CN113213088A - Automatic transfer device is used in nodular cast-iron pipe production - Google Patents
Automatic transfer device is used in nodular cast-iron pipe production Download PDFInfo
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- CN113213088A CN113213088A CN202110615844.7A CN202110615844A CN113213088A CN 113213088 A CN113213088 A CN 113213088A CN 202110615844 A CN202110615844 A CN 202110615844A CN 113213088 A CN113213088 A CN 113213088A
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- cast iron
- iron pipe
- nodular cast
- lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0276—Tubes and pipes
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention relates to an automatic transfer device for nodular cast iron pipe production, belongs to the technical field of nodular cast iron pipe transfer equipment, and solves the technical problems of low speed, long positioning time, low automation degree, high noise and the like of the traditional transfer method. The solution is as follows: the automatic gripping and clamping device comprises a horizontal conveying device, a lifting device, two groups of gripping and clamping devices, a monitoring device and a control system; the horizontal conveying device comprises a rack, four groups of moving wheels and two groups of moving wheel driving devices, the lifting device comprises a lifting driving device and two groups of lifting frames, the gripping and clamping device comprises an air cylinder, a clamping jaw mounting seat, two groups of clamping jaws and two groups of connecting rods, and the control system is electrically connected with the moving wheel driving devices, the lifting driving device, the air cylinder, the monitoring device and the nodular cast iron pipe transmission line respectively. The invention has the advantages of small floor area, high automation degree, increased automation degree of the monitoring device, accurate positioning, high working efficiency and wide application range.
Description
Technical Field
The invention belongs to the technical field of ductile cast iron pipe transfer equipment, and particularly relates to an automatic transfer device for ductile cast iron pipe production.
Background
The nodular cast iron pipe is one of cast iron pipes, and the material has good mechanical property, iron essence and steel property. The annealed ductile cast iron pipe has a metallographic structure of ferrite and a small amount of pearlite, is good in mechanical property, excellent in corrosion resistance, good in extensibility, good in sealing effect and easy to install, and is mainly used for water supply, gas transmission, oil transmission and the like of municipal and industrial enterprises.
In the production and processing process of the nodular cast iron pipe, the nodular cast iron pipe is often required to be transported, for example, after the nodular cast iron pipe is laid with a cement lining, the nodular cast iron pipe is transported to the next procedure from a production line, the transportation of the nodular cast iron pipe in the existing factory is generally carried out by a crane, and the transportation method has the following defects:
1. the automation degree is low, and the device cannot be automatically matched with other equipment for use;
2. two persons must be occupied for operation, which wastes human resources;
3. the operation speed is too slow, the positioning is inaccurate, the swing is large during the operation, and the safety factor is low;
4. the noise is big when the operation, can't the noise reduction.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides an automatic transfer device for producing a nodular cast iron pipe, and solves the technical problems that the traditional transfer method is low in speed, long in positioning time, high in labor cost, low in automation degree, high in noise, incapable of communicating with surrounding equipment and the like.
In order to solve the problems, the technical scheme of the invention is as follows: the utility model provides an automatic transfer device is used in nodular cast-iron pipe production, wherein: the automatic transfer device is arranged at the front end of the nodular cast iron pipe transmission line, a tray is arranged in front of the nodular cast iron pipe transmission line, and a plurality of groups of nodular cast iron pipes arranged on the nodular cast iron pipe transmission line are sequentially transferred to the tray by the automatic transfer device; tracks parallel to the X-axis direction are symmetrically arranged on two sides of the nodular cast iron pipe transmission line respectively; the automatic transfer device comprises a horizontal conveying device, a lifting device, two groups of gripping devices, a monitoring device and a control system;
the horizontal conveying device comprises a rack, four groups of moving wheels and two groups of moving wheel driving devices, wherein the rack comprises two groups of mutually parallel underframe beams, two groups of vertical frames which are respectively arranged on the top surfaces of the two groups of underframe beams and a rectangular mounting frame which is fixed between the top surfaces of the two groups of vertical frames in a crossing manner, the two groups of underframe beams are respectively arranged above tracks on two sides of the nodular cast iron pipe transmission line, two ends of the bottom of the underframe beam are respectively provided with moving wheels which are matched with the tracks to move, the rack is arranged on the nodular cast iron pipe transmission line, the moving wheels are arranged on the tracks, the two groups of moving wheel driving devices are respectively arranged on one side of the top surfaces of the two groups of underframe beams, and the moving wheel driving devices drive the moving wheels on the same side to move to drive the rack to reciprocate along the tracks;
