder body 9131, which is connected with the three parallel opening and closing type three-jaw two-jaw bodies 9132, faces forward; the three parallel opening and closing type three-claw two-claw bodies 9132 are fixedly connected with the three supporting fingers two 914 respectively; the second supporting finger 914 is provided with a second supporting finger arc supporting surface 9141, a second supporting finger front protruding table 9142 and a second supporting finger rear protruding table 9143; the second parallel opening and closing type three-jaw 913 drives the second three support fingers 914 to move away from the axial line of the second parallel opening and closing type three-jaw 913 synchronously, the second three support finger arc support surfaces 9141 support the inner cylindrical surface 1015 of the sleeve, the second support finger front protruding platforms 9142 are embedded into the front clamping grooves 1013 of the sleeve 101, the second support finger rear protruding platforms 9143 are embedded into the rear clamping grooves 1014 of the sleeve 101, and the sleeve 101 is fixed in the axial direction and the radial direction; the sleeve transverse rib clamp 91 is arranged at the rear part of the sleeve pusher 1, the axis of the parallel opening and closing type three-jaw II 913 and the axis of the parallel opening and closing type three-jaw I15 are on the same straight line, and the three support fingers I16 are respectively aligned with the spaces between the adjacent support fingers II 914 in the front and rear directions; the transverse rib rotating parallel clamping jaw 915 comprises a transverse rib rotating parallel clamping jaw cylinder body 9151 and two transverse rib rotating parallel clamping jaw bodies 9152; a second transverse rib clamping groove 9161 is arranged on the second transverse rib clamping finger 916; the two transverse rib clamping fingers 916 are fixedly connected with the two transverse rib rotating parallel clamping jaw bodies 9152 respectively; openings of two transverse rib clamping grooves 9161 on the two transverse rib clamping fingers 916 are opposite, the transverse rib rotates the parallel clamping jaw 915 to drive the two transverse rib clamping fingers 916 to synchronously translate in opposite directions, and the two transverse rib clamping grooves 9161 translate in opposite directions to clamp a transverse rib side edge I and a transverse rib side edge II of a transverse rib 102 of the middle carrier roller bearing block 100; the axial lead of the parallel opening-closing type three-jaw II 913 is on the symmetrical plane of the two transverse rib clamping fingers II 916; the base plate fixing assembly 92 comprises a base plate connecting frame 921, a base plate telescopic cylinder 922, a base plate fixing plate 923 and a corner pressing cylinder 924; the bottom plate telescopic cylinder 922 is a cylinder with a guide rod; the bottom plate telescopic cylinder 922 comprises a bottom plate telescopic cylinder body 9221 and a bottom plate telescopic piston rod and guide rod combination 9222; one end of the bottom plate connecting frame 921 is provided with a bottom plate connecting frame mounting hole 9211, and the other end of the bottom plate connecting frame 921 is fixedly connected with the tail end of the bottom plate telescopic cylinder body 9221; the bottom plate connecting frame mounting hole 9211 is matched with the rotating shaft 9121 to form a hinge, and the bottom plate telescopic cylinder 922 is telescopic along the radius direction of the rotating shaft 9121; the bottom plate fixing plate 923 and the bottom plate telescopic piston rod are fixedly connected with the tail end of the guide rod combination 9222; the telescopic directions of the base plate fixing plate 923 and the base plate telescopic cylinder 922 are vertical; a base plate placing surface 9233 is arranged on the base plate fixing plate 923, two base plate positioning pins 9232 are arranged on the base plate placing surface 9233, the two base plate positioning pins 9232 are positioned at the front edge of a combination 9222 of a base plate telescopic piston rod and a guide rod, one of the two base plate positioning pins 9232 is arranged at the left side, and the other is arranged at the right side; a bottom plate fixing plate positioning groove 9231 is further formed in the bottom plate fixing plate 923, and the bottom plate fixing plate positioning groove 9231 is parallel to the stretching direction of the bottom plate stretching cylinder 922; the corner pressing cylinder 924 is fixedly connected with the base plate fixing plate 923; the pinning assembly 93 includes a pinning cylinder 931 and a pin 932; the pinning cylinder 931 includes a pinning cylinder block 9311 and a pinning cylinder piston rod and guide rod combination 9312; the pinned cylinder body 9311 is fixedly connected with the frame 0; the bolt 932 is fixedly connected with a combination 9312 of a piston rod of a pinning cylinder and a guide rod; when the pin-fastening cylinder 931 is extended, the pin 932 is inserted into the bottom plate fixing plate positioning groove 9231 to prevent the bottom plate fixing assembly 92 from rotating around the rotating shaft 9121, the bottom plate telescopic cylinder 922 is telescopic, and the pin 932 slides along the bottom plate fixing plate positioning groove 9231; when the pin tightening cylinder 931 contracts, the pin 932 leaves the bottom plate fixing plate positioning groove 9231, the bottom plate fixing assembly 92 freely rotates around the rotating shaft 9121, the bottom plate fixing assembly 92 sags under the action of gravity, and the bottom plate fixing plate positioning groove 9231 and the pin 932 are always opposite to each other in the front-back direction;

the transverse bar stocker 3 comprises a transverse bar storage bin 31, a transverse bar bin sensor 32, a transverse bar lifting electric cylinder 33, a transverse bar lifting support 34, a transverse bar lifting air cylinder 35, a transverse bar pushing air cylinder 36 and a transverse bar pushing plate 37; the transverse bar storage bin 31 is through up and down; the side plates on the left and right sides of the transverse bar storage bin 31 are shorter than the side plates on the front and rear sides; the transverse bar bin sensor 32 is fixedly connected to the top end of the front side plate of the transverse bar storage bin 31; the transverse bar lifting electric cylinder 33 is of a type with a guide rod; the transverse bar lifting electric cylinder 33 comprises a transverse bar lifting electric cylinder body 331 and a transverse bar lifting push rod-guide rod-push plate combination 332; the transverse bar lifting cylinder body 331 is fixedly connected with the transverse bar storage bin 31; the transverse bar lifting push rod-guide rod-push plate combination 332 is positioned in the transverse bar storage bin 31; the transverse rib pushing cylinder 36 is a cylinder with a guide rod; the transverse rib pushing cylinder 36 comprises a transverse rib pushing cylinder body 361 and a transverse rib pushing piston rod and guide rod combination 362; the transverse bar pushing cylinder body 361 is fixedly connected with the transverse bar storage bin 31; the transverse rib pushing plate 37 and the combination 362 of the transverse rib pushing piston rod and the guide rod are fixedly connected; the transverse ribs 102 are horizontally stacked in the transverse rib storage bin 31 and on the upper part of the transverse rib lifting push rod-guide rod-push plate combination 332; the transverse bar lifting electric cylinder 33 lifts the transverse bar 102 upwards; the transverse rib lifting cylinder 35 is a cylinder with a guide rod; the transverse bar lifting cylinder 35 comprises a transverse bar lifting cylinder body 351 and a combination 352 of a transverse bar lifting piston rod and a guide rod; the transverse bar lifting cylinder body 351 is fixedly connected with the frame 0; the combination 352 of the transverse bar lifting piston rod and the guide rod is fixedly connected with the transverse bar storage bin 31 through the transverse bar lifting bracket 34;

