CN105128326A - Cross-flow fan blade robot integrating system - Google Patents
Cross-flow fan blade robot integrating system Download PDFInfo
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- CN105128326A CN105128326A CN201510569191.8A CN201510569191A CN105128326A CN 105128326 A CN105128326 A CN 105128326A CN 201510569191 A CN201510569191 A CN 201510569191A CN 105128326 A CN105128326 A CN 105128326A
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Abstract
The invention aims to provide a cross-flow fan blade robot integrating system which is high in working efficiency and good in processing quality and can save the cost for enterprises. The cross-flow fan blade robot integrating system comprises feeding units, conveyor lines, a welding waiting area, a mechanical arm, an ultrasonic welding machine and a material receiving mechanism. A material grasping clip is arranged at the free end of the mechanical arm, a first camera is further arranged on the mechanical arm, and a second camera is arranged on the ultrasonic welding machine. The material grasping clip comprises a fixed base, a synchronous belt, a first gear, a second gear, three first clamping jaws, one-way bearing gears and reset springs, wherein the first gear is meshed with the synchronous belt, the second gear is connected with the first gear in a sleeving mode, the three first clamping jaws are uniformly distributed and arranged on the first gear, and the one-way bearing gears and the reset springs are arranged on the fixed base. The first clamping jaws are in a normally closed state, the one-way bearing gears are meshed with the second gear, and the two ends of each reset spring are connected with the first gear and the second gear respectively. The cross-flow fan blade robot integrating system can be applied to the field of precision equipment.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of through-flow fan blade robot integrated system.
Background technology
Through-flow fan blade because of its excellence characteristic and performance performance be applied to multiple industry.Through-flow fan blade is formed through ultrasonic bonding by more piece.But because its single-unit blade is many and thin, the locating slot on end cap is also extremely shallow, the time of at substantial is needed to position when assembling.Now in the art also by utilizing equipment to carry out fully-automatic production.The Chinese patent being CN104070674A as publication number discloses a kind of through-flow fan blade welding robot.In this document, by point feeding module, workpiece is delivered to the clamping of material grasping machinery hand channel three jaw and carry out preliminary shaping self-centering, send into pre-determined bit module subsequently and realize eight jaw clamping self-centering and telltale mark Turning matcheds, four jaw clamping self-centerings are realized again through pan feeding module, the blade intercalation of translation error and anglec of rotation compensation of error and soft landing and rotary search, and then by the clamping self-centering of four guide posts and clamping force control in ultrasonic welding machine, the ultrasonic transducer that the motion of two-stage type plumb joint and digital power drive completes welding, finished product after welding takes out and delivers to storing belt line by then rewinding module.But in the publication, after manipulator obtains workpiece, need to send into pre-determined bit module and realize eight jaw clamping self-centering and telltale mark Turning matcheds, this needs to expend the regular hour aborning, but accumulate over a long period, its time expended seriously will affect the efficiency of enterprise.In order to change this situation, be necessary to redesign.
Summary of the invention
Technical problem to be solved by this invention overcomes the deficiencies in the prior art, provides that a kind of operating efficiency is high, crudy good and can be cost-effective through-flow fan blade robot of enterprise integrated system.
The technical solution adopted in the present invention is: the present invention includes discharging unit, pipeline, what be connected with described pipeline end treats welding zone, manipulator, ultrasonic welding machine and receiving mechanism, the top of described pipeline is connected with the discharging opening of described discharging unit, treat between welding zone and described ultrasonic welding machine described in described manipulator is arranged on, what described receiving mechanism was arranged on described ultrasonic welding machine goes out material level place, the free end of described manipulator is provided with material grasping folder, described manipulator is also provided with the first camera, described ultrasonic welding machine is provided with second camera, described material grasping folder comprises holder, Timing Belt, the first gear be meshed with described Timing Belt, second gear that be connected sheathed with described first gear, be arranged on the first claw that on described first gear three are uniform, be arranged on the unilateral bearing gear on described holder and back-moving spring, described first claw is in normally off, described unilateral bearing gear is meshed with described second gear, the two ends of described back-moving spring connect described first gear and described second gear respectively.
