CN111086886A - Robotic automatic palletizing unit applied to the top cover of the air conditioner - Google Patents
Robotic automatic palletizing unit applied to the top cover of the air conditioner Download PDFInfo
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- CN111086886A CN111086886A CN201911396095.2A CN201911396095A CN111086886A CN 111086886 A CN111086886 A CN 111086886A CN 201911396095 A CN201911396095 A CN 201911396095A CN 111086886 A CN111086886 A CN 111086886A
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
本发明公开一种空调外机顶盖应用机器人自动化码垛单元，包括皮带输送线组件、导向平台装置、升降传动装置、气动滑台装置、机器人及抓手装置和工装料笼定位装置，皮带输送线组件置于地面之上，导向平台装置置于地面之上并靠近皮带输送线组件的输出端，升降传动装置置于地面之上并位于导向平台装置的正下方，气动滑台装置置于地面之上并位于升降传动装置的正下方，机器人及抓手装置置于地面之上，一次抓取位于抓取工位上的堆放的顶盖垛；工装料笼定位装置放在机器人及抓手装置周围的地面之上，收集顶盖垛。优点，本码垛单元，能够自动完成顶盖搬运，适应多种尺寸的顶盖产品，降低工人的劳动强度，在保证生产顶盖综合性能的同时提高生产效率。
The invention discloses a robot automatic palletizing unit applied to the top cover of an air conditioner, comprising a belt conveying line assembly, a guiding platform device, a lifting transmission device, a pneumatic sliding table device, a robot and a gripper device, a tooling cage positioning device, and a belt conveying device. The line assembly is placed on the ground, the guide platform device is placed on the ground and close to the output end of the belt conveyor line assembly, the lift transmission device is placed on the ground and directly below the guide platform device, and the pneumatic sliding table device is placed on the ground Above and just below the lifting transmission device, the robot and the gripper device are placed on the ground to grab the stacked top cover stack on the gripping station at one time; the tooling cage positioning device is placed on the robot and the gripper device. Above the surrounding ground, collect the top cover stacks. Advantages: The stacking unit can automatically complete the handling of the top cover, adapt to cover products of various sizes, reduce the labor intensity of workers, and improve the production efficiency while ensuring the comprehensive performance of the production top cover.
Description
Technical Field
The invention relates to an automatic stacking unit of an air conditioner external unit top cover application robot, and belongs to the technical field of air conditioner external unit top cover line tail stacking.
Background
With the accelerated development of the air conditioner industry, the automation level of the production of the whole air conditioner accessories is higher and higher, the stamping of the top cover of the air conditioner external unit is realized by applying a three-dimensional manipulator and a press to combine multi-station stamping, the production efficiency is high, but the manual stacking is adopted in the top cover line tail stacking industry in China at present, and the temporary vacancy of stacking is realized automatically, so that the top cover line tail stacking at least adopts 4 workers to work online in 24 hours in turn, the labor intensity of manual operation is high, and the efficiency is low.
Disclosure of Invention
Aiming at the background technology, the invention provides an air conditioner external unit top cover application robot automatic stacking method which is high in production efficiency, reduces production cost, is compatible with production of large and small top covers and can release workers from heavy physical labor.