the transverse rib conveyor 4 comprises a transverse rib pushing cylinder 41, a transverse rib swinging cylinder 42, a transverse rib swinging parallel clamping jaw 43 and a transverse rib clamping finger I44; the transverse rib pushing cylinder 41 is a cylinder with a guide rod; the transverse rib pushing cylinder 41 comprises a transverse rib pushing cylinder 411 and a combination 412 of a transverse rib pushing piston rod and a guide rod; the transverse rib swing cylinder 42 includes a transverse rib swing cylinder block 421 and a transverse rib swing cylinder rotating rod 422; the transverse rib swinging cylinder block 421 is fixedly connected with a transverse rib pushing piston rod and guide rod combination 412; the transverse rib swinging parallel clamping jaw 43 comprises a transverse rib swinging parallel clamping jaw cylinder body 431 and two transverse rib swinging parallel clamping jaw bodies 432; the transverse rib swinging parallel clamping jaw cylinder body 431 is fixedly connected with the transverse rib swinging cylinder rotating rod 422; the first transverse rib clamping finger 44 comprises a first transverse rib clamping groove 441, and the first two transverse rib clamping fingers 44 are fixedly connected with the two transverse rib swinging parallel clamping jaw bodies 432 respectively; the two transverse rib clamping grooves I441 are opposite, and the axial lead of the transverse rib swinging cylinder rotating rod 422 is on the symmetrical plane of the two transverse rib clamping grooves I441;

the longitudinal bar stocker 5 comprises a longitudinal bar storage bin 51, a longitudinal bar sensor 52 and a longitudinal bar lifting electric cylinder 53; the longitudinal bar storage bin 51 is through up and down; the longitudinal bar storage bin 51 is fixedly connected with the frame 0; the longitudinal bar lifting electric cylinder 53 is a guide rod type electric cylinder; the longitudinal bar lifting electric cylinder 53 comprises a longitudinal bar lifting electric cylinder body 531 and a combination 532 of a longitudinal bar lifting push rod-guide rod-supporting plate; the longitudinal bar lifting cylinder body 531 is fixedly connected with the longitudinal bar storage bin 51; the combination 532 of the longitudinal bar lifting push rod-guide rod-supporting plate is positioned in the longitudinal bar storage bin 51; the longitudinal bar sensor 52 is fixedly connected with the upper edge of the longitudinal bar storage bin 51; the longitudinal bar lifting electric cylinder 53 lifts a stack of longitudinal bars 103 upwards, and the longitudinal bar lifting electric cylinder 53 stops after the uppermost longitudinal bar 103 enters the sensing area of the longitudinal bar sensor 52; the longitudinal bar stocker 5 is positioned in front of the left of the parallel opening and closing type second three-jaw 913;

the stud conveyer 6 comprises a stud conveying horizontal cylinder 61, a stud conveying vertical cylinder 62 and a stud conveying electromagnet assembly 63; the vertical rib conveying horizontal cylinder 61 and the vertical rib conveying vertical cylinder 62 are both cylinder with guide rods; the stud-transfer horizontal cylinder 61 includes a stud-transfer horizontal cylinder block 611 and a stud-transfer horizontal piston rod and guide rod combination 612; the stud-transfer vertical cylinder 62 includes a stud-transfer vertical cylinder block 621 and a stud-transfer vertical piston rod and guide rod combination 622; the stud transfer electromagnet assembly 63 comprises a stud transfer electromagnet 631 and a stud transfer electromagnet support 632 that are fixedly connected with each other; the extending direction of the stud transfer horizontal cylinder 61 is horizontal from the left front to the right rear; the stud-conveying horizontal cylinder block 611 is fixedly connected with the frame 0; the combination 612 of the stud-conveying horizontal piston rod and the guide rod is fixedly connected with a stud-conveying vertical cylinder block 621; the stud transfer electromagnet support 632 is fixedly connected with the stud transfer vertical piston rod and guide rod combination 622; the extending direction of the stud-conveying vertical cylinder 62 is vertically upward; the stud transfer electromagnet 631 is fixedly connected with the stud transfer electromagnet support 632;

the bottom plate stocker 7 comprises a bottom plate storage bin 71, a bottom plate storage sensor 72 and a bottom plate storage electric cylinder 73; the bottom plate storage bin 71 is through up and down, and the bottom plate storage sensor 72 is fixedly arranged on the upper edge of the bottom plate storage bin 71; the bottom plate storage bin 71 is fixedly connected with the frame 0; the bottom plate storage electric cylinder 73 is a belt guide rod electric cylinder; the bottom plate material storage electric cylinder 73 comprises a bottom plate material storage electric cylinder body 731 and a bottom plate material storage electric cylinder push rod-guide rod-supporting plate combination 732; the bottom plate storage cylinder 731 is fixedly connected with the bottom plate storage bin 71; the bottom plate storage electric cylinder push rod-guide rod-supporting plate combination 732 is positioned in the bottom plate storage bin 71; a plurality of bottom plates 104 are stacked up and down in the horizontal direction and are stacked in the bottom plate storage bin 71 and on a bottom plate storage electric cylinder push rod-guide rod-supporting plate combination 732;

the bottom plate conveyor 8 comprises a bottom plate conveying horizontal cylinder 81, a bottom plate conveying lifting cylinder 82 and a bottom plate conveying electromagnet assembly 83; the bottom plate conveying horizontal cylinder 81 and the bottom plate conveying lifting cylinder 82 are both of a cylinder type with a guide rod; the bottom plate transfer horizontal cylinder 81 includes a bottom plate transfer horizontal cylinder block 811 and a bottom plate transfer horizontal piston rod and guide rod combination 812; the floor transfer lift cylinder 82 includes a floor transfer lift cylinder block 821 and a floor transfer lift piston rod and guide rod combination 822; the floor transport electromagnet assembly 83 includes a floor transport electromagnet support 831 and a floor transport electromagnet 832 fixedly coupled to each other; the bottom plate transmission horizontal cylinder body 811 is fixedly connected with the frame 0; a bottom plate transfer horizontal piston rod and guide rod combination 812 and a bottom plate transfer lifting cylinder block 821 are fixedly connected; the bottom plate transfer lifting piston rod and guide rod combination 822 is fixedly connected with a bottom plate transfer electromagnet bracket 831; the bottom plate transfer horizontal cylinder 81 drives the combination of the bottom plate transfer lift cylinder 82 and the bottom plate transfer electromagnet assembly 83 to translate in the front-to-rear direction, and the bottom plate transfer lift cylinder 82 drives the bottom plate transfer electromagnet assembly 83 to translate in the up-to-down direction.