Further, described first claw is movable block, described movable block is connected with shifting axle, described second gear is provided with gathering sill, the two ends of described gathering sill to the central shaft of described second gear distance not etc., described first gear is provided with the shifting chute suitable with described shifting axle, one end of described first gear is provided with guide, described guide is provided with the stopper slot matched with described movable block, described shifting axle is through described gathering sill and described shifting chute, along with described shifting axle moves on described gathering sill and described shifting chute, described movable block does radial motion relative to the center line of described first gear and/or described second gear.
Further, described first claw is moving block, the grip end of described moving block is protuberance, the lower end of described moving block is provided with the 3rd gear, the madial wall of described second gear is provided with the internal gear be meshed with described 3rd gear, when described 3rd gear moves on described internal gear, described moving block rotates, and the grip end of described moving block is in clamping and unclamps two states.
Further, described manipulator is four axis robot, and the camera lens of described first camera just presss from both sides described material grasping downwards.
Further, be provided with locating platform below described ultrasonic welding machine, described locating platform is driven by the first motor and moves up and down on the first screw mandrel, and the camera lens of described second camera is downwards just to described locating platform.
Further, described receiving mechanism comprises the crawl and switching mechanism that are arranged on described locating platform side and the recovery conveyer belt being positioned at described crawl and switching mechanism side, described crawl and switching mechanism comprise the second claw, drive described second claw to make the electric cylinder of open and close movement, the 4th gear driving described second claw and described electric cylinder to rotate, the tooth bar that is meshed with described 4th gear, and promote the cylinder of described second claw, described electric cylinder, described 4th gear and this overall moving linearly of described tooth bar.
Further, described in treat that welding zone is set to V-type locating slot, the front end of described V-type locating slot is provided with first sensor.
Further, described pipeline is provided with the second sensor, the accumulation quantity of described second sensor senses through-flow fan blade.
Further, treat described in that the bottom of welding zone is provided with adjusting nut.
Further, described pipeline comprises through-flow fan blade pipeline, upper end cover pipeline and bottom end cover pipeline, the supplied materials of described through-flow fan blade pipeline is directly exported by injection machine, and the supplied materials of described bottom end cover pipeline is carried by vibrating disk, and described upper end cover pipeline is carried by hopper.
The invention has the beneficial effects as follows: owing to the present invention includes discharging unit, pipeline, what be connected with described pipeline end treats welding zone, manipulator, ultrasonic welding machine and receiving mechanism, the top of described pipeline is connected with the discharging opening of described discharging unit, treat between welding zone and described ultrasonic welding machine described in described manipulator is arranged on, what described receiving mechanism was arranged on described ultrasonic welding machine goes out material level place, the free end of described manipulator is provided with material grasping folder, described material grasping folder comprises holder, Timing Belt, the first gear be meshed with described Timing Belt, second gear that be connected sheathed with described first gear, be arranged on the first claw that on described first gear three are uniform, be arranged on the unilateral bearing gear on described holder and back-moving spring, described first claw is in normally off, described unilateral bearing gear is meshed with described second gear, the two ends of described back-moving spring connect described first gear and described second gear respectively, so, the setting that the present invention is pressed from both sides by described material grasping, after the first claw grabbing workpiece, the angle position being welded to workpiece to a certain degree on the angle position and ultrasonic welding machine lower position being positioned at the workpiece treated in land positions is obtained respectively by described first camera and described second camera, according to the contrast of two angle positions, and treat the smooth precision of welding zone, directly rotation correction is carried out from after welding zone grabbing workpiece by described material grasping folder, save a large amount of process times, reduce labour intensity and the cost of staff, also efficiency is substantially increased.