A robot-applied automatic stacking unit for top covers of air conditioner external units comprises a belt conveyor line assembly, a guide platform device, a lifting transmission device, a pneumatic sliding table device, a robot, a gripper device and a tooling material cage positioning device, wherein the belt conveyor line assembly is arranged on the ground and used for conveying the top covers of the air conditioner external units; the guide platform device is arranged on the ground and close to the output end of the belt conveyor line assembly and is used for guiding the top cover of the air conditioner external unit to enter the lifting transmission device; the lifting transmission device is arranged on the ground and is positioned right below the guide platform device, and the lifting transmission device receives the air conditioner outdoor unit top cover falling from the guide platform device; the pneumatic sliding table device is arranged on the ground and is positioned right below the lifting transmission device to receive a top cover stack formed by top covers of the air conditioner external unit sent by the lifting transmission device and send the top cover stack to a grabbing station; the robot and the gripper device are arranged on the ground, and the robot and the gripper device grip the stacked top cover stack on the gripping station at one time; the tooling material cage positioning device is placed on the ground around the robot and the gripper device, and a top cover stack is collected;
the guide platform device comprises a platform frame, a first guide adjusting device and a guide positioning device, wherein the platform frame is arranged on the ground, and the first guide adjusting device is arranged on the platform frame and guides the top cover of the air conditioner external unit to move along the horizontal direction; the guide positioning device is arranged at the outlet end of the platform frame and guides the top cover of the air conditioner external unit to fall down onto the lifting transmission device along the vertical direction; the upper working surface of the platform frame is an inclined surface, and a top cover of an air conditioner external unit sent by the belt conveyor line assembly enters the inclined surface and enters the lifting transmission device under the action of the self weight; the high end of the inclined plane is an inlet end of the platform frame, and the low end of the inclined plane is an outlet end of the platform frame;
the lifting transmission device comprises a main frame, a first servo motor, a first synchronous belt assembly, a first screw rod assembly and a lifting support, wherein the main frame is arranged on the ground, the lifting support is connected with the first screw rod assembly, and the first servo motor and the first synchronous belt assembly are matched with the first screw rod assembly to drive the lifting support to stretch up and down for receiving the top cover of the air conditioner outdoor unit falling down from the guide platform device;
the pneumatic sliding table device comprises a first air cylinder, an adjustable guide rod device and a sliding table rack assembly, the sliding table rack assembly is arranged on the ground, the first air cylinder is horizontally arranged on the sliding table rack assembly, the adjustable guide rod device is arranged on the sliding table rack assembly in a sliding mode and connected with the first air cylinder, and the adjustable guide rod device is located right below the lifting transmission device;
the robot and the gripper device comprise six-axis robots and gripper devices which are arranged at the tail ends of actuators of the six-axis robots and are used for grabbing the top cover stack at one time.
The top cover of the air conditioner outdoor unit can automatically finish top cover transportation by applying the robot automatic stacking unit, is suitable for top cover products with various sizes, reduces the labor intensity of workers, and improves the production efficiency while ensuring the comprehensive performance of top cover production.
Preferably, the belt conveyor line assembly comprises a second guide adjusting device and a belt conveyor line, the belt conveyor line is arranged on the ground, and the second guide adjusting device is arranged on a rack of the belt conveyor line and used for guiding a top cover of an air conditioner external unit to move along the horizontal direction;
the second guide adjusting device comprises two guide adjusting units which are symmetrically arranged on a rack of the belt conveying line, each guide adjusting unit comprises a guide support, at least two adjusting slide rods and a sliding sleeve which is arranged corresponding to the adjusting slide rods, the sliding sleeves are fixed on the rack of the belt conveying line, the adjusting slide rods are inserted into the sliding sleeves in a sliding mode, and the sliding direction of the adjusting slide rods is perpendicular to the moving direction of a top cover of an air conditioner outdoor unit; one end of the adjusting slide rod is connected with the guide bracket, and the other end of the adjusting slide rod is a free end and is provided with a limiting plate;
a compression screw for fixing the sliding sleeve on the adjusting slide rod is vertically arranged on the sliding sleeve, the compression screw is in threaded connection with the sliding sleeve, and the tail end of the compression screw penetrates through the sliding sleeve to abut against the adjusting slide rod;
the first guide adjusting device and the second guide adjusting device are identical in structure, and the two guide adjusting units in the first guide adjusting device are symmetrically arranged on two side edges of the platform frame.
Preferably, in the technical solution of the present invention, the robot-based automatic stacking unit for air conditioner external unit top covers according to claim 2 is characterized in that the guide bracket in the second guide adjusting device is made of angle steel and includes an inclined guide section and a linear guide section, and the inclined guide section is located at the input port end of the belt conveying line and guides the air conditioner external unit top cover into the linear guide section of the guide bracket;
the guide support in the first guide adjusting device is a straight plate.
Preferably, the guide positioning device comprises two guide positioning units symmetrically arranged on two side edges of the outlet end of the platform rack, each guide positioning unit comprises a first vertical baffle and a second vertical baffle, the first vertical baffle is fixed with the side edge of the outlet end of the platform rack, the working surface of the first vertical baffle is coplanar with the working surface of the guide support, the second vertical baffle is connected with the first vertical baffle, and the working surface of the second vertical baffle is perpendicular to the working surface of the first vertical baffle; the air conditioner external unit top cover which is slipped from the platform frame falls into the guide bin formed by the guide positioning device, and falls into the lifting transmission device after being guided and corrected.