The working process of this embodiment is as follows.

0) The sleeve stocker 2 is filled with sleeves 101. A pile of transverse ribs 102 is placed in the transverse rib storage bin 31 and on the upper part of a transverse rib lifting push rod-guide rod-push plate combination 332. A stack of longitudinal bars 103 is placed in the longitudinal bar storage bin 51 above the longitudinal bar lifting push rod-guide rod-support plate combination 532. A stack of floors 104 is placed in the floor storage silo 71 above the push rod-guide-pallet combination 732 of the electrical floor storage cylinders.

1) The sleeve pushing cylinder I11, the sleeve pushing cylinder II 12 and the sleeve pushing cylinder III 13 are in a retracted state in an initial state, and the three supporting fingers I16 are positioned in the sleeve material storage front outlet 23; the sleeve pushing cylinder I11 is started, the sleeve pushing cylinder II 12, the sleeve pushing cylinder III 13, the sleeve pushing rod 14, the parallel opening and closing type three-jaw I15 and the three supporting finger I16 are driven to move backwards, the supporting finger I rear positioning surface 165 is tightly close to and pushes the front end surface of the lowest sleeve 101 in the sleeve stocker 2, then the parallel opening and closing type three-jaw I15 drives the three supporting finger I16 to be synchronously far away from the axial lead of the parallel opening and closing type three-jaw I15, and the three supporting finger supporting circular arc surface 162 supports the sleeve inner cylindrical surface 1015 of the sleeve 101, so that the sleeve 101 is clamped.

2) Keeping the sleeve pushing cylinder I11 in an extending state, simultaneously extending the sleeve pushing cylinder II 12 and the sleeve pushing cylinder III 13, driving the combination of the sleeve pushing rod 14, the parallel opening and closing type three-jaw I15, the three supporting fingers I16 and the sleeve 101 clamped by the supporting fingers I16 to translate backwards through the sleeve storage back outlet 24, and supporting the other sleeves 101 on the inner upper part of the sleeve pushing rod by the supporting fingers I16 lifting arc surfaces 163 and the upper side of the cylindrical outer surface 141 of the pushing rod when passing through the sleeve stocker 2; the sleeve 101 clamped by the first support finger 16 is pushed to the periphery of the common area of the two circular arc support surfaces 9141 of the three support fingers, and the three first support fingers 16 are respectively inserted into the space between the two adjacent support fingers 914, namely, the three first support fingers 16 and the three second support fingers 914 are arranged along the circumference around the axial line of the two parallel opening and closing type three claws 913, are arranged at intervals and are staggered with each other without mutual interference. The second parallel opening and closing type three-jaw 913 drives the second three support fingers 914 to move away from the axial lead of the second parallel opening and closing type three-jaw 913 synchronously, the second three support finger arc support surfaces 9141 support the inner cylindrical surface 1015 of the sleeve, the second support finger front protruding platforms 9142 are embedded into the front clamping grooves 1013, the second support finger rear protruding platforms 9143 are embedded into the rear clamping grooves 1014, and the sleeve 101 is fixed in the axial direction and the radial direction; the first parallel opening and closing type three-jaw 15 drives the first three support fingers 16 to synchronously approach the axial lead of the first parallel opening and closing type three-jaw 15, a support circular arc surface 162 of the first three support fingers leaves the inner cylindrical surface 1015 of the sleeve, the third sleeve pushing cylinder 13 is started reversely, the sleeve pushing rod 14, the first parallel opening and closing type three-jaw 15 and the first three support fingers 16 are driven to translate towards the front until the first support fingers 16 are positioned in front of the sleeve stocker 2, and the first support fingers 16 are far away from the sleeve 101.

3) The transverse bar lifting electric cylinder 33 lifts a stack of transverse bars 102 upwards, when the uppermost transverse bar 102 reaches the upper edge of the transverse bar storage bin 31, the transverse bar bin sensor 32 is triggered, the transverse bar lifting electric cylinder 33 stops, the transverse bar pushing air cylinder 36 drives the transverse bar pushing plate 37 to translate from left to right, the first end, with the inner arc shape, of the uppermost transverse bar 102 is pushed, the second end of the transverse bar 102 is hung out of the transverse bar storage bin 31 and extends to the space between the two transverse bar clamping grooves I441; the transverse rib swinging parallel clamping jaw 43 drives the two transverse rib clamping fingers 44 to move horizontally in opposite directions, and the two transverse rib clamping grooves 441 clamp a transverse rib side edge I and a transverse rib side edge II at the second end of the transverse rib 102; the transverse rib lifting cylinder 35 drives the transverse rib storage bin 31, the transverse rib bin sensor 32, the transverse rib lifting electric cylinder 33, the transverse rib lifting support 34, the transverse rib pushing cylinder 36, the transverse rib pushing plate 37 and the rest of the combination of the stack of transverse ribs 102 to descend, so that enough space is provided for the next step of driving the transverse rib swinging parallel clamping jaw 43 by the transverse rib swinging cylinder 42, the transverse rib clamping finger 44 and the combined swinging of the transverse ribs 102, and the transverse ribs 102 clamped by the two transverse rib clamping fingers 44 are separated from the stack of transverse ribs 102 of the transverse rib storage bin 31; the transverse rib swinging cylinder 42 drives the combination of the transverse rib swinging parallel clamping jaw 43, the transverse rib clamping finger I44 and the transverse rib 102 to swing ninety degrees from front to bottom to back and up around the axis line of the transverse rib swinging cylinder rotating rod 422, and the transverse rib 102 is in a vertical state which is vertical to the front-back horizontal direction and has a first end facing left; the transverse rib pushing cylinder 41 drives the combination of the transverse rib swinging cylinder 42, the transverse rib swinging parallel clamping jaw 43, the transverse rib clamping finger I44 and the transverse rib 102 to translate from right to left, and the inner circular arc of the transverse rib 102 is just embedded with the rear end of the right side of the outer cylindrical surface of the sleeve 101 clamped by the supporting finger II 914; the first transverse rib side edge and the second transverse rib side edge at the first end of the transverse rib 102 are also just positioned in the space between the two second transverse rib clamping grooves 9161; the transverse rib rotating parallel clamping jaw 915 drives the two transverse rib clamping fingers 916 to synchronously translate in opposite directions, and the two transverse rib clamping grooves two 9161 translate in opposite directions to respectively clamp a transverse rib side edge I and a transverse rib side edge II of the middle transverse rib 102; the transverse rib swinging parallel clamping jaw 43 drives the two transverse rib clamping fingers 44 to synchronously move back to back, and the two transverse rib clamping grooves 441 leave the transverse rib side I and the transverse rib side II; the transverse rib pushing cylinder 41 drives the combination of the transverse rib swinging cylinder 42, the transverse rib swinging parallel clamping jaw 43 and the transverse rib clamping finger I44 to translate from left to right, and the two transverse rib clamping grooves I441 respectively leave the upper side and the lower side of the transverse rib 102; the transverse rib swinging cylinder 42 drives the combination of the transverse rib swinging parallel clamping jaw 43 and the transverse rib clamping finger 44 to swing ninety degrees from back to top to front and back, and the transverse rib conveyer 4 returns to the initial state. The transverse rib pushing cylinder 36 drives the transverse rib pushing plate 37 to translate from right to left to return to the initial state. The transverse bar lifting cylinder 35 drives the transverse bar storage bin 31, the transverse bar bin sensor 32, the transverse bar lifting electric cylinder 33, the transverse bar lifting support 34, the transverse bar pushing cylinder 36, the transverse bar pushing plate 37 and the rest of the stack of transverse bars 102 to ascend and return to the initial state.