the lifting device comprises a lifting driving device and two groups of lifting frames, the lifting driving device is arranged on the top surface of the rectangular mounting frame, the two groups of lifting frames are respectively arranged on two sides of the front end of the rectangular mounting frame in a sliding manner, the gripper devices are arranged on the lower portions of the two groups of lifting frames, and the lifting driving device drives the two groups of lifting frames to move along the Y-axis direction so as to drive the two groups of gripper devices to reciprocate up and down;
the clamping device comprises an air cylinder, a clamping jaw mounting seat, two groups of clamping jaws and two groups of connecting rods, wherein the air cylinder is vertically and downwardly arranged on the outer side of the lifting frame in the Z-axis direction, the clamping jaw mounting seat is arranged on the lower portion of the lifting frame, a rotating shaft parallel to the Z axis is arranged at the bottom end of the clamping jaw mounting seat, each clamping jaw comprises a clamping ring and a push rod which are connected end to end, a hinge hole is formed at the joint of each push rod and the corresponding clamping ring, the hinge holes of the two groups of clamping jaws are all sleeved on the rotating shaft, the two groups of clamping jaws are symmetrically arranged along the axis of the rotating shaft, and a nodular cast iron pipe accommodating area is formed between the two groups of clamping rings; one end of each of the two groups of connecting rods is hinged with the head of a piston rod of the air cylinder, the other end of each group of connecting rods is hinged with the top end of a push rod of one group of clamping jaws, the other end of each group of connecting rods is hinged with the top end of a push rod of the other group of clamping jaws, and the two groups of connecting rods and the two groups of push rods form a connecting rod mechanism;
the monitoring device monitors the positions of the nodular cast iron pipe, the horizontal conveying device and the lifting device, and the control system is electrically connected with the moving wheel driving device, the lifting driving device, the air cylinder, the monitoring device and the nodular cast iron pipe transmission line respectively.
Further, it includes gear motor, drive sprocket, chain and driven sprocket to remove wheel drive arrangement, the fixed cover of drive sprocket is located on gear motor's the output shaft, the fixed cover of driven sprocket is located on one of them a set of shaft that removes the wheel, drive sprocket passes through the chain and is connected with the driven sprocket transmission, gear motor drive sprocket rotates and drives driven sprocket and remove the wheel through the chain and rotate.
Furthermore, the vertical frame is of an inverted L-shaped structure, the front end of a horizontal rod of the vertical frame exceeds the front end of a bottom frame beam in the X-axis direction and is arranged on the outer side, and oblique ribs are arranged between the horizontal rod and the vertical rod of the vertical frame and between the vertical rod of the vertical frame and the bottom frame beam on the rear side of the vertical frame.
Further, lift drive includes speed reduction brake motor, gear shaft, two sets of gears, two sets of racks and bearing frame, and is two sets of the elevator frame is all vertically provided with on the ascending inside wall of Z axle direction the rack, speed reduction brake motor and bearing frame are fixed respectively and are set up in rectangle mount frame top front end both sides, rectangle mount frame top and parallel with Z axle direction are located to the gear shaft, the coaxial output that is fixed in speed reduction brake motor of gear shaft one end, the gear shaft other end passes through the bearing rotation with the bearing frame and is connected, and is two sets of the equal fixed cover of gear is located on the gear shaft, and two sets of gears mesh with the rack on two sets of cranes respectively mutually, speed reduction brake motor drive gear rotates and drives the crane up-and-down motion.
Further, a cross rod is arranged between the bottoms of the two groups of lifting frames, two groups of vertically arranged guide sleeves are arranged on the front side wall of the rectangular mounting frame, sliding grooves are formed in the inner side wall of each guide sleeve, the two groups of lifting frames are arranged in the guide sleeves respectively, sliding blocks matched with the sliding grooves are arranged on the side walls of the lifting frames, and the sliding blocks can slide up and down in the sliding grooves.
Furthermore, a plurality of groups of supporting seats are arranged in the tray.
Further, the monitoring device comprises a position detection sensor, a distance detection sensor, a first proximity switch, a second proximity switch, a third proximity switch, a fourth proximity switch and a fifth proximity switch, the position detection sensor is arranged at the front end of the nodular cast iron pipe transmission line, the distance detection sensor is arranged in the middle of the cross rod, the first proximity switch is arranged on a track behind the nodular cast iron pipe transmission line, the second proximity switch and the third proximity switch are sequentially arranged on a track in front of the nodular cast iron pipe transmission line, and the fourth proximity switch and the fifth proximity switch are respectively arranged at the upper end and the lower end of the group of racks.
Further, when a piston rod of the air cylinder extends out, clamping rings of the two groups of clamping jaws are in an opening trend; when the piston rod of the cylinder is retracted, the clamping rings of the two groups of clamping jaws are in a tightening trend.
Further, the inner diameter of the clamping ring is larger than the outer diameter of the nodular cast iron pipe.
Further, the cross-sectional area of the cross section of the clamping ring is gradually decreased from top to bottom.