Preferably, the guide platform device further comprises a blocking device, and the blocking device is arranged at the inlet end of the platform frame and is used for blocking or releasing the top cover of the air conditioner external unit conveyed by the belt conveyor line assembly;
the blocking device comprises a transverse plate, at least two second cylinders, guide sleeves and stop pins, the number of the guide sleeves is equal to that of the second cylinders, the two ends of the transverse plate are respectively arranged on two side edges of the platform frame, the second cylinders are vertically arranged,
the cylinder body of the second cylinder is connected with the back face of the transverse plate, a piston rod of the second cylinder is vertically arranged upwards and penetrates through the transverse plate to extend out, the guide sleeve is vertically arranged on the front face of the transverse plate, the piston rod of the second cylinder penetrates through the guide sleeve, and the stop pin sleeve is arranged on the piston rod of the second cylinder.
The technical scheme is preferably that the gripper device comprises a gripper main frame, a second servo motor, a second synchronous belt assembly, a second screw rod assembly and two air cylinder clamping units, the gripper main frame is connected with an end effector of a six-axis robot, the second servo motor, the second synchronous belt assembly and the second screw rod assembly are all arranged on the gripper main frame, the two air cylinder clamping units are symmetrically arranged, a top cover is arranged between the two air cylinder clamping units and clamped, and the positions of the two air cylinder clamping units are adjusted under the action of the second servo motor, the second synchronous belt assembly and the second screw rod assembly to adapt to top covers of air conditioner external units with different sizes and specifications;
the second screw rod assembly comprises a bidirectional screw rod, a left-handed nut and a right-handed nut, the left-handed nut and the right-handed nut are respectively in threaded connection with two sections of positive and negative threads of the bidirectional screw rod, and two ends of the bidirectional screw rod are rotatably arranged on the gripper main frame through bearing seats; the left-handed nut and the right-handed nut are respectively connected with the two cylinder clamping units;
the two air cylinder clamping units comprise mounting plates, third air cylinders and two vertical clamping rods, the third air cylinders are arranged on the mounting plates, and the two vertical clamping rods are arranged at the end parts of piston rods of the third air cylinders at intervals through connecting plates; the connecting plate is fixed with the end part of a piston rod of the third cylinder; a linear guide rail pair is arranged between the top of the cylinder body of the third cylinder and the back of the main gripper frame, a linear guide rail of the linear guide rail pair is arranged on the back of the main gripper frame, and the top of the cylinder body of the third cylinder is connected with a sliding block of the linear guide rail pair;
the mounting plate in one air cylinder clamping unit is connected with the left-handed nut on the second screw rod assembly, and the mounting plate in the other air cylinder clamping unit is connected with the right-handed nut on the second screw rod assembly.
Preferably, the first synchronous belt assembly and the second synchronous belt assembly comprise a synchronous belt, a driving pulley and a driven pulley, and the synchronous belt is wound on the driving pulley and the driven pulley;
a driving belt wheel in the second synchronous belt component is connected to a motor shaft of a second servo motor in a key mode, the second servo motor is fixed on the gripper main frame, and a driven belt wheel in the second synchronous belt component is connected to one end portion of a two-way screw rod in the second screw rod component in a key mode;
a driving belt wheel key in the first synchronous belt assembly is connected to a motor shaft of a first servo motor, the first servo motor is fixed on the main frame, and a driven belt wheel key in the first synchronous belt assembly is connected with the first screw rod assembly;
the first screw rod assembly comprises a screw rod, a ball nut, a left side screw rod support and a right side screw rod support, the ball nut is sleeved on the screw rod, a deep groove ball bearing is sleeved at the left end of the screw rod, the deep groove ball bearing is limited at the left end of the screw rod through a shaft end check ring, the deep groove ball bearing is arranged in the left side screw rod support, the left side screw rod support is arranged on a main frame, an angular contact ball bearing is arranged at the right end of the screw rod in a sleeved mode, the angular contact ball bearing is arranged on the right end of the right side screw rod support, the right end of the screw rod extends out of the right side screw rod support, the right side screw rod support is arranged on the main frame, one.
Preferably, the adjustable guide rod device comprises a bottom plate, a plurality of guide rod supports and a plurality of PE high-density plates, wherein the guide rod supports are vertically arranged on the bottom plate and move along a sliding groove in the bottom plate, and the guide rod supports enclose an enclosure frame capable of accommodating a top cover of an air conditioner outdoor unit; and the PE high-density boards are arranged on the bottom board inside the enclosure frame in parallel and are used for bearing the top cover of the air conditioner outdoor unit.
