CN111975331A - Robot and method for assembling power connection mechanism of inverter - Google Patents

Robot and method for assembling power connection mechanism of inverter Download PDF

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Publication number
CN111975331A
CN111975331A CN202010822295.6A CN202010822295A CN111975331A CN 111975331 A CN111975331 A CN 111975331A CN 202010822295 A CN202010822295 A CN 202010822295A CN 111975331 A CN111975331 A CN 111975331A
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CN
China
Prior art keywords
detection
station
circuit board
power connection
fixing
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Granted
Application number
CN202010822295.6A
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Chinese (zh)
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CN111975331B (en
Inventor
彭兰芬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chuzhou Power Supply Co of State Grid Anhui Electric Power Co Ltd
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彭兰芬
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Application filed by 彭兰芬 filed Critical 彭兰芬
Priority to CN202010822295.6A priority Critical patent/CN111975331B/en
Publication of CN111975331A publication Critical patent/CN111975331A/en
Application granted granted Critical
Publication of CN111975331B publication Critical patent/CN111975331B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/001Article feeders for assembling machines
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23PMETAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
    • B23P19/06Screw or nut setting or loosening machines

Abstract

The invention provides a robot equipped with a power connection mechanism of an inverter, comprising: a turntable; a plurality of fixed structures; a first feeding structure; a first detection mechanism; a second feeding structure; a second detection mechanism; an automatic screw-driving machine; a blanking mechanism; the robot can realize automatic assembly of the power connection mechanism of the inverter.