Accompanying drawing explanation
Fig. 1 is the integrally-built first visual angle easy structure schematic diagram of the present invention;
Fig. 2 is the first visual angle easy structure schematic diagram that described material grasping presss from both sides the first structure;
Fig. 3 is the second visual angle easy structure schematic diagram that described material grasping presss from both sides the first structure;
Fig. 4 is the first visual angle easy structure schematic diagram that described material grasping presss from both sides the second structure;
Fig. 5 is the second visual angle easy structure schematic diagram that described material grasping presss from both sides the second structure;
Fig. 6 is the integrally-built second visual angle easy structure schematic diagram of the present invention;
Fig. 7 is the structure for amplifying schematic diagram of part A in Fig. 6;
Fig. 8 is the easy structure schematic diagram of described pipeline and described manipulator service portion;
Fig. 9 is the easy structure schematic diagram of described crawl and switching mechanism;
Figure 10 is the easy structure schematic diagram of described manipulator;
Figure 11 is the easy structure schematic diagram of described hopper.
Detailed description of the invention
As shown in Figure 1 to 11, the present invention includes discharging unit 1, pipeline 2, be connected with described pipeline 2 end treat welding zone 3, manipulator 4, ultrasonic welding machine 5 and receiving mechanism 6.The top of described pipeline 2 is connected with the discharging opening of described discharging unit 1, treats between welding zone 3 and described ultrasonic welding machine 5 described in described manipulator 4 is arranged on, and what described receiving mechanism 6 was arranged on described ultrasonic welding machine 5 goes out material level place.The free end of described manipulator 4 is provided with material grasping folder 7, described manipulator 4 is also provided with the first camera, described ultrasonic welding machine 5 is provided with second camera.Described manipulator 4 is four axis robot, and the camera lens of described first camera is downwards just to described material grasping folder 7.Described material grasping folder 7 comprises holder 71, Timing Belt 72, the first gear 73 be meshed with described Timing Belt 72, first claw 75 uniform with sheathed the second gear 74, three of being arranged on described first gear 73 be connected of described first gear 73, is arranged on unilateral bearing gear 76 on described holder 71 and back-moving spring 77.Described first claw 75 is in normally off, and described unilateral bearing gear 76 is meshed with described second gear 74, and the two ends of described back-moving spring 77 connect described first gear 73 and described second gear 74 respectively.
The structure of described first claw can have following two kinds of concrete structures.
The first is as follows:
Described first claw 75 is movable block 751, described movable block 751 is connected with shifting axle 752, described second gear 74 is provided with gathering sill 741, the two ends of described gathering sill 741 to the central shaft of described second gear 74 distance not etc., described first gear 73 is provided with the shifting chute suitable with described shifting axle 752, one end of described first gear 73 is provided with guide, described guide is provided with the stopper slot matched with described movable block 751, described shifting axle 752 is through described gathering sill 741 and described shifting chute, along with described shifting axle 752 moves on described gathering sill 741 and described shifting chute, described movable block 751 does radial motion relative to the center line of described first gear 73 and/or described second gear 74.
The second is as follows:
Described first claw 75 is moving block 753, the grip end of described moving block 753 is protuberance, the lower end of described moving block 753 is provided with the 3rd gear 754, the madial wall of described second gear 74 is provided with the internal gear be meshed with described 3rd gear 754, when described 3rd gear 754 moves on described internal gear, described moving block 753 rotates, and the grip end of described moving block 753 is in clamping and unclamps two states.
Be provided with locating platform 51 below described ultrasonic welding machine 5, described locating platform 51 is driven by the first motor 52 and moves up and down on the first screw mandrel 53, and the camera lens of described second camera is downwards just to described locating platform 51.
Described receiving mechanism 6 comprises the crawl and switching mechanism 61 that are arranged on described locating platform 51 side and the recovery conveyer belt 62 being positioned at described crawl and switching mechanism 61 side, described crawl and switching mechanism 61 comprise the second claw 611, described second claw 611 is driven to make the electric cylinder 612 of open and close movement, drive the 4th gear 613 that described second claw 611 and described electric cylinder 612 rotate, the tooth bar 614 be meshed with described 4th gear 613, and promote described second claw 611, described electric cylinder 612, the cylinder 615 of described 4th gear 613 and this overall moving linearly of described tooth bar 614.