Preferably, the sliding table rack assembly comprises a base, two linear guide rails, a first cylinder mounting seat, a proximity switch bracket and four hydraulic buffers, wherein the base is arranged on the ground through a plurality of feet arranged at the edge; the two linear guide rails are arranged on two sides of the base along the length direction of the base, a plurality of sliding blocks are arranged on the two linear guide rails in a matching mode, the sliding blocks are connected with the back face of the bottom plate, the first air cylinder installation seat is arranged on the base and located between the two linear guide rails, the first air cylinder is arranged on the first air cylinder installation seat, and a piston rod of the first air cylinder installation seat is connected with the back face of the bottom plate; the four hydraulic buffers are arranged in pairs in a group, and the two hydraulic buffers in the group are respectively arranged at two ends of the edge of the base in the length direction and used for buffering and decelerating to stop after the bottom plate moves to the position; the proximity switch bracket is mounted on the edge of the outlet end of the base and defines this end as a grasping station.
Preferably, the robot-applied automatic stacking unit for the top cover of the air conditioner external unit further comprises an abnormal conveying line, wherein the abnormal conveying line is arranged on the ground and spans above the pneumatic sliding table device, the abnormal conveying line is positioned below the lifting transmission device, and the conveying direction of the abnormal conveying line is perpendicular to the conveying direction of the belt conveying line assembly; the abnormal conveying line is a belt conveying line. And due to the arrangement of the abnormal conveying line, when one or more of the lifting transmission device, the pneumatic sliding table device, the robot and the gripper device breaks down, the abnormal conveying line changes the conveying direction of the top cover, and the manual stacking function is realized.
Compared with the prior art, the invention has the beneficial effects that:
the automatic stacking unit of the robot for the top covers of the air conditioner outdoor units can automatically finish top cover carrying, is suitable for top cover products with various sizes, reduces the labor intensity of workers, and improves the production efficiency while ensuring the comprehensive performance of the produced top covers.
Drawings
Fig. 1 is a general view of the present embodiment 1.
Fig. 2 is a schematic structural view of the belt conveyor line assembly.
Fig. 3 is a schematic structural view of the second guiding and adjusting means.
Fig. 4 is a schematic structural view of the guide platform device.
Fig. 5 is a schematic view of the structure of the blocking device.
Fig. 6 is a schematic structural view of the elevating transmission device.
Fig. 7 is a schematic structural view of the first timing belt assembly.
Fig. 8 is a schematic structural view of the first lead screw assembly.
Fig. 9 is a schematic structural view of the pneumatic slide table device.
Fig. 10 is a schematic structural view of an adjustable guide bar apparatus.
Fig. 11 is a schematic structural view of the slide table frame assembly.
Fig. 12 is a schematic view of the robot and gripper.
Fig. 13 is a schematic structural view of the gripper.
Fig. 14 is a schematic view of the structure of the abnormal conveying line.
Fig. 15 is a schematic structural view of the tooling cage positioning device.
Detailed Description
The technical solution of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
In order to make the disclosure of the present invention more comprehensible, the following description is further made in conjunction with fig. 1 to 15 and the detailed description.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example 1
As shown in fig. 1, the air conditioner external unit top cover application robot automatic stacking unit comprises a belt conveyor line assembly 1, a guide platform device 2, a lifting transmission device 3, a pneumatic sliding table device 4, a robot and gripper device 5 and a tooling material cage positioning device 6, wherein the belt conveyor line assembly 1 is arranged on the ground and used for conveying the air conditioner external unit top cover; the guide platform device 2 is arranged on the ground and close to the output end of the belt conveyor line assembly 1 and is used for guiding a top cover of an air conditioner external unit to enter the lifting transmission device 3; the lifting transmission device 3 is arranged on the ground and is positioned right below the guide platform device 2, and the lifting transmission device 3 receives the air conditioner outdoor unit top cover dropped from the guide platform device 2; the pneumatic sliding table device 4 is arranged on the ground and is positioned right below the lifting transmission device 3 to receive a top cover stack formed by the top covers of the air conditioner external unit sent by the lifting transmission device 3 and send the top cover stack to a grabbing station; the robot and the gripper device 5 are placed on the ground, and the robot and the gripper device 5 grip the stacked top cover stack on the gripping station at one time; the tooling cage positioning device 6 is placed on the ground around the robot and gripper device 5 to collect the top cover stack.