4) The welding robot spot-welds the adjacent edges of the transverse rib 102 clamped by the transverse rib clamping groove II 9161 and the sleeve 101 clamped by the support finger II 914; the transverse bar holder 91 of the sleeve is driven to rotate by rotating the servo motor 911 as necessary, so that the adjacent edges of the transverse bar 102 and the sleeve 101 face an angle suitable for welding.

5) A rotary servo motor 911 drives the sleeve transverse rib gripper 91 to rotate, so that the transverse rib rotates the parallel clamping jaw to turn over to the left of the parallel opening and closing type three-jaw two 913; the longitudinal bar lifting electric cylinder 53 lifts a stack of longitudinal bars 103 upwards, and the longitudinal bar lifting electric cylinder 53 stops lifting after the uppermost longitudinal bar 103 enters the sensing area of the longitudinal bar sensor 52; the stud conveying vertical cylinder 62 drives the stud conveying electromagnet assembly 63 to descend, the stud conveying electromagnet 631 touches and attracts the uppermost longitudinal stud 103, and the stud conveying vertical cylinder 62 drives the stud conveying electromagnet assembly 63 to ascend; the combination of the vertical cylinder 62 of stud conveying, the vertical electromagnet assembly 63 of stud conveying and the vertical rib 103 of the drive of the horizontal cylinder 61 of stud conveying and the right rear translation from the left front side along the level, and the vertical cylinder 62 of stud conveying drives the electromagnet assembly 63 of stud conveying to descend simultaneously, and the vertical rib 103 of right trapezoid and the waist with the vertical base are close to the middle part of the front side surface of the transverse rib 102, and the short base of the vertical rib 103 is close to the left side of the outer cylindrical surface of the sleeve 101 towards the right.

6) The adjacent edges between the longitudinal ribs 103 and the transverse ribs 102 or the sleeve 101 are spot-welded by a welding robot; after welding is firm and cooling, the stud conveying electromagnet 631 stops attracting, the stud conveying vertical cylinder 62 drives the stud conveying electromagnet assembly 63 to ascend, the stud conveying electromagnet 631 leaves the longitudinal stud 103, and the stud conveying horizontal cylinder 61 drives the combination of the stud conveying vertical cylinder 62 and the stud conveying electromagnet assembly 63 to horizontally translate from the right rear to the left front to return to the initial position; when necessary, the servo motor 911 is rotated to drive the sleeve transverse rib clamp 91 to rotate to an angle convenient for welding, and a plurality of welding spots are supplemented by the welding robot.

7) After spot welding is completed, a servo motor 911 is rotated to drive a sleeve transverse rib clamp 91 to rotate, and a transverse rib rotates a parallel clamping jaw to turn over to a position right below a parallel opening and closing type three-jaw II 913; the transverse rib 102 and the longitudinal rib 103 are both located right below the parallel opening and closing type second three-jaw 913, as shown in fig. 2; the bottom plate storing electric cylinder 73 drives a plurality of stacked bottom plates 104 to move upwards, and the bottom plate storing electric cylinder 73 stops moving upwards after the uppermost bottom plate 104 enters the sensing area of the bottom plate storing sensor 72; the pin-fastening cylinder 931 is extended, and the pin 932 is inserted into the bottom plate fixing plate positioning groove 9231, so that the bottom plate fixing assembly 92 can be prevented from rotating around the rotating shaft 9121; the bottom plate conveying lifting cylinder 82 drives the bottom plate conveying electromagnet assembly 83 to descend, the bottom plate conveying electromagnet 832 touches and attracts the uppermost bottom plate 104, the bottom plate conveying lifting cylinder 82 drives the combination of the bottom plate conveying electromagnet assembly 83 and the bottom plate 104 to ascend, and the bottom plate conveying horizontal cylinder 81 drives the combination of the bottom plate conveying lifting cylinder 82, the bottom plate conveying electromagnet assembly 83 and the bottom plate 104 to translate from front to back; the bottom plate conveying lifting cylinder 82 drives the bottom plate conveying electromagnet assembly 83 and the bottom plate 104 to be combined to descend, the bottom plate conveying electromagnet assembly 83 stops attracting, the attracted bottom plate 104 falls on the bottom plate placing surface 9233, the bottom plate left hole 1041 and the bottom plate right hole 1042 penetrate through the two bottom plate positioning pins 9232 respectively, the corner pressing cylinder 924 starts to press the upper surface of the bottom plate 104, and the bottom plate 104 is fixed on the bottom plate fixing plate 923; the pallet transport lift cylinder 82 drives the pallet transport electromagnet assembly 83 to translate upward, the pallet transport electromagnet 832 moves away from the pallet 104, the pallet transport horizontal cylinder 81 drives the combination of the pallet transport lift cylinder 82 and the pallet transport electromagnet assembly 83 to translate from back to front, and the pallet transport electromagnet 832 moves away from the upper space of the pallet 104; the floor conveyor 8 returns to the initial state; the flexible cylinder 922 of bottom plate starts, and drive bottom plate fixed plate 923, the corner compresses tightly the combination translation that makes progress of cylinder 924 and bottom plate 104, and the upper surface of bottom plate 104 leans on tight horizontal muscle 102 and indulges muscle 103 limit down, and bottom plate fixed plate constant head tank 9231 translation up slides, and bolt 932 slides in bottom plate fixed plate constant head tank 9231 to prevent that bottom plate fixed subassembly 92 from revolving the rotation of axis 9121. The bottom plate 104 is accurately positioned by the bottom plate fixing component 92, and the sleeve 101, the transverse rib 102 and the longitudinal rib 103 are accurately positioned by the sleeve transverse rib clamp 91 and lean together to ensure that the mutual position relation meets the technical requirements. The adjacent sides of the base plate 104 and the lateral and