Describedly treat that welding zone 3 is set to V-type locating slot 31, the front end of described V-type locating slot 31 is provided with first sensor 32.Described first sensor 32 treats welding zone 3 for knowing that through-flow fan blade workpiece (hereinafter referred to as workpiece) has arrived.Described pipeline 2 is provided with the second sensor 21, the accumulation quantity of described second sensor 21 perception through-flow fan blade.When workpiece from described arrive the position of described second sensor 21 until welding zone 3 stacked arrangement time, described material grasping folder 7 start the workpiece captured on this pipeline weld described in treat that the bottom of welding zone 3 is provided with adjusting nut 33.The setting of described adjusting nut 33, is in order to when first time carries out rigging up and debugging, when the flatness of welding zone 3 is inadequate, carries out flatness adjustment, to ensure follow-up machining accuracy.
Described pipeline 2 comprises through-flow fan blade pipeline 22, upper end cover pipeline 23 and bottom end cover pipeline 24, the supplied materials of described through-flow fan blade pipeline 22 is directly exported by injection machine, the supplied materials of described bottom end cover pipeline 24 is carried by vibrating disk, and described upper end cover pipeline 23 is carried by hopper 8.In the present invention, described through-flow fan blade pipeline 22 is provided with three, and the number of described upper end cover pipeline 23 and bottom end cover pipeline 24 is respectively one.Described through-flow fan blade pipeline 22 is directly connected with the outlet for product of injection machine.Because upper end cover is with a circle fan blade, its hardness is inadequate, therefore described upper end cover pipeline 23 all 8 to be transmitted by stream.And the hardness of bottom end cover is higher, its available vibrational dish material loading.Solve the trouble of artificial loading.
Workflow of the present invention is as follows:
When carrying out equipment and installing, should be noted that the flatness treating welding zone, if flatness is not high, then need to utilize described adjusting nut 33 to regulate, until flatness reaches requirement.
When producing, each injection machine of described discharging unit 1 produces through-flow fan blade workpiece, upper end cover and bottom end cover etc., then carried by pipeline 2, in arrival after welding zone 3, to rank wait, workpiece on each strip transmission line just starts the workpiece captured on this strip transmission line and welds after needing accumulation quantity to reach requirement.Described manipulator 4 moves to be treated above welding zone, and the first camera obtains the angle position of workpiece, and second camera obtains the angle position of the workpiece on locating platform 51 simultaneously, is drawn the angle difference of this two places workpiece by contrast.The first gear 73 is driven to rotate by the Timing Belt 72 on stepper motor or driven by servomotor material grasping folder 7, first gear 73 drives the second gear 74 to move together, do repercussion campaign, due to the existence of unilateral bearing gear, second gear 74 can not rotate, and shifting axle 752 on the first gear 73 or moving block 753 are in gathering sill 741 or the motion that rotates, thus movable block or moving block are launched, thus realize grabbing workpiece, thereafter by the restoring force of spring.After grabbing workpiece, realizing the angle position adjustment of workpiece by rotating the first gear, making the angle of workpiece consistent with the angle of the workpiece on locating platform.
Workpiece is delivered on the locating platform 51 below described ultrasonic welding machine 5 by manipulator 4, opens ultrasonic welding machine and weld.After completing a joint through-flow fan blade welding, described locating platform moves down a unit under the effect of described first motor 52 and described first screw mandrel 53, under waiting for that manipulator transmission one joint through-flow fan blade workpiece is positioned over bonding machine, weld, until complete workpiece welding.
After completing workpiece welding, need the welding carrying out upper end cover.
After all having welded, the crawl on described receiving mechanism 6 and switching mechanism 61 have captured the workpiece welded, and then overturn 90 ° of angles, decontrol described second claw 611, workpiece product is dropped on and reclaims on conveyer belt 62, finally realize work pieces process and reclaim.