As shown in fig. 2, the belt conveyor line assembly 1 includes a second guiding and adjusting device 8 and a belt conveyor line 9, the belt conveyor line 9 is disposed on the ground, and the second guiding and adjusting device 8 is disposed on the frame of the belt conveyor line 9 for guiding the top cover of the air conditioner external unit to move in the horizontal direction.
The belt conveyor line 9 is a purchased part.
As shown in fig. 3, the second guiding and adjusting device 8 includes two guiding and adjusting units symmetrically disposed on the frame of the belt conveyor line 9, each guiding and adjusting unit includes a guiding bracket 31, at least two adjusting slide bars 32, and a sliding sleeve 35 disposed corresponding to the adjusting slide bars 32, the sliding sleeve 35 is fixed on the frame of the belt conveyor line 9, the adjusting slide bars 32 are slidably inserted into the sliding sleeve 35, and the sliding direction of the adjusting slide bars 32 is perpendicular to the moving direction of the top cover of the air conditioner external unit; one end of the adjusting slide bar 32 is connected with the guide bracket 31, and the other end is a free end and is provided with a limiting plate; a compression screw 36 for fixing the sliding sleeve 35 to the adjusting slide rod 32 is vertically arranged on the sliding sleeve 35, the compression screw 36 is in threaded connection with the sliding sleeve 35, and the tail end of the compression screw penetrates through the sliding sleeve 35 to abut against the adjusting slide rod 32.
As shown in fig. 3, the guide bracket 31 in the second guiding and adjusting device 8 is made of angle steel and includes an inclined guide section and a linear guide section, and the inclined guide section is located at the input port end of the belt conveying line 9 and guides the top cover of the outdoor unit of the air conditioner to enter the linear guide section of the guide bracket 31.
In this embodiment, the two second guiding and adjusting devices 8 are symmetrically used, so that the top cover can be guided and gaps between two ends during transmission can be reduced.
As shown in fig. 3, a scale 34 is attached to the adjustment slide bar 32, and the scale 34 is used to check the alignment.
As shown in fig. 4, the guiding platform device 2 includes a platform frame 10, a first guiding and adjusting device 12 and a guiding and positioning device 13, the platform frame 10 is placed on the ground, and the first guiding and adjusting device 12 is arranged on the platform frame 10 to guide the top cover of the outdoor unit of the air conditioner to move along the horizontal direction; the guide positioning device 13 is arranged at the outlet end of the platform frame 10 and guides the top cover of the air conditioner external unit to fall down onto the lifting transmission device 3 along the vertical direction; the upper working surface of the platform frame 10 is an inclined surface, and a top cover of an air conditioner external unit sent by the belt conveyor line assembly 1 enters the inclined surface and enters the lifting transmission device 3 under the action of the self weight; the high end of the inclined plane is the inlet end of the platform frame 10, and the low end of the inclined plane is the outlet end of the platform frame 10.
In the guide platform device 2 of the present embodiment, the top cover of the outdoor unit of the air conditioner slides into the bin of the guide positioning device 13 through the platform frame 10 due to its own weight after moving on the belt line of the belt conveyor line assembly 1 in the horizontal direction.
As shown in fig. 4, the first guiding adjustment device 12 and the second guiding adjustment device 8 have the same structure, and two guiding adjustment units in the first guiding adjustment device 12 are symmetrically installed on both sides of the platform frame 10. The guide bracket 31 in the first guiding and adjusting device 12 is a straight plate.
As shown in fig. 4, the guiding and positioning device 13 includes two guiding and positioning units symmetrically disposed on two side edges of the outlet end of the platform frame 10, the guiding and positioning units include a first vertical baffle 131 and a second vertical baffle 132, the first vertical baffle 131 is fixed to the side edge of the outlet end of the platform frame 10, the working surface of the first vertical baffle 131 is coplanar with the working surface of the guiding bracket 31, the second vertical baffle 132 is connected to the first vertical baffle 131, and the working surface of the second vertical baffle 132 is perpendicular to the working surface of the first vertical baffle 131; the air conditioner external unit top cover which is slid down by the platform frame 10 falls into the guide bin which is formed by the guide positioning device 13, and falls into the lifting transmission device 3 after being guided and corrected.
As shown in fig. 4, the guiding platform assembly 2 further includes a blocking device 11, and the blocking device 11 is disposed at an inlet end of the platform frame 10 for blocking or releasing the top cover of the outdoor unit of the air conditioner, which is conveyed by the belt conveyor line assembly 1.