longitudinal ribs

102 and 103 are spot-welded by a welding robot.

8) The latch cylinder 931 retracts and the latch 932 moves out of the bottom plate retainer plate positioning slot 9231. Because the base plate 104, the transverse ribs 102 and the longitudinal ribs 103 are connected in a spot welding mode, the sleeve transverse rib clamp 91 is driven to rotate by the rotating servo motor 911, the sleeve 101, the transverse ribs 102, the longitudinal ribs 103, the base plate 104 and the base plate fixing component 92 rotate together, a welding seam to be welded of a workpiece is driven to rotate to the position facing the most convenient welding direction by the rotating servo motor 911, the sleeve 101, the transverse ribs 102, the longitudinal ribs 103 and the base plate 104 are connected with one another in a fixed mode to form the carrier roller bearing seat 100 when the welding seam to be welded is rotated to the position facing the most convenient welding direction and is generally avoided from overhead.

9) And fully cooling the welded workpiece. The sleeve transverse rib clamp 91 and the bottom plate fixing assembly 92 are rigidly connected through a hinge, and can partially resist shrinkage deformation in the cooling process, so that the position relationship among important geometric elements such as the inner cylindrical surface 1015 of the sleeve, the front clamping groove 1013, the rear clamping groove 1014, the lower surface of the bottom plate 104, the left hole 1041 of the bottom plate and the right hole 1042 of the bottom plate is ensured to the maximum extent, and the precision of a finished product is improved.

10) The rotary servo motor 911 drives the sleeve transverse rib holder 91 to rotate, so that the bottom plate 104 is positioned right below the sleeve 101. The sleeve pushing cylinder I11 and the sleeve pushing cylinder II 12 are kept in an extending state, the sleeve pushing cylinder III 13 is started to drive the sleeve pushing rod 14, the parallel opening and closing type three-jaw I15 and the three supporting finger I16 to move backwards in a horizontal moving mode, and the supporting finger I16 extends into the inner space surrounded by the sleeve 101. The first parallel opening and closing type three-jaw 15 drives the first three support fingers 16 to synchronously get away from the axial lead of the first parallel opening and closing type three-jaw 15, and the inner cylindrical surface 1015 of the sleeve 101 is supported by a support circular arc surface 162 of the first three support fingers, so that the carrier roller bearing block 100 is clamped. The second parallel open-close type three-jaw 913 drives the second three support fingers 914 to synchronously approach the axial lead of the second parallel open-close type three-jaw 913, and the second three support fingers 914 release the clamping of the idler bearing block 100. The sleeve pushing cylinder I11 and the sleeve pushing cylinder II 12 are kept in an extending state, the sleeve pushing cylinder III 13 is started reversely, the sleeve pushing rod 14, the parallel opening and closing type three-jaw I15, the three support fingers I16 and the roller bearing block 100 are driven to move forwards in a translation mode, and the roller bearing block 100 moves to the space at the rear of the sleeve stocker 2 in a translation mode, as shown in fig. 3. The first parallel opening and closing type three-jaw 15 drives the first three support fingers 16 to synchronously approach the axial lead of the first parallel opening and closing type three-jaw 15, thereby releasing the clamping of the idler bearing block 100. The sleeve pushing cylinder I11 and the sleeve pushing cylinder II 12 contract synchronously to drive the parallel opening-closing type three-jaw I15 and the support finger I16 to translate forwards to return to the initial position, the support finger I16 returns to the sleeve storage front outlet 23 through the sleeve storage rear outlet 24, the carrier roller bearing block 100 is blocked by the sleeve storage rear outlet 24 and falls into the carrier roller bearing block receiving device 01 below, the sleeve 100 close to the upper portion in the sleeve stocker 2 automatically falls to the bottom to become the next lowermost sleeve 100, and one production cycle is completed.

Parallel open-close type three-jaw, including parallel open-close type three-jaw one 15 and parallel open-close type three-jaw two 913, use comparatively ripe pneumatic element in the industrial automation, parallel open-close type three-jaw includes parallel open-close type three-jaw cylinder body and three parallel open-close type three-jaw body, three parallel open-close type three-jaw body is around the even array distribution of axial lead of parallel open-close type three-jaw cylinder body, three parallel open-close type three-jaw body leaves in step or is close to the axial lead of parallel open-close type three-jaw cylinder body in step.

Parallel clamping jaw, including horizontal muscle swing parallel clamping jaw 43 and horizontal muscle rotation parallel clamping jaw 915, use comparatively ripe pneumatic component in the industrial automation, parallel clamping jaw includes parallel clamping jaw cylinder body and two parallel clamping jaw bodies, and two parallel clamping jaw bodies are synchronous to the translation in opposite directions or carry on the back the body translation mutually. No matter which position the two parallel clamping jaw bodies move, a symmetrical plane with unchanged position is formed.

The beneficial effects of this embodiment: the boring machine is changed into lathe machining, the efficiency is high, the machining precision is guaranteed, the automation degree is high, and the labor intensity is reduced.