The present invention processes fast, and machining accuracy is high, and cost is low, can save many costs for enterprise.
The present invention can be applicable to precision equipment field.
Claims (10)
1. a through-flow fan blade robot integrated system, comprise discharging unit (1), pipeline (2), what be connected with described pipeline (2) end treats welding zone (3), manipulator (4), ultrasonic welding machine (5) and receiving mechanism (6), the top of described pipeline (2) is connected with the discharging opening of described discharging unit (1), treat between welding zone (3) and described ultrasonic welding machine (5) described in described manipulator (4) is arranged on, what described receiving mechanism (6) was arranged on described ultrasonic welding machine (5) goes out material level place, it is characterized in that: the free end of described manipulator (4) is provided with material grasping folder (7), described manipulator (4) is also provided with the first camera, described ultrasonic welding machine (5) is provided with second camera, described material grasping folder (7) comprises holder (71), Timing Belt (72), the first gear (73) be meshed with described Timing Belt (72), second gear (74) that be connected sheathed with described first gear (73), be arranged on the first claw (75) that on described first gear (73) three are uniform, be arranged on the unilateral bearing gear (76) on described holder (71) and back-moving spring (77), described first claw (75) is in normally off, described unilateral bearing gear (76) is meshed with described second gear (74), the two ends of described back-moving spring (77) connect described first gear (73) and described second gear (74) respectively.
2. through-flow fan blade robot according to claim 1 integrated system, it is characterized in that: described first claw (75) is movable block (751), described movable block (751) is connected with shifting axle (752), described second gear (74) is provided with gathering sill (741), the two ends of described gathering sill (741) to the central shaft of described second gear (74) distance not etc., described first gear (73) is provided with the shifting chute suitable with described shifting axle (752), one end of described first gear (73) is provided with guide, described guide is provided with the stopper slot matched with described movable block (751), described shifting axle (752) is through described gathering sill (741) and described shifting chute, along with described shifting axle (752) moves on described gathering sill (741) and described shifting chute, described movable block (751) does radial motion relative to the center line of described first gear (73) and/or described second gear (74).
3. through-flow fan blade robot according to claim 1 integrated system, it is characterized in that: described first claw (75) is moving block (753), the grip end of described moving block (753) is protuberance, the lower end of described moving block (753) is provided with the 3rd gear (754), the madial wall of described second gear (74) is provided with the internal gear be meshed with described 3rd gear (754), when described 3rd gear (754) moves on described internal gear, described moving block (753) rotates, the grip end of described moving block (753) is in clamping and unclamps two states.
4. the through-flow fan blade robot integrated system according to any one of claims 1 to 3, is characterized in that: described manipulator (4) is four axis robot, and the camera lens of described first camera is downwards just to described material grasping folder (7).
5. through-flow fan blade robot according to claim 4 integrated system, it is characterized in that: described ultrasonic welding machine (5) below is provided with locating platform (51), described locating platform (51) is driven by the first motor (52) and moves up and down on the first screw mandrel (53), and the camera lens of described second camera is downwards just to described locating platform (51).
6. through-flow fan blade robot according to claim 5 integrated system, it is characterized in that: described receiving mechanism (6) comprises the crawl and switching mechanism (61) that are arranged on described locating platform (51) side and the recovery conveyer belt (62) being positioned at described crawl and switching mechanism (61) side, described crawl and switching mechanism (61) comprise the second claw (611), described second claw (611) is driven to make the electric cylinder (612) of open and close movement, drive the 4th gear (613) that described second claw (611) and described electric cylinder (612) rotate, the tooth bar (614) be meshed with described 4th gear (613), and promote described second claw (611), described electric cylinder (612), the cylinder (615) of described 4th gear (613) and described tooth bar (614) this overall moving linearly.
7. through-flow fan blade robot according to claim 5 integrated system, is characterized in that: described in treat that welding zone (3) is set to V-type locating slot (31), the front end of described V-type locating slot (31) is provided with first sensor (32).