As shown in fig. 5, the blocking device 11 includes a horizontal plate 36, at least two second cylinders 35, guide sleeves 37 equal in number to the second cylinders 35, and stop pins 38 equal in number to the second cylinders 35, two ends of the horizontal plate 36 are respectively disposed on two side edges of the platform frame 10, the second cylinders 35 are vertically disposed, cylinder bodies of the second cylinders 35 are connected to the back surface of the horizontal plate 36, piston rods of the second cylinders 35 are vertically disposed upward and extend out through the horizontal plate 36, the guide sleeves 37 are vertically disposed on the front surface of the horizontal plate 36, the piston rods of the second cylinders 35 penetrate through the guide sleeves 37, and the stop pins 38 are sleeved on the piston rods of the second cylinders 35.
As shown in fig. 5, in the present embodiment, the blocking device 11 includes two second cylinders 35, the two second cylinders 35 are driven synchronously, and piston rods of the two second cylinders 35 extend out to block the top cover transportation of the outdoor unit of the air conditioner.
The guide platform device 2 of this embodiment adopts direction adjustable device and direction positioner to can adapt to the outer quick-witted top cap of not unidimensional air conditioner, make the center of the outer quick-witted top cap of not unidimensional air conditioner coincide all the time, the robot of being convenient for snatchs.
As shown in fig. 6, the lifting transmission device 3 includes a main frame 18, a first servo motor 14, a first synchronous belt assembly 15, a first lead screw assembly 16 and a lifting bracket 17, the main frame 18 is disposed on the ground, the lifting bracket 17 is connected to the first lead screw assembly 16, and the first servo motor 14 and the first synchronous belt assembly 15 cooperate with the first lead screw assembly 16 to drive the lifting bracket 17 to extend and retract up and down for receiving the air conditioner outdoor unit top cover fallen from the guide platform device 2.
As shown in fig. 7, the first timing belt assembly 15 includes a timing belt 40, a driving pulley 39, and a driven pulley 61, the timing belt 40 being wound around the driving pulley 39 and the driven pulley 61; a driving belt pulley 39 in the first synchronous belt assembly 15 is in key connection with a motor shaft of the first servo motor 14, the first servo motor 14 is fixed on the main frame 18, and a driven belt pulley 61 in the first synchronous belt assembly 15 is in key connection with the first lead screw assembly 16.
As shown in fig. 8, the first screw assembly 16 includes a screw 41, a ball nut 42, a left screw support 43 and a right screw support 44, the ball nut 42 is sleeved on the screw 41, a deep groove ball bearing 48 is sleeved on the left end of the screw 41, the deep groove ball bearing 48 is limited on the left end of the screw 41 through a shaft end retainer 49, the deep groove ball bearing 48 is installed in the left screw support 43, the left screw support 43 is installed on the main frame 18, an angular contact ball bearing 46 is sleeved on the right end of the screw 41, the angular contact ball bearing 46 is installed in the right screw support 44, the right end of the screw 41 extends out of the right screw support 44, the right screw support 44 is installed on the main frame 18, one end of the angular contact ball bearing 46 limits the inner ring and the outer ring through the shaft end retainer 49 and the right screw support 44, and the other end of.
The lifting transmission device 3 of the embodiment adopts a servo motor and screw rod transmission structure to realize automatic material receiving functions at different positions, so that a rapid stacking function is realized.
As shown in fig. 9, the pneumatic sliding table device 4 includes a first cylinder 60, an adjustable guide rod device 19 and a sliding table frame assembly 20, the sliding table frame assembly 20 is disposed on the ground, the first cylinder 60 is horizontally disposed on the sliding table frame assembly 20, the adjustable guide rod device 19 is slidably disposed on the sliding table frame assembly 20 and connected to the first cylinder 60, and the adjustable guide rod device 19 is located right below the lifting transmission device 3.
As shown in fig. 10, the adjustable guide bar device 19 includes a bottom plate 50, a plurality of guide bar supports 51 and a plurality of PE high density boards 52, the plurality of guide bar supports 51 are vertically disposed on the bottom plate 50 and move along the slide grooves on the bottom plate 50, and the plurality of guide bar supports 51 enclose an enclosure frame capable of accommodating a top cover of an outdoor unit of an air conditioner; a plurality of PE high density boards 52 are disposed in parallel on the bottom panel 50 inside the enclosure for carrying an air conditioner outdoor unit top cover.