The invention has the beneficial effects that:
1. the controller is used for controlling the monitoring device, the horizontal conveying device, the lifting device and the gripping and clamping device, and is also integrated with the nodular cast iron pipe transmission line in a control way, so that the automatic transfer of the nodular cast iron pipes on the nodular cast iron pipe transmission line is realized, the nodular cast iron pipes are sequentially transferred to the supporting seats in the tray, the degree of automation is high, the efficiency is high, manual regulation and control are not needed, the parameters of each monitoring device are set in advance, and the transfer can be unmanned;
2. the horizontal conveying device moves back and forth on the rail through the moving wheels, the vertical frame is of an inverted L-shaped structure, the front end of a horizontal rod of the vertical frame exceeds the front end of the bottom frame beam and is arranged on the outer side, the lifting device arranged at the front end of the rack is sent to a specified position after the bottom frame beam moves for a short distance, space reservation is also carried out on the lifting device moving into the position above the tray, interference cannot be generated, the arrangement of the inclined ribs increases the stability of the vertical frame, and the vertical frame cannot topple over;
3. the lifting device drives the gear shaft through the speed reduction brake motor, and simultaneously drives the two groups of gears to synchronously work, so that the consistent movement of the two groups of lifting frames is ensured, the driving quantity is reduced, the cost is saved, the stability of the lifting frames is improved due to the arrangement of the cross rod at the bottom of the lifting frames, the movement direction of the lifting frames is limited due to the arrangement of the sliding grooves in the guide sleeve and the sliding blocks on the lifting frames, and the meshing degree of the gear rack is ensured;
4. the grabbing and clamping device retracts through the extension of a piston rod in the air cylinder to work the connecting rods, when the piston rod extends out, the two groups of connecting rods are opened, so that the clamping rings of the two groups of clamping jaws are in an opening trend to perform opening movement before the nodular cast iron pipe is clamped, when the piston rod retracts, the two groups of connecting rods are tightened, the clamping rings of the two groups of clamping jaws are in a tightening trend to clamp the nodular cast iron pipe; the inner diameter of the clamping ring is larger than the outer diameter of the nodular cast iron pipe, so that the clamping ring can be completely coated on the nodular cast iron pipe and cannot fall off in the moving process; the cross section area of the cross section of the clamping ring is gradually decreased from top to bottom, the thickness of the lowest end is close to zero, and the clamping process of the clamping jaw is facilitated;
5. the arrangement of the monitoring device greatly improves the automation degree, the position detection sensor arranged at the front end of the nodular cast iron pipe transmission line is used for detecting whether the nodular cast iron pipe on the nodular cast iron pipe transmission line reaches the front end, the second proximity switch controls the position of the horizontal transmission device when the horizontal transmission device moves, when the movement is stopped, the lifting device moves downwards, the distance detection sensor is used for detecting the distance between the lifting frame and the nodular cast iron pipe, when the set distance is reached, the gripping device starts to work, the lifting device continues to descend, when the next set distance is reached, the gripping device starts to tighten, and (3) tightening the ductile cast iron pipe, starting to ascend the lifting device after the ductile cast iron pipe is tightened, continuing to move the horizontal conveying device after a set distance is reached, and controlling the lowest point and the highest point of the descending of the gripping device by the fourth proximity switch and the fifth proximity switch.
The invention has the advantages of small occupied area, high automation degree, capability of saving time for manually hooking and detaching the clamping jaw, increased automation degree of the monitoring device, accurate positioning, high working efficiency and wide application range.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a partial schematic structural view of the present invention;
FIG. 3 is a view taken along line A of FIG. 2;
FIG. 4 is a schematic view of the construction of the lifting device and the gripping device of the present invention;
FIG. 5 is a schematic view showing the construction of a moving wheel driving unit according to the present invention;
FIG. 6 is a schematic view of a jaw mount of the present invention;
FIG. 7 is a schematic view of a set of jaws of the present invention;
fig. 8 is a schematic view of another set of jaws of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and examples.