Claims

1. An intelligent welding workstation for automatic assembly of a bearing seat of a carrier roller of a mine belt feeder comprises a welding robot and a frame, wherein the welding robot is fixedly connected with the frame;

the sleeve pusher comprises a sleeve pushing cylinder I, a sleeve pushing cylinder II, a sleeve pushing cylinder III, a sleeve pushing rod, a parallel opening and closing type three-jaw I and three supporting fingers I; the sleeve pushing cylinder I, the sleeve pushing cylinder II and the sleeve pushing cylinder III are all guide rod type cylinders and are pushed backwards along the front and back horizontal directions; the sleeve pushing cylinder I comprises a sleeve pushing cylinder body I and a combination I of a sleeve pushing piston rod and a guide rod, and the sleeve pushing cylinder body I is fixedly connected with the rack; the sleeve pushing cylinder II comprises a sleeve pushing cylinder body II and a combination II of a sleeve pushing piston rod and a guide rod, and the combination I of the sleeve pushing piston rod and the guide rod is fixedly connected with the sleeve pushing cylinder body II; the sleeve pushing cylinder III comprises a sleeve pushing cylinder III and a combination III of a sleeve pushing piston rod and a guide rod, and the sleeve pushing cylinder III is fixedly connected with the combination II of the sleeve pushing piston rod and the guide rod; the sleeve pushing rod is provided with a cylindrical outer surface of the pushing rod, the axial lead of the sleeve pushing rod is arranged along the front-back horizontal direction, and the front end of the sleeve pushing rod is fixedly connected with the combination III of the sleeve pushing piston rod and the guide rod; the radius of the cylindrical outer surface of the pushing rod is equal to that of the outer cylinder of the sleeve of the carrier roller bearing seat; the parallel opening and closing type three-jaw body I comprises a parallel opening and closing type three-jaw cylinder body I and three parallel opening and closing type three-jaw body I; the first support finger is provided with a support finger support arc surface, a front end surface of the support finger and a rear positioning surface of the support finger; the three support fingers I are fixedly connected with the three parallel opening and closing type three-claw bodies I respectively; the back positioning surface of the supporting finger is close to the front end surface of the sleeve; the first parallel opening and closing type three-jaw drives three support fingers to synchronously get away from the axial lead of the first parallel opening and closing type three-jaw, and a support circular arc surface of the three support fingers supports the inner cylindrical surface of the sleeve; wherein, at least one supporting finger is provided with a supporting finger lifting arc surface, the supporting finger lifting arc surface has the same radius with the outer cylindrical surface of the sleeve, the axial leads are superposed, and at least one supporting finger lifting arc surface is upward; the rear end face of the sleeve pushing rod is provided with a mounting hole, the parallel opening-closing type three-jaw cylinder body I is fixedly mounted in the mounting hole in the rear end face of the sleeve pushing rod, and the axis of the cylindrical outer surface of the pushing rod is superposed with the axis of the sleeve clamped by the supporting finger I; the front end surface of the supporting finger is close to the rear end surface of the sleeve pushing rod;

the clamping rotator comprises a sleeve transverse rib clamp holder, a bottom plate fixing assembly and a pinning assembly; the sleeve transverse rib clamp holder comprises a rotary servo motor, a rotary bracket, a parallel opening and closing type three-jaw II, a support finger II, a transverse rib rotary parallel clamping jaw and two transverse rib clamping fingers II; the rotating bracket comprises a rotating shaft and a rotating plate, the axis of the rotating shaft is arranged along the front-back horizontal direction, the rotating plate is vertical to the axis of the rotating shaft, and one end of the rotating plate is fixedly connected with the front end of the rotating shaft; the rotating shaft is connected with the frame through a rotating pair; a shell flange of the rotary servo motor is fixedly connected with the rack; an output shaft of the rotary servo motor is fixedly connected with the rotary shaft; the parallel opening and closing type three-jaw II comprises a parallel opening and closing type three-jaw II cylinder body and three parallel opening and closing type three-jaw II bodies; the rear end of the parallel opening and closing type three-jaw two cylinder body is fixedly connected with the front of the rotating plate, the axial lead of the parallel opening and closing type three-jaw two cylinder body and the axial lead of the rotating shaft are on the same straight line, and one end of the parallel opening and closing type three-jaw two cylinder body, which is connected with the three parallel opening and closing type three-jaw two cylinder bodies, faces forwards; the three parallel opening-closing type three-claw two-claw bodies are respectively fixedly connected with the three support fingers two; the second support finger is provided with a second support finger arc support surface, a second support finger front boss and a second support finger rear boss; the two parallel opening and closing type three-jaw two drives the two three support fingers to be away from the axial lead of the two parallel opening and closing type three-jaw two synchronously, the two circular arc support surfaces of the three support fingers support the inner cylindrical surface of the sleeve, the two front protruding platforms of the support fingers are embedded into the front clamping groove of the sleeve, and the two rear protruding platforms of the support fingers are embedded into the rear clamping groove of the sleeve; the sleeve transverse rib clamp is arranged behind the sleeve pusher, the axis of the parallel opening and closing type three-jaw II and the axis of the parallel opening and closing type three-jaw I are on the same straight line, and one of the three support fingers is aligned with the space between the adjacent two support fingers in the front and back directions; the transverse rib rotating parallel clamping jaw comprises a transverse rib rotating parallel clamping jaw cylinder body and two transverse rib rotating parallel clamping jaw bodies; a transverse rib clamping groove II is formed in the transverse rib clamping finger II; the two transverse rib clamping fingers are fixedly connected with the two transverse rib rotating parallel clamping jaw bodies respectively; two transverse rib clamping grooves II on the two transverse rib clamping fingers II are opposite in opening, the transverse ribs rotate parallel clamping jaws to drive the two transverse rib clamping fingers II to synchronously translate in opposite directions, and the two transverse rib clamping grooves translate in opposite directions to respectively clamp a transverse rib side edge I and a transverse rib side edge II of a transverse rib of a middle carrier roller bearing seat; the axial lead of the parallel opening and closing type three-jaw II is on the symmetrical plane of the two transverse rib clamping fingers II; the bottom plate fixing assembly comprises a bottom plate connecting frame, a bottom plate telescopic cylinder, a bottom plate fixing plate and a corner pressing cylinder; the bottom plate telescopic cylinder is a cylinder with a guide rod; the bottom plate telescopic cylinder comprises a bottom plate telescopic cylinder body and a combination of a bottom plate telescopic piston rod and a guide rod; one end of the bottom plate connecting frame is provided with a bottom plate connecting frame mounting hole, and the other end of the bottom plate connecting frame is fixedly connected with the tail end of the bottom plate telescopic cylinder body; the bottom plate connecting frame mounting hole is matched with the rotating shaft to form a hinge, and the bottom plate telescopic cylinder stretches along the radius direction of the rotating shaft; the bottom plate fixing plate and the tail end of the combination of the bottom plate telescopic piston rod and the guide rod are fixedly connected; the telescopic directions of the bottom plate fixing plate and the bottom plate telescopic cylinder are vertical; a bottom plate placing surface is arranged on the bottom plate fixing plate, two bottom plate positioning pins are arranged on the bottom plate placing surface and are positioned in front of the combination of the bottom plate telescopic piston rod and the guide rod, one of the two bottom plate positioning pins is positioned on the left side, and the other of the two bottom plate positioning pins is positioned on the right side; the bottom plate fixing plate is also provided with a bottom plate fixing plate positioning groove which is parallel to the telescopic direction of the bottom plate telescopic cylinder; the corner pressing cylinder is fixedly connected with the bottom plate fixing plate; the pin tightening assembly comprises a pin tightening cylinder and a pin; the pinning cylinder comprises a pinning cylinder body and a combination of a pinning cylinder piston rod and a guide rod; the pin-tight cylinder body is fixedly connected with the frame; the combination of the bolt and the piston rod of the locking cylinder is fixedly connected with the guide rod; when the pin-tightening cylinder is stretched, the inserted pin is inserted into the positioning groove of the bottom plate fixing plate, the bottom plate telescopic cylinder is telescopic, and the inserted pin slides along the positioning groove of the bottom plate fixing plate; when the pinning cylinder contracts, the inserted pin leaves the positioning groove of the bottom plate fixing plate, the bottom plate fixing assembly droops under the action of gravity, and the positioning groove of the bottom plate fixing plate is opposite to the inserted pin in the front-back direction;