In this embodiment, the outer machine top cover of air conditioner slides into the lifting support 17 along the guiding and positioning device 13, and each time the outer machine top cover of air conditioner comes, the lifting support 17 descends by a certain height, and after the outer machine top covers of air conditioner on the lifting support 17 are gathered to a certain number to form a top cover stack (20 outer machine top covers of air conditioner), the lifting support 17 stacks the top cover stack on the multiple PE high-density boards 52 in the enclosure frame.
As shown in fig. 11, the ramp housing assembly 20 includes a base 58, two linear guide rails 53, a first cylinder mount 59, a proximity switch bracket 57, and four hydraulic buffers 56, the base 58 being mounted above the ground by a plurality of feet 54 mounted at the edges; the two linear guide rails 53 are arranged on two sides of the base 58 along the length direction of the base 58, a plurality of sliding blocks are arranged on the two linear guide rails 53 in a matching manner, the sliding blocks are connected with the back surface of the bottom plate 50, the first air cylinder mounting seat 59 is arranged on the base 58 and is positioned between the two linear guide rails 53, the first air cylinder 60 is arranged on the first air cylinder mounting seat 59, and a piston rod of the first air cylinder mounting seat 59 is connected with the back surface of the bottom plate 50; the four hydraulic buffers 56 are arranged in pairs in a group, and the two hydraulic buffers 56 in the group are respectively arranged at two ends of the edge of the base 58 in the length direction and used for buffering and decelerating to stop after the bottom plate 50 moves to a position; the proximity switch bracket 57 is mounted on the outlet end edge of the base 58 and defines this end as the grasping station.
Slip table rack assembly 20 in this embodiment, the work of blocking mechanism 11 this moment blocks the outer machine top cap of air conditioner that belt conveyor line subassembly 1 carried, and first cylinder 60 action drags bottom plate 50 to snatch the station.
The pneumatic sliding table device 4 of the embodiment adopts the pushed sliding table rack assembly and the blocking device, so that the function of quickly grabbing materials is realized, and the problem of incoming materials is not influenced.
As shown in fig. 12, the robot and gripper 5 includes a six-axis robot 21 and a gripper 22 installed at an end of an actuator of the six-axis robot 21 for gripping the top cover stack at a time.
As shown in fig. 12, a six-axis robot 21 is a known technique, and software components related to the six-axis robot 21 are also known techniques. The six-axis robot 21 is placed on the ground by a robot base 23.
As shown in fig. 13, the gripper 22 includes a gripper main frame 28, a second servo motor 24, a second synchronous belt assembly 25, a second screw assembly 26, and two cylinder clamping units, the gripper main frame 28 is connected to an end effector of the six-axis robot 21, the second servo motor 24, the second synchronous belt assembly 25, and the second screw assembly 26 are all mounted on the gripper main frame 28, the two cylinder clamping units are symmetrically arranged, the two cylinder clamping units are used for loading and clamping a top cover stack, and the two cylinder clamping units are adjusted in position under the action of the second servo motor 24, the second synchronous belt assembly 25, and the second screw assembly 26 to adapt to air conditioner external machine top covers with different dimensions.
As shown in fig. 13, the second lead screw assembly 26 includes a two-way screw, a left-handed nut and a right-handed nut, the left-handed nut and the right-handed nut are respectively screwed on two sections of positive and negative threads of the two-way screw, and two ends of the two-way screw are rotatably disposed on the grip main frame 28 through bearing seats; the left-handed nut and the right-handed nut are respectively connected with the two cylinder clamping units.
As shown in fig. 13, each of the two cylinder clamping units includes a mounting plate 61, a third cylinder 27 and two vertical clamping rods 62, the third cylinder 27 is disposed on the mounting plate 61, and the two vertical clamping rods 62 are disposed at an interval at the end of a piston rod of the third cylinder 27 through a connecting plate; the connecting plate is fixed with the end part of the piston rod of the third cylinder 27; a linear guide rail pair is arranged between the top of the cylinder body of the third cylinder 27 and the back of the grip main frame 28, a linear guide rail of the linear guide rail pair is installed on the back of the grip main frame 28, and the top of the cylinder body of the third cylinder 27 is connected with a slide block of the linear guide rail pair.