An automatic transfer device for ductile iron pipe production as shown in fig. 1 to 8, wherein: the automatic transfer device is arranged at the front end of the nodular cast iron pipe transmission line 1, a tray 2 is arranged in front of the nodular cast iron pipe transmission line 1, and a plurality of groups of nodular cast iron pipes 3 arranged on the nodular cast iron pipe transmission line 1 are sequentially transferred into the tray 2 by the automatic transfer device; two sides of the nodular cast iron pipe transmission line 1 are symmetrically provided with tracks 4 parallel to the X-axis direction respectively; the automatic transfer device comprises a horizontal conveying device 5, a lifting device 6, two groups of gripping devices 7, a monitoring device and a control system;
the horizontal conveying device 5 comprises a rack 5-1, four groups of moving wheels 5-2 and two groups of moving wheel driving devices 5-3, wherein the rack 5-1 comprises two groups of mutually parallel bottom frame beams 5-1-1, two groups of vertical frames 5-1-2 respectively arranged on the top surfaces of the two groups of bottom frame beams 5-1-1 and a rectangular mounting frame 5-1-3 fixed between the top surfaces of the two groups of vertical frames 5-1-2 in a crossing manner, the two groups of bottom frame beams 5-1-1 are respectively arranged above rails 4 on two sides of the nodular cast iron pipe transmission line 1, two ends of the bottom frame beams 5-1-1 are respectively provided with the moving wheels 5-2 which are matched with the rails 4 for movement, the rack 5-1 is arranged on the nodular cast iron pipe transmission line 1, and the moving wheels 5-2 are arranged on the rails 4, the two groups of moving wheel driving devices 5-3 are respectively arranged on one side of the top surfaces of the two groups of underframe beams 5-1-1, and the moving wheel driving devices 5-3 drive the moving wheels 5-2 on the same side to move so as to drive the frame 5-1 to reciprocate along the track 4; the frame 5-1 is made of section bars, and has the advantages of light weight, good plasticity, simple production process and manufacturing cost saving. The two groups of moving wheel driving devices 5-3 respectively control the moving wheels 5-2 on one side of the two groups of underframe beams 5-1-1.
The lifting device 6 comprises a lifting driving device 6-1 and two groups of lifting frames 6-2, the lifting driving device 6-1 is arranged on the top surface of the rectangular mounting frame 5-1-3, the two groups of lifting frames 6-2 are respectively arranged on two sides of the front end of the rectangular mounting frame 5-1-3 in a sliding manner, the gripping and clamping devices 7 are arranged on the lower portions of the two groups of lifting frames 5-1-3, and the lifting driving device 6-1 drives the two groups of lifting frames 6-2 to move along the Y-axis direction so as to drive the two groups of gripping and clamping devices 7 to reciprocate up and down;
the gripping and clamping device 7 comprises an air cylinder 7-1, a clamping jaw mounting seat 7-2, two groups of clamping jaws 7-3 and two groups of connecting rods 7-4, the clamping jaw mounting seat 7-2 is formed by oppositely arranging two plates, a placing area of the clamping jaw 7-3 is arranged in the middle of the clamping jaw mounting seat, a rotating space is formed between the clamping jaw mounting seats 7-2 and the clamping jaw 7-3, the air cylinder 7-1 is vertically and downwards arranged on the outer side of the lifting frame 6-2 in the Z-axis direction, the clamping jaw mounting seat 7-2 is arranged at the lower part of the lifting frame 6-2, a rotating shaft 7-2-1 parallel to the Z-axis is arranged at the bottom end of the clamping jaw mounting seat 7-2, the clamping jaw 7-3 comprises a clamping ring 7-3-1 and a push rod 7-3-2 which are connected end to end, a hinge hole 7-3-3 is formed at the joint of the push rod 7-3-2 and the clamping ring 7-3-1, the hinged holes 7-3-3 of the two groups of clamping jaws 7-3 are sleeved on the rotating shaft 7-2-1, the two groups of clamping jaws 7-3 are symmetrically arranged along the axis of the rotating shaft 7-2-1, and a ductile cast iron pipe accommodating area 7-5 is formed between the two groups of clamping rings 7-3-1; one end of each of the two groups of connecting rods 7-4 is hinged with the head of a piston rod of the air cylinder 7-1, the other end of one group of connecting rods 7-4 is hinged with the top end of a push rod 7-3-2 of one group of clamping jaws 7-3, the other end of the other group of connecting rods 7-4 is hinged with the top end of a push rod 7-3-2 of the other group of clamping jaws 7-3, and the two groups of connecting rods 7-4 and the two groups of push rods 7-3-2 form a link mechanism; the clamping ring 7-3-1 and the push rod 7-3-2 are of an integral structure, the clamping rings 7-3-1 of the two groups of clamping jaws 7-3-1 are symmetrically arranged, and the opening and the tightening of the clamping jaws 7-3-1 are completed by constructing a link mechanism.
The monitoring device monitors the positions of the nodular cast iron pipe 3, the horizontal conveying device 5 and the lifting device 6, and the control system is electrically connected with the moving wheel driving device 5-3, the lifting driving device 6-1, the air cylinder 7-1, the monitoring device and the nodular cast iron pipe transmission line 1 respectively.