the bottom plate stocker comprises a bottom plate storage bin, a bottom plate storage sensor and a bottom plate storage electric cylinder; the bottom plate storage bin is through up and down, and the bottom plate storage sensor is fixedly arranged on the upper edge of the bottom plate storage bin; the bottom plate storage bin is fixedly connected with the frame; the bottom plate material storage electric cylinder is an electric cylinder with a guide rod; the bottom plate material storage electric cylinder comprises a bottom plate material storage electric cylinder body and a combination of a bottom plate material storage electric cylinder push rod, a guide rod and a supporting plate; the bottom plate storage cylinder body is fixedly connected with the bottom plate storage bin; the combination of the push rod, the guide rod and the supporting plate of the bottom plate storage electric cylinder is positioned in the bottom plate storage bin; the bottom plate conveyor comprises a bottom plate conveying horizontal cylinder, a bottom plate conveying lifting cylinder and a bottom plate conveying electromagnet assembly; the bottom plate conveying horizontal cylinder and the bottom plate conveying lifting cylinder are both cylinder with guide rods; the bottom plate conveying horizontal cylinder comprises a bottom plate conveying horizontal cylinder body and a combination of a bottom plate conveying horizontal piston rod and a guide rod; the bottom plate conveying lifting cylinder comprises a bottom plate conveying lifting cylinder body and a combination of a bottom plate conveying lifting piston rod and a guide rod; the bottom plate transmission electromagnet assembly comprises a bottom plate transmission electromagnet bracket and a bottom plate transmission electromagnet which are fixedly connected with each other; the bottom plate conveying horizontal cylinder body is fixedly connected with the frame; the combination of the bottom plate conveying horizontal piston rod and the guide rod is fixedly connected with the bottom plate conveying lifting cylinder body; the combination of the bottom plate conveying lifting piston rod and the guide rod is fixedly connected with the bottom plate conveying electromagnet bracket; the bottom plate conveying horizontal cylinder drives the combination of the bottom plate conveying lifting cylinder and the bottom plate conveying electromagnet assembly to translate along the front-back direction, and the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly to translate along the up-down direction;

1) the sleeve pushing cylinder I, the sleeve pushing cylinder II and the sleeve pushing cylinder III are in a retracted state in an initial state, and the three supporting fingers one is positioned in the sleeve material storage front outlet; the sleeve pushing cylinder I is started to drive a combination of the sleeve pushing cylinder II, the sleeve pushing cylinder III, the sleeve pushing rod, the parallel opening and closing type three-jaw I and the three supporting fingers I to move backwards, a rear positioning surface of the supporting finger I abuts against and pushes the front end surface of the lowermost sleeve in the sleeve stocker, then the parallel opening and closing type three-jaw I drives the three supporting fingers to be away from the axial lead of the parallel opening and closing type three-jaw I synchronously, and a supporting circular arc surface of the three supporting fingers supports the inner cylindrical surface of the sleeve;

2) keeping the sleeve pushing cylinder in an extending state, simultaneously extending the sleeve pushing cylinder II and the sleeve pushing cylinder III, driving a sleeve pushing rod, a parallel opening and closing type three-jaw I, a combination of a sleeve clamped by a supporting finger I and a sleeve clamped by the supporting finger I to move backwards through a sleeve storage outlet, and supporting the arc surface and the upper side of the cylindrical outer surface of the pushing rod upwards to support the rest sleeves on the inner upper part of the sleeve when passing through the interior of the sleeve storage device; the sleeve clamped by the first support finger is pushed to the periphery of the common area of the circular arc support surfaces of the second three support fingers, and the first three support fingers are respectively inserted into the space between the second adjacent support fingers; the two parallel opening and closing type three-jaw drives the two three support fingers to be away from the axial lead of the two parallel opening and closing type three-jaw synchronously, the two circular arc support surfaces of the three support fingers support the inner cylindrical surface of the sleeve, the two front protruding platforms of the support fingers are embedded into the front clamping groove, the two rear protruding platforms of the support fingers are embedded into the rear clamping groove, and the sleeve is fixed in the axial direction and the radial direction; the first parallel opening and closing type three-jaw drives three support fingers to synchronously approach to the axial lead of the first parallel opening and closing type three-jaw, a support arc surface of the three support fingers leaves the inner cylindrical surface of the sleeve, the third sleeve pushing cylinder is started reversely, and the third sleeve pushing rod, the first parallel opening and closing type three-jaw and the first three support fingers are driven to move forwards until the support fingers are positioned in front of the sleeve stocker;