The mounting plate 61 in one cylinder clamping unit is connected with the left-handed nut on the second screw rod assembly 26, and the mounting plate 61 in the other cylinder clamping unit is connected with the right-handed nut on the second screw rod assembly 26.
As shown in fig. 7, the second timing belt assemblies 25 each include a timing belt 40, a driving pulley 39, and a driven pulley 61, the timing belt 40 being wound around the driving pulley 39 and the driven pulley 61; a driving pulley 39 in the second synchronous belt assembly 25 is keyed on a motor shaft of the second servo motor 24, the second servo motor 24 is fixed on the gripper main frame 28, and a driven pulley 61 in the second synchronous belt assembly 25 is keyed on one end part of a bidirectional screw in the second screw rod assembly 26.
The robot and gripper device 5 of this embodiment uses servo motor and lead screw transmission and die clamping cylinder and robot's structure, realizes the product automatic adjustment of different specifications, carries out automatic clamp, snatchs and carries. The second screw assembly 26 is used for adjusting products with different specifications, and the clamping cylinder is used for clamping the products.
As shown in fig. 1 and 14, the robot-based automatic stacking unit for the top covers of the air conditioner external units further comprises an abnormal conveying line 7, wherein the abnormal conveying line 7 is arranged on the ground and straddles over the pneumatic sliding table device 4, the abnormal conveying line 7 is arranged below the lifting transmission device 3, and the conveying direction of the abnormal conveying line 7 is perpendicular to the conveying direction of the belt conveying line assembly 1; the abnormal conveying line 7 is a belt conveying line. And due to the arrangement of the abnormal conveying lines, when one or more of the lifting transmission device 3, the pneumatic sliding table device 4, the robot and the gripper device 5 breaks down, the abnormal conveying lines 7 change the conveying direction of the top cover, so that the manual stacking function is realized.
As shown in fig. 15, the tooling material cage positioning device 6 includes a left positioning bracket 63, a right positioning bracket 29 and a plurality of tooling material cages 30 respectively disposed in the left positioning bracket 63 and the right positioning bracket 29. The tooling material cage 30 is placed in the designated left positioning bracket 63 and the right positioning bracket 29 through a manual forklift, positioning is carried out, and after the left positioning device 63 is stacked, stacking is carried out in the right positioning device 29, so that the waiting time of the robot is reduced.
The outer quick-witted top cap of air conditioner of this embodiment uses the work flow of the automatic pile up neatly unit of robot:
1. the air conditioner outdoor unit top cover is placed on the belt conveyor line assembly 1 for conveying, conveyed along the second guide adjusting device 8 and slid into the guide platform device 2, conveyed along the first guide adjusting device 12 and slid into the bin of the guide positioning device 13 under the action of self weight, and falls onto the lifting support 17 in the lifting transmission device 3, the lifting support 17 descends for a certain height every time when the lifting support 17 receives materials, the air conditioner outdoor unit top covers on the lifting support 17 are collected to a certain number, and after a top cover stack (20 air conditioner outdoor unit top covers) is formed, the lifting support 17 stacks the top cover onto the PE high-density plates 52 in the enclosure frame.
2. The sliding table rack assembly 20 acts, the blocking mechanism 11 works at the moment, the top cover of the air conditioner external unit conveyed by the belt conveyor line assembly 1 is blocked, the first air cylinder 60 acts, the bottom plate 50 is dragged to the grabbing station, and the robot and the grabbing device 5 perform grabbing actions. (the aggregate enclosure frame on the floor 50 requires manual adjustment of length and width for each type of roof produced).
3. After receiving the signal, the robot picks the top cover stack on the picking station and puts the top cover stack on the hollow tooling material cage 30 in the tooling material cage positioning device 6. After the left positioning bracket 63 finishes stacking, the robot starts to stack on the right side. The pile up neatly is accomplished, and fork truck fork gets the frock material cage 30 of having accomplished the top cap buttress, treats fork truck and places empty frock tray and targets in place the back to detect the signal feedback and give the robot, allow the robot pile up neatly.
The automatic pile up neatly unit of robot is applied to outer quick-witted top cap of air conditioner of this embodiment can accomplish the top cap transport automatically, adapts to the top cap product of multiple size, reduces workman's intensity of labour, improves production efficiency when guaranteeing production top cap comprehensive properties.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
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| CN118953993A (en) * | 2024-08-21 | 2024-11-15 | 珠海格力智能装备有限公司 | Automatic loading equipment and control method thereof |
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