Further, the moving wheel driving device 5-3 comprises a speed reducing motor 5-3-1, a driving chain wheel 5-3-2, a chain 5-3-3 and a driven chain wheel 5-3-4, the driving chain wheel 5-3-2 is fixedly sleeved on an output shaft of the speed reducing motor 5-3-1, the driven chain wheel 5-3-4 is fixedly sleeved on the wheel shaft of one group of the moving wheels 5-2, the driving chain wheel 5-3-2 is in transmission connection with the driven chain wheel 5-3-4 through a chain 5-3-3, the speed reduction motor 5-3-1 drives the driving chain wheel 5-3-2 to rotate and drives the driven chain wheel 5-3-4 and the moving wheel 5-2 to rotate through the chain 5-3-3.
Further, the vertical frame 5-1-2 is of an inverted L-shaped structure, the front end of a horizontal rod of the vertical frame 5-1-2 exceeds the front end of the bottom frame beam 5-1-1 in the X-axis direction and is arranged on the outer side, the lifting device 6 arranged at the front end of the rack 5-1 is sent to a specified position after the bottom frame beam 5-1-1 moves for a short distance, space reservation is also carried out for the lifting device 6 to move into the upper part of the tray 2, and no interference is generated, and oblique ribs 5-1-4 are arranged between the horizontal rod and a vertical rod of the vertical frame 5-1-2, and the vertical rod of the vertical frame 5-1-2 and the bottom frame beam 5-1-1 at the rear side of the vertical frame 5-1-2. The arrangement of the inclined ribs 5-1-4 increases the stability of the vertical frame 5-1-2,
further, the lifting driving device 6-1 comprises a speed reduction brake motor 6-1-1, a gear shaft 6-1-2, two sets of gears 6-1-3, two sets of racks 6-1-4 and a bearing seat 6-1-5, the racks 6-1-4 are vertically arranged on the inner side walls of the two sets of lifting frames 6-2 in the Z-axis direction, the speed reduction brake motor 6-1-1 and the bearing seat 6-1-5 are respectively and fixedly arranged on the two sides of the front end of the top surface of the rectangular mounting frame 5-1-3, the gear shaft 6-1-2 is arranged above the rectangular mounting frame 5-1-3 and is parallel to the Z-axis direction, one end of the gear shaft 6-1-2 is coaxially fixed at the output end of the speed reduction brake motor 6-1-1, the other end of the gear shaft 6-1-2 is rotatably connected with the bearing seat 6-1-5 through a bearing, two groups of gears 6-1-3 are fixedly sleeved on the gear shaft 6-1-2, the two groups of gears 6-1-3 are respectively meshed with racks 6-1-4 on the two groups of lifting frames 6-2, and the gear 6-1-3 is driven by the speed reduction brake motor 6-1-1 to rotate to drive the lifting frames 6-2 to move up and down. The speed reduction brake motor 6-1-1 simultaneously drives the two groups of gears 6-1-3 to work synchronously, so that the movement consistency of the two groups of lifting frames 6-2 is ensured, the driving quantity is reduced, and the cost is saved.
Furthermore, a cross rod 6-3 is arranged between the bottoms of the two groups of lifting frames 6-2, the stability of the lifting frames is improved due to the arrangement of the cross rod 6-3, two groups of vertically arranged guide sleeves 5-1-5 are arranged on the front side wall of the rectangular mounting frame 5-1-3, sliding grooves 5-1-6 are arranged on the inner side walls of the guide sleeves 5-1-5, the two groups of lifting frames 6-2 are respectively arranged in the guide sleeves 5-1-5, sliding blocks 6-2-1 matched with the sliding grooves 5-1-6 are arranged on the side walls of the lifting frames 6-2, and the sliding blocks 6-2-1 can slide up and down in the sliding grooves 5-1-6.
Furthermore, a plurality of groups of supporting seats 2-1 are arranged in the tray 2.
Further, the monitoring device comprises a position detection sensor 8-1, a distance detection sensor 8-2, a first proximity switch 8-3, a second proximity switch 8-4, a third proximity switch 8-5, a fourth proximity switch 8-6 and a fifth proximity switch 8-7, the position detection sensor 8-1 is arranged at the front end of the nodular cast iron pipe transmission line 1, the distance detection sensor 8-2 is arranged in the middle of the cross rod 6-3, the first proximity switch 8-3 is arranged on the track 4 behind the nodular cast iron pipe transmission line 1, the second proximity switch 8-4 and the third proximity switch 8-5 are sequentially arranged on the track 4 in front of the nodular cast iron pipe transmission line 1, the fourth proximity switch 8-6 and the fifth proximity switch 8-7 are respectively arranged at the upper end and the lower end of the group of racks 6-1-4.
Further, when a piston rod of the air cylinder 7-1 extends out, clamp rings of the two groups of clamping jaws 7-3 are in an opening trend; when the piston rod of the air cylinder 7-1 is retracted, the clamping rings of the two groups of clamping jaws 7-3 are in a tightening trend.