3) the transverse bar lifting electric cylinder lifts the transverse bars upwards, when the uppermost transverse bar reaches the upper edge of the transverse bar storage bin, the transverse bar bin sensor is triggered, the transverse bar lifting electric cylinder stops, the transverse bar pushing air cylinder drives the transverse bar pushing plate to translate from left to right, the first end of the uppermost transverse bar is pushed, the second end of the transverse bar is hung out of the transverse bar storage bin, and the second end of the transverse bar extends to a space between the two transverse bar clamping grooves I; the transverse rib swinging parallel clamping jaw drives the two transverse rib clamping fingers to move horizontally in opposite directions, and the two transverse rib clamping grooves I clamp a transverse rib side edge I and a transverse rib side edge II of the second end of the transverse rib; the transverse bar lifting cylinder drives the transverse bar storage bin, the transverse bar bin sensor, the transverse bar lifting electric cylinder, the transverse bar lifting support, the transverse bar pushing cylinder, the transverse bar pushing plate and the rest of the transverse bar stacking combination to descend; the transverse rib swinging cylinder drives the transverse rib swinging parallel clamping jaw, the combination of the transverse rib clamping finger I and the transverse rib swings ninety degrees from front to bottom to back and up around the axis line of the rotating rod of the transverse rib swinging cylinder, and the transverse rib is in a vertical state which is vertical to the front-back horizontal direction and has a first end facing left; the transverse rib pushing cylinder drives the combination of the transverse rib swinging cylinder, the transverse rib swinging parallel clamping jaw, the transverse rib clamping finger I and the transverse rib to translate from right to left, and the inner circular arc of the transverse rib is embedded with the rear end of the right side of the outer cylindrical surface of the sleeve clamped by the supporting finger II; a first transverse rib side edge and a second transverse rib side edge at the first end of the transverse rib are positioned in a space between the two second transverse rib clamping grooves; the transverse rib rotates and the parallel clamping jaw drives the two transverse rib clamping fingers to synchronously translate in opposite directions, and the two transverse rib clamping grooves translate in opposite directions to respectively clamp the first transverse rib side edge and the second transverse rib side edge in the middle; the transverse rib swings and the parallel clamping jaw drives the two transverse rib clamping fingers to synchronously move back to back; the transverse rib pushing cylinder drives the combination of the transverse rib swinging cylinder, the transverse rib swinging parallel clamping jaw and the transverse rib clamping finger I to translate from left to right; the transverse rib swinging cylinder drives the transverse rib swinging parallel clamping jaw and the transverse rib clamping finger I to be combined and swing for ninety degrees from back to top to front and down; the transverse rib pushing cylinder drives the transverse rib pushing plate to translate from right to left; the transverse bar lifting cylinder drives the transverse bar storage bin, the transverse bar bin sensor, the transverse bar lifting electric cylinder, the transverse bar lifting support, the transverse bar pushing cylinder, the transverse bar pushing plate and the rest of the transverse bar stack to be combined and lifted;

4) the welding robot spot-welds the transverse rib in the clamping of the transverse rib clamping groove II and the adjacent edge of the sleeve in the clamping of the support finger II;

5) the servo motor is rotated to drive the sleeve transverse rib clamp holder to rotate, so that the transverse rib rotates the parallel clamping jaw to turn over to the left side of the parallel opening and closing type three-jaw II; the longitudinal bar lifting electric cylinder lifts the longitudinal bars upwards, and the longitudinal bar lifting electric cylinder stops lifting after the uppermost longitudinal bar enters the sensing area of the longitudinal bar sensor; the stud conveying vertical cylinder drives the stud conveying electromagnet assembly to descend, the stud conveying electromagnet touches and attracts the uppermost longitudinal stud, and the stud conveying vertical cylinder drives the stud conveying electromagnet assembly to ascend; the vertical rib conveying horizontal cylinder drives the vertical rib conveying vertical cylinder, the vertical rib conveying electromagnet assembly and the longitudinal rib to horizontally move from left front to right rear along the horizontal direction, meanwhile, the vertical rib conveying vertical cylinder drives the vertical rib conveying electromagnet assembly to descend, the waist of the vertical rib of the right trapezoid, which is perpendicular to the bottom edge, is tightly attached to the middle of the front side surface of the transverse rib, and the short bottom edge of the vertical rib is tightly attached to the left side of the outer cylindrical surface of the sleeve towards the right;

6) the welding robot spot-welds the adjacent edges between the longitudinal ribs and the transverse ribs or the sleeves; the vertical rib conveying electromagnet stops attracting, the vertical rib conveying vertical cylinder drives the vertical rib conveying electromagnet assembly to ascend, the vertical rib conveying electromagnet leaves the vertical rib, and the vertical rib conveying horizontal cylinder drives the vertical rib conveying vertical cylinder and the vertical rib conveying electromagnet assembly to horizontally move from the right rear to the left front along the horizontal direction;

7) the rotary servo motor drives the sleeve transverse rib clamp to rotate, and the transverse rib rotates the parallel clamping jaw to turn to a position right below the parallel opening and closing type three-jaw II; the bottom plate storage electric cylinder drives the bottom plates to move upwards, and the bottom plate storage electric cylinder stops moving upwards after the uppermost bottom plate enters the sensing area of the bottom plate storage sensor; the pin-tightening cylinder is stretched, and the inserted pin is inserted into the positioning groove of the bottom plate fixing plate; the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly to descend, the bottom plate conveying electromagnet touches and attracts the uppermost bottom plate, the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly and the bottom plate to be combined to ascend, and the bottom plate conveying horizontal cylinder drives the bottom plate conveying lifting cylinder, the bottom plate conveying electromagnet assembly and the bottom plate to be combined to translate from front to back; the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly and the bottom plate to be combined and descend, the bottom plate conveying electromagnet assembly stops attracting, a bottom plate left hole and a bottom plate right hole penetrate through the two bottom plate positioning pins respectively, and the corner pressing cylinder starts to press the upper surface of the bottom plate; the bottom plate conveying lifting cylinder drives the bottom plate conveying electromagnet assembly to move upwards in a translation mode, the bottom plate conveying electromagnet assembly is far away from the bottom plate, the bottom plate conveying horizontal cylinder drives the combination of the bottom plate conveying lifting cylinder and the bottom plate conveying electromagnet assembly to move forwards from back to front, and the bottom plate conveying electromagnet assembly is far away from the upper space of the bottom plate; the bottom plate telescopic cylinder is started to drive the combination of the bottom plate fixing plate, the corner pressing cylinder and the bottom plate to move upwards in a translation mode, the upper surface of the bottom plate abuts against the downward edges of the transverse ribs and the longitudinal ribs, the bottom plate fixing plate positioning groove moves upwards in a translation mode, and the bolt slides in the bottom plate fixing plate positioning groove;

8) the pin tightening cylinder contracts, and the pin leaves the positioning groove of the bottom plate fixing plate.