Description

Robot and method for assembling power connection mechanism of inverter
Technical Field
The invention relates to the field of automatic assembly equipment of inverters, in particular to a robot and a method for assembling a power connection mechanism of an inverter.
Background
The inverter is a converter which converts direct current electric energy (batteries, storage batteries and photovoltaic modules) into constant-frequency constant-voltage or frequency-modulation voltage-regulation alternating current (generally 220V,50Hz sine wave).
Inverters are widely used in photovoltaic power stations for converting direct current generated by photovoltaic modules into alternating current convenient for transmission; in the field of motor drives, inverters convert dc power output from a battery into three-phase ac power that drives an electric motor.
The power connection mechanism of the inverter comprises a circuit board and a power connection post, the power connection post is required to be connected with the circuit board through bolts, manual assembly is adopted at present, efficiency is low, and labor cost is high.
Disclosure of Invention
The invention aims to solve the technical problem of providing a robot and a method for assembling an electric connection structure of an inverter.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides an assembly inverter connect robot of electric mechanism, the electric mechanism that connects of inverter include the circuit board and wait to carry out the electric post module that connects that assembles with the circuit board, the electric post module includes the plastic support and installs a plurality of electric posts on the plastic support, and a plurality of electric posts are arranged into one row, are provided with the screw hole in the one end of every electric post be provided with a plurality of through-holes that align with every screw hole on the circuit board, its characterized in that, the robot includes:
a carousel rotatable along a vertical axis;
the fixing structures are arranged at the edge of the turntable at equal angles along the vertical axis and are used for fixing the power connection post module and the circuit board before assembly respectively;
the first feeding structure is arranged at the first feeding station and used for feeding the power connection column module to the fixed structure at the first feeding station;
the first detection mechanism is arranged at the first detection station and used for detecting the electric column module so as to judge whether the electric column module is placed in place;
the second feeding structure is arranged at the position of the second feeding station and used for feeding the circuit board to be assembled to the fixing structure positioned at the second feeding station;
the second detection mechanism is arranged at the second detection station and used for detecting whether the through hole in the circuit board is aligned with the through hole in the electric pole or not;
the automatic screw twisting machine is arranged at a screw twisting station and is used for connecting the circuit board positioned on the fixed structure with the electric pole connecting module by screws;
the blanking mechanism is arranged at a blanking station and used for blanking the assembled electric pole connecting module and the assembled circuit board;
first material loading station, first detection station, second material loading station, second detection station, twist screw station and unloading station set gradually along the direction of rotation of carousel and for the setting of angles such as vertical axis, the contained angle between the two adjacent stations equals the contained angle between the adjacent fixed knot structure.
Preferably, the first detection mechanism and the second detection mechanism have the same structure, and both comprise:
the detection frame is arranged at the first detection station or the second detection station;
the second bracket is arranged on the detection frame in a manner of moving up and down;
the detection posts are arranged on the second support in a vertically movable mode relative to the second support, the number of the detection posts is the same as that of the threaded holes in the power connection post module, and whether the power connection post module is placed in place or whether the through holes are aligned with the threaded holes is judged according to whether the power connection post module can be inserted into the corresponding threaded holes.
Preferably, the detection mechanism further comprises a sensor arranged on the second support, the sensor can acquire the movement condition of the detection column relative to the second support, and whether the power connection column module is placed in place or whether the through hole is aligned with the threaded hole can be judged according to the movement condition.
Preferably, the mechanism for detecting further comprises:
the bottom plate is arranged on the second support, the detection columns are arranged on the bottom plate, the upper ends of the detection columns penetrate out of the upper surface of the bottom plate, the lower ends of the detection columns penetrate out of the lower surface of the bottom plate, second spring holes and second guide holes are sequentially arranged on the bottom plate from top to bottom at positions corresponding to the detection columns, the diameter of each second spring hole is larger than that of each second guide hole, the diameter of each second guide hole is equal to or slightly larger than that of each detection column, an annular flange is arranged at a position, close to the lower end, of each detection column, the diameter of each annular flange is larger than that of each second guide hole and slightly smaller than that of each second spring hole, and each annular flange is located in each second spring hole;
the second spring, the cover is established detect on the post, the lower extreme of second spring supports and leans on annular flange, and the upper end supports and leans on the apron of fixing on the upper surface of bottom plate, the position department corresponding to detecting the post on the apron is provided with the perforation that supplies the upper end of detecting the post to pass, the diameter of perforation is less than the diameter in second spring hole, the second spring is in the state of compressed all the time.
Preferably, the fixing structure comprises:
the supporting plate is supported on the turntable, a groove for placing the plastic support is formed in the supporting plate, and the shape of the groove is matched with that of the plastic support when the supporting plate is viewed from top;
the upper surface of the boss is configured to be aligned with the upper end faces of the electric poles of the electric pole modules placed in the grooves, first avoiding holes are formed in the positions, corresponding to each electric pole, of the support plate, and the grooves are closer to the edge of the rotary plate relative to the bosses.
Preferably, the fixing structure further comprises:
a movable platen that is movable back and forth in a direction away from or toward the upper surface of the boss to press the circuit board against the boss when approaching the upper surface of the boss or to release the circuit board when moving away from the upper surface of the boss.
Preferably, the fixing structure further comprises:
the linkage rod is arranged on the lower surface of the movable pressing plate, a certain angle is formed between the linkage rod and the movable pressing plate, and the lower end of the linkage rod penetrates through the supporting plate and the boss;
the first spring is sleeved on the linkage rod, the upper end of the first spring abuts against the supporting plate or the boss, the lower end of the first spring abuts against the position close to the lower end of the linkage rod, and the first spring is always in a compressed state.
Preferably, the clamping device further comprises a release structure, wherein the release structure comprises a first air cylinder, an air cylinder rod of the first air cylinder is coaxially arranged with the linkage rod, and when the air cylinder rod of the first air cylinder extends out, the lower end of the linkage rod can be pushed against, so that the movable pressing plate releases the pressure on the circuit board.
Preferably, the second feeding mechanism includes:
the material stacking table is arranged at the second feeding station and used for placing a circuit board to be assembled;