Further, the inner diameter of the clamping ring 7-3-1 is larger than the outer diameter of the nodular cast iron pipe 3. The nodular cast iron pipe 3 can be coated integrally, and the condition of falling in the transferring process can be avoided.
Further, the cross-sectional area of the cross section of the clamping ring 7-3-1 is gradually decreased from top to bottom. The arrangement that is narrower from top to bottom is beneficial to clamping the nodular cast iron pipe 3, and if the thickness is too thick, the clamping jaw 7-3 can not extend into the bottom of the nodular cast iron pipe 3.
The working process of the invention is as follows:
when the nodular cast iron pipe 3 on the nodular cast iron pipe transmission line 1 reaches the front end, the position detection sensor 8-1 detects a signal and transmits the signal to the control system, the control system controls the moving wheel driving device 5-3 to work, the moving wheel driving device 5-3 drives the frame 5-1 to move forwards, when the distance set by the second proximity switch 8-4 is reached, the clamping jaw 7-3 is just arranged right above the nodular cast iron pipe 3, the second proximity switch 8-4 transmits the signal to the control system, the control system controls the deceleration braking motor 6-1-1 to work, the lifting frame 6-2 starts to descend, the distance detection sensor 8-2 sets two groups of distances, one group is that when the distance is reduced to reach the set distance, the piston rod of the cylinder 7-1 starts to extend, the clamping jaw 7-3 starts to expand, at the moment, the lifting frame 6-2 continues to descend, after the lifting frame descends to another set of set distance, the speed reduction brake motor 6-1-1 stops working, the lifting frame 6-2 does not descend any more, the piston rod of the air cylinder 7-1 starts to ascend, the clamping jaw 7-3 starts to tighten, the nodular cast iron pipe 3 is clamped, after the clamping, the speed reduction brake motor 6-1-1 starts to work, and the lifting frame 6-2 ascends; after reaching the distance set by the distance detection sensor 8-2, the deceleration braking motor 6-1-1 stops working;
the frame 5-1 continues to move forwards, when a set distance set by a third proximity switch 8-5 is reached, the movable wheel driving device 5-3 stops working, at the moment, the nodular cast iron pipe 3 in the clamping jaw 7-3 is positioned right above the supporting seat 2-1, the deceleration brake motor 6-1-1 starts working, the lifting frame 6-2 starts descending, when the distance set by a fourth proximity switch 8-6 is reached, the deceleration brake motor 6-1-1 stops working, the air cylinder 7-1 starts working, the clamping jaw 7-3 is opened, the nodular cast iron pipe 3 is arranged in the supporting seat 2-1, the deceleration brake motor 6-1-1 starts working, the lifting frame 6-2 ascends, and when the distance set by a fifth proximity switch 8-7 is reached, the ascending is stopped, the movable wheel driving device 5-3 starts to work, the rack 5-1 starts to move backwards, and stops working after reaching the distance set by the first proximity switch 8-3, so that the transfer of the group of nodular cast iron pipes 3 is completed.
The control system controls the nodular cast iron pipe transmission line 1 to work, the nodular cast iron pipe 3 is conveyed to move forwards, and after the nodular cast iron pipe transmission line 1 reaches the position above the position detection sensor 8-1, the nodular cast iron pipe transmission line 1 stops working, waits for transportation, and starts to circulate the working process.
The control system comprises a Programmable Logic Controller (PLC), the PLC controls the calandria sequence of the gripping and clamping device 7 in the tray 2 by driving an encoder of the speed reduction brake motor 5-3, and when the tray 2 is full, the PLC sends alarm information.