8. through-flow fan blade robot according to claim 7 integrated system, is characterized in that: on described pipeline (2), be provided with the second sensor (21), the accumulation quantity of described second sensor (21) perception through-flow fan blade.
9. through-flow fan blade robot according to claim 7 integrated system, is characterized in that: described in treat that the bottom of welding zone (3) is provided with adjusting nut (33).
10. through-flow fan blade robot according to claim 9 integrated system, it is characterized in that: described pipeline (2) comprises through-flow fan blade pipeline (22), upper end cover pipeline (23) and bottom end cover pipeline (24), the supplied materials of described through-flow fan blade pipeline (22) is directly exported by injection machine, the supplied materials of described bottom end cover pipeline (24) is carried by vibrating disk, and described upper end cover pipeline (23) is carried by hopper (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510569191.8A CN105128326A (en) | 2015-09-09 | 2015-09-09 | Cross-flow fan blade robot integrating system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510569191.8A CN105128326A (en) | 2015-09-09 | 2015-09-09 | Cross-flow fan blade robot integrating system |
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| CN105128326A true CN105128326A (en) | 2015-12-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510569191.8A Pending CN105128326A (en) | 2015-09-09 | 2015-09-09 | Cross-flow fan blade robot integrating system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108248062A (en) * | 2018-03-28 | 2018-07-06 | 佛山市宾高工业设计有限公司 | The reflective tripod automatic production line of automobile safety alarm |
| CN110662645A (en) * | 2017-05-22 | 2020-01-07 | 遥控机器人有限公司 | Device for assembling plastic objects |
| CN111056272A (en) * | 2019-12-26 | 2020-04-24 | 珠海格力智能装备有限公司 | Production equipment of unloader and through-flow fan blade |
| CN117818063A (en) * | 2024-03-04 | 2024-04-05 | 河南朗迪叶轮机械有限公司 | Automatic welding line of cross-flow fan blade |
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| CN104070674A (en) * | 2014-06-26 | 2014-10-01 | 思泽创科技(深圳)有限公司 | Cross-flow fan blade welding robot |
| CN204398323U (en) * | 2014-12-25 | 2015-06-17 | 宁波朗迪叶轮机械有限公司 | Through-flow fan blade ultrasonic bonding forming machine |
| CN204936200U (en) * | 2015-09-09 | 2016-01-06 | 珠海智新自动化科技有限公司 | Through-flow fan blade robot integrated system |
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Patent Citations (4)
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| CN203710478U (en) * | 2014-01-17 | 2014-07-16 | 保定兰格恒流泵有限公司 | Automatic clamping mechanism of injector needle barrel |
| CN104070674A (en) * | 2014-06-26 | 2014-10-01 | 思泽创科技(深圳)有限公司 | Cross-flow fan blade welding robot |
| CN204398323U (en) * | 2014-12-25 | 2015-06-17 | 宁波朗迪叶轮机械有限公司 | Through-flow fan blade ultrasonic bonding forming machine |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110662645A (en) * | 2017-05-22 | 2020-01-07 | 遥控机器人有限公司 | Device for assembling plastic objects |
| CN110662645B (en) * | 2017-05-22 | 2022-02-08 | 遥控机器人有限公司 | Device for assembling plastic objects |
| CN108248062A (en) * | 2018-03-28 | 2018-07-06 | 佛山市宾高工业设计有限公司 | The reflective tripod automatic production line of automobile safety alarm |
| CN111056272A (en) * | 2019-12-26 | 2020-04-24 | 珠海格力智能装备有限公司 | Production equipment of unloader and through-flow fan blade |
| CN117818063A (en) * | 2024-03-04 | 2024-04-05 | 河南朗迪叶轮机械有限公司 | Automatic welding line of cross-flow fan blade |
| CN117818063B (en) * | 2024-03-04 | 2024-05-14 | 河南朗迪叶轮机械有限公司 | Automatic welding line of cross-flow fan blade |
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