Claims (10)
1. The utility model provides an automatic transfer device is used in nodular cast-iron pipe production which characterized in that: the automatic transfer device is arranged at the front end of the nodular cast iron pipe transmission line (1), a tray (2) is arranged in front of the nodular cast iron pipe transmission line (1), and a plurality of groups of nodular cast iron pipes (3) arranged on the nodular cast iron pipe transmission line (1) are sequentially transferred into the tray (2) by the automatic transfer device; tracks (4) parallel to the X-axis direction are symmetrically arranged on two sides of the nodular cast iron pipe transmission line (1) respectively; the automatic transfer device comprises a horizontal conveying device (5), a lifting device (6), two groups of gripping devices (7), a monitoring device and a control system;
the horizontal conveying device (5) comprises a rack (5-1), four groups of moving wheels (5-2) and two groups of moving wheel driving devices (5-3), wherein the rack (5-1) comprises two groups of parallel underframe beams (5-1-1), two groups of vertical frames (5-1-2) respectively arranged on the top surfaces of the two groups of underframe beams (5-1-1) and a rectangular mounting frame (5-1-3) fixed between the top surfaces of the two groups of vertical frames (5-1-2), the two groups of underframe beams (5-1-1) are respectively arranged above rails (4) on two sides of the nodular cast iron pipe transmission line (1), the two ends of the bottom of the underframe beams (5-1-1) are respectively provided with the moving wheels (5-2) which are matched with the rails (4) for movement, the rack (5-1) is erected on the nodular cast iron pipe transmission line (1), the moving wheels (5-2) are installed on the track (4), the two sets of moving wheel driving devices (5-3) are respectively arranged on one side of the top surfaces of the two sets of underframe beams (5-1-1), and the moving wheel driving devices (5-3) drive the moving wheels (5-2) on the same side to move to drive the rack (5-1) to reciprocate along the track (4);
the lifting device (6) comprises a lifting driving device (6-1) and two groups of lifting frames (6-2), the lifting driving device (6-1) is arranged on the top surface of the rectangular mounting frame (5-1-3), the two groups of lifting frames (6-2) are respectively arranged on two sides of the front end of the rectangular mounting frame (5-1-3) in a sliding manner, the grabbing and clamping devices (7) are respectively arranged on the lower parts of the two groups of lifting frames (5-1-3), and the lifting driving device (6-1) drives the two groups of lifting frames (6-2) to move along the Y-axis direction so as to drive the two groups of grabbing and clamping devices (7) to reciprocate up and down;
the grabbing and clamping device (7) comprises an air cylinder (7-1), a clamping jaw mounting seat (7-2), two groups of clamping jaws (7-3) and two groups of connecting rods (7-4), the air cylinder (7-1) is vertically and downwards arranged on the outer side of the lifting frame (6-2) in the Z-axis direction, the clamping jaw mounting seat (7-2) is arranged on the lower portion of the lifting frame (6-2), a rotating shaft (7-2-1) parallel to the Z-axis is arranged at the bottom end of the clamping jaw mounting seat (7-2), the clamping jaws (7-3) comprise clamping rings (7-3-1) and push rods (7-3-2) which are connected end to end, hinge holes (7-3-3) are formed in the connection positions of the push rods (7-3-2) and the clamping rings (7-3-1), hinge holes (7-3-3) of the two groups of clamping jaws (7-3) are all sleeved on the rotating shaft (7-2-1), the two groups of clamping jaws (7-3) are symmetrically arranged along the axis of the rotating shaft (7-2-1), and a ductile cast iron pipe accommodating area (7-5) is formed between the two groups of clamping rings (7-3-1); one end of each of the two groups of connecting rods (7-4) is hinged with the head of a piston rod of the air cylinder (7-1), the other end of one group of connecting rods (7-4) is hinged with the top end of a push rod (7-3-2) of one group of clamping jaws (7-3), the other end of the other group of connecting rods (7-4) is hinged with the top end of a push rod (7-3-2) of the other group of clamping jaws (7-3), and the two groups of connecting rods (7-4) and the two groups of push rods (7-3-2) form a link mechanism;
the monitoring device monitors the positions of the nodular cast iron pipe (3), the horizontal conveying device (5) and the lifting device (6), and the control system is electrically connected with the moving wheel driving device (5-3), the lifting driving device (6-1), the air cylinder (7-1), the monitoring device and the nodular cast iron pipe transmission line (1) respectively.
2. The automatic transfer device for the nodular cast iron pipe production of claim 1, wherein: the moving wheel driving device (5-3) comprises a speed reducing motor (5-3-1), a driving chain wheel (5-3-2), a chain (5-3-3) and a driven chain wheel (5-3-4), the driving chain wheel (5-3-2) is fixedly sleeved on an output shaft of the speed reducing motor (5-3-1), the driven chain wheel (5-3-4) is fixedly sleeved on a wheel shaft of one group of moving wheels (5-2), the driving chain wheel (5-3-2) is in transmission connection with the driven chain wheel (5-3-4) through the chain (5-3-3), the speed reducing motor (5-3-1) drives the driving chain wheel (5-3-2) to rotate to drive the driven chain wheel (5-3-4) and the moving wheels (5-3-4) through the chain (5-3-3) (5-2) rotating.
3. The automatic transfer device for the nodular cast iron pipe production of claim 1, wherein: the vertical frame (5-1-2) is of an inverted L-shaped structure, the front end of a horizontal rod of the vertical frame (5-1-2) exceeds the front end of the bottom frame beam (5-1-1) in the X-axis direction and is arranged on the outer side, and oblique ribs (5-1-4) are arranged among the horizontal rod and the vertical rod of the vertical frame (5-1-2), the vertical rod of the vertical frame (5-1-2) and the bottom frame beam (5-1-1) on the rear side of the vertical frame (5-1-2).
4. The automatic transfer device for the nodular cast iron pipe production of claim 1, wherein: the lifting driving device (6-1) comprises a speed reducing brake motor (6-1-1), a gear shaft (6-1-2), two groups of gears (6-1-3), two groups of racks (6-1-4) and bearing seats (6-1-5), the racks (6-1-4) are vertically arranged on the inner side wall of the lifting frame (6-2) in the Z-axis direction, the speed reducing brake motor (6-1-1) and the bearing seats (6-1-5) are fixedly arranged on two sides of the front end of the top face of the rectangular mounting frame (5-1-3) respectively, the gear shaft (6-1-2) is arranged above the rectangular mounting frame (5-1-3) and is parallel to the Z-axis direction, and one end of the gear shaft (6-1-2) is coaxially fixed on the speed reducing brake motor (6-1-2) The other end of the gear shaft (6-1-2) is rotatably connected with the bearing seat (6-1-5) through a bearing at the output end of the-1), the two groups of gears (6-1-3) are fixedly sleeved on the gear shaft (6-1-2), the two groups of gears (6-1-3) are respectively meshed with the racks (6-1-4) on the two groups of lifting frames (6-2), and the gear (6-1-3) is driven by the deceleration braking motor (6-1-1) to rotate to drive the lifting frames (6-2) to move up and down.
5. The automatic transfer device for the nodular cast iron pipe production of claim 1, wherein: the lifting frame is characterized in that a cross rod (6-3) is arranged between the bottoms of the two groups of lifting frames (6-2), two groups of vertically arranged guide sleeves (5-1-5) are arranged on the front side wall of the rectangular mounting frame (5-1-3), sliding grooves (5-1-6) are formed in the inner side walls of the guide sleeves (5-1-5), the two groups of lifting frames (6-2) are respectively arranged in the guide sleeves (5-1-5), sliding blocks (6-2-1) matched with the sliding grooves (5-1-6) are arranged on the side walls of the lifting frames (6-2), and the sliding blocks (6-2-1) can slide up and down in the sliding grooves (5-1-6).
6. The automatic transfer device for the nodular cast iron pipe production of claim 5, wherein: a plurality of groups of supporting seats (2-1) are arranged in the tray (2).
7. The automatic transfer device for the nodular cast iron pipe production of claim 6, wherein: the monitoring device comprises a position detection sensor (8-1), a distance detection sensor (8-2), a first proximity switch (8-3), a second proximity switch (8-4), a third proximity switch (8-5), a fourth proximity switch (8-6) and a fifth proximity switch (8-7), wherein the position detection sensor (8-1) is arranged at the front end of the nodular cast iron pipe transmission line (1), the distance detection sensor (8-2) is arranged in the middle of the cross rod (6-3), the first proximity switch (8-3) is arranged on a track (4) behind the nodular cast iron pipe transmission line (1), the second proximity switch (8-4) and the third proximity switch (8-5) are sequentially arranged on the track (4) in front of the nodular cast iron pipe transmission line (1), the fourth proximity switch (8-6) and the fifth proximity switch (8-7) are respectively arranged at the upper end and the lower end of the group of racks (6-1-4).
8. The automatic transfer device for the nodular cast iron pipe production of claim 1, wherein: when a piston rod of the air cylinder (7-1) extends out, clamp rings of the two groups of clamping jaws (7-3) are in an opening trend; when the piston rod of the air cylinder (7-1) is retracted, the clamping rings of the two groups of clamping jaws (7-3) are in a tightening trend.
9. The automatic transfer device for the nodular cast iron pipe production of claim 1, wherein: the inner diameter of the clamping ring (7-3-1) is larger than the outer diameter of the nodular cast iron pipe (3).
10. The automatic transfer device for the nodular cast iron pipe production of claim 1, wherein: the cross section area of the cross section of the clamping ring (7-3-1) is in a decreasing trend from top to bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110615844.7A CN113213088A (en) | 2021-06-02 | 2021-06-02 | Automatic transfer device is used in nodular cast-iron pipe production |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110615844.7A CN113213088A (en) | 2021-06-02 | 2021-06-02 | Automatic transfer device is used in nodular cast-iron pipe production |
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| Publication Number | Publication Date |
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| CN113213088A true CN113213088A (en) | 2021-08-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110615844.7A Pending CN113213088A (en) | 2021-06-02 | 2021-06-02 | Automatic transfer device is used in nodular cast-iron pipe production |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955521A (en) * | 2022-05-10 | 2022-08-30 | 苏州光宝科技股份有限公司 | Automatic unloading mobile device of going up of electricity core |
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2021
- 2021-06-02 CN CN202110615844.7A patent/CN113213088A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114955521A (en) * | 2022-05-10 | 2022-08-30 | 苏州光宝科技股份有限公司 | Automatic unloading mobile device of going up of electricity core |
| CN114955521B (en) * | 2022-05-10 | 2023-07-25 | 苏州光宝科技股份有限公司 | Automatic charging and discharging mobile device for battery cell |
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