the sucking disc is positioned above the material stacking table, can move up and down and can move back and forth between the material stacking table and a boss on the fixing structure positioned at the second feeding station so as to move the circuit board on the material stacking table to the boss positioned at the second feeding station; the linkage rod is obliquely arranged, and the upper end of the linkage rod is closer to the axis of the turntable than the lower end of the linkage rod.
The invention also provides a method for assembling the power connection mechanism of the inverter, and the robot comprises the following steps:
step 1: the turntable drives the fixing structure to move to a first feeding station, and the power connection column module is placed on the fixing structure;
step 2: the turntable drives the fixing structure to move to a first detection station, the first detection mechanism detects whether the power connection column module is placed in place or not, and the step 3 is carried out after the power connection column module is placed in place;
and step 3: the fixing structure moves to a second feeding station, the circuit board is placed on the fixing structure, and the through hole in the circuit board is aligned with the threaded hole in the electric connecting column;
step 4, moving the fixing structure to a second detection station, detecting whether the through holes are aligned with the corresponding threaded holes by a second detection mechanism, and entering step 5 after the through holes are determined to be aligned;
and 5: the fixing structure moves to a screw screwing station, and screws are screwed into the threaded holes through the through holes;
step 6, the following steps: moving the fixed structure to a blanking station, and blanking the assembled electric connection column module and the circuit board;
the above steps 1 to 6 can be performed simultaneously.
Compared with the prior art, the invention has the following beneficial effects:
the invention can realize the automatic installation of the power connection mechanism of the inverter.
Drawings
FIG. 1 is a perspective view of a product in an assembled state;
FIG. 2 is a perspective view of the present invention;
FIG. 3 is a perspective view of a stator structure of the present invention;
FIG. 4 is a front view of a second feed mechanism of the present invention;
FIG. 5 is a front view of the fixation structure of the present invention;
FIG. 6 is a view from B-B of the present invention;
FIG. 7 is an enlarged view of the invention at C;
FIG. 8 is a view A-A of the present invention;
FIG. 9 is a perspective view of a second feed mechanism of the present invention;
FIG. 10 is a perspective view of a detection structure of the present invention;
FIG. 11 is a front view of the detection structure of the present invention;
FIG. 12 is a D-D view of the present invention;
fig. 13 is an enlarged view at E of the present invention.
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.
As shown in fig. 1, the power connection mechanism 1 of the inverter includes a circuit board 1c, a plurality of power connection posts 1a mounted on the circuit board 1c, and a plastic bracket 1b for connecting the plurality of power connection posts 1a into a whole, wherein the plurality of power connection posts 1a are arranged in a row along a length direction of the circuit board 1c, the plurality of power connection posts 1a and the plastic bracket 1b are pre-assembled into a power connection post module, a threaded hole is provided on an axis of each power connection post 1a, a plurality of through holes aligned with each threaded hole are provided on the circuit board 1c, and the circuit board 1c and the power connection post module are fixedly connected by a screw passing through the through hole and being in threaded connection with the threaded hole.
Fig. 2 to 13 show a robot for assembling a power connection mechanism of an inverter, which includes a rotatable turntable 2, a plurality of fixing structures 3 disposed at the edge of the turntable 2 at equal angles along the axis of the turntable 2 and used for fixing a power connection post module and a circuit board 1c before assembly, respectively, a first feeding structure (not shown) disposed at a first feeding station position and used for feeding the power connection post module to the fixing structure 3 at the first feeding station position, a second feeding structure 5 disposed at a second feeding station position and used for feeding the circuit board 1c to the fixing structure 3 at the second feeding station position, and an automatic screwing machine 6 disposed at a screwing station and connecting the circuit board 1c on the fixing structure 3 and the power connection post module by screws. First material loading station, second material loading station and twist the screw station and be located same circumference for the axis of carousel 2, and the contained angle of adjacent station for the axis of carousel 2 is the integral multiple of the contained angle of the axis of adjacent fixed knot structure 3 relative carousel 2, carousel 2 is at rotatory in-process, and under the drive of carousel 2, fixed knot structure 3 passes through first material loading station, second material loading station in proper order, twists the material loading of screw station completion electricity post module, circuit board 1c and is connected with electricity post module through the screw with circuit board 1 c. First material loading structure can adopt manipulator among the prior art etc. can adopt the mode of artifical material loading even to carry out the material loading to the electric column module. The automatic screwing machine 6 also adopts the prior art.
The rotary table 2 is arranged at the output end of the indexing structure, and the angle of each rotation of the rotary table 2 is equal to the included angle of the adjacent fixed structure 3 relative to the axis of the rotary table 2.
The fixing structure 3 comprises a supporting plate 2b supported on the turntable 2 and a boss 3c supported on the supporting plate 2b and used for supporting the circuit board 1c, a groove 3a used for placing the plastic support 1b is formed in the supporting plate 2b, and the shape of the groove 3a is matched with that of the plastic support 1b when viewed from top. The position department that corresponds every electric pole 1a on backup pad 2b is provided with first hole 3b of dodging, when placing material support 1b in recess 3a, the one end that electric pole 1a faces down inserts in first hole 3b of dodging and so that the electric pole module is put into recess 3a steadily with the bottom surface contact of recess 3a in order to guarantee plastic support 1 b's lower surface. The upper surface of the boss 3c is aligned with the upper end surface of the electric post 1a of the electric post module placed in the groove 3a to ensure that when the circuit board 1c is horizontally placed on the upper end surfaces of the boss 3c and the electric post 1 a. The groove 3a is closer to the outer edge of the turntable 2 than the boss 3 c. The boss 3c may be integrally formed with the support plate 2 b.
A movable pressing plate 3d is movably arranged above the boss 3c, the movable pressing plate 3 can move back and forth along the direction far away from or close to the upper surface of the boss 3c, and when the movable pressing plate 3d is pressed on the upper surface of the boss 3c, the circuit board 1c can be clamped between the movable pressing plate 3d and the boss 3c, so that the circuit board 1c is fixed. In order to protect the circuit board 1c during clamping, a first rubber pad 3c1 is provided on the upper surface of the boss 3c, and a second rubber pad 3d1 is provided on the lower surface of the movable platen 3 d.
Further, a linkage rod 3d2 is arranged on the lower surface of the movable pressure plate 3d, the upper end of the linkage rod 3d2 is connected with the movable pressure plate 3d, the lower end of the linkage rod 3d passes through the boss 3c and the support plate 2b, a first guide hole 3c2 and a first spring hole 3c4 are sequentially arranged at the position of the boss 3c and the support plate 2b corresponding to the linkage rod 3d2 along the direction from top to bottom, the first guide hole 3c2 and the first spring hole 3c4 are coaxially arranged, the diameter of the first guide hole 3c2 is equal to or slightly larger than that of the linkage rod 3d2, the diameter of the first spring hole 3c4 is larger than that of the first guide hole 3c2, a stop piece 3e1 is arranged at the position of the boss 3c2 close to the lower end, a first spring 3e2 is sleeved on the linkage rod 3d2, the lower end of the first spring 3e2 abuts against a stop piece 3e1, the upper end of the linkage rod 3d 4 and abuts against one end of the first spring hole 4c close to the first spring hole 2 c The first spring 3e2 is always in a compressed state so that the movable platen 3d always has a tendency to move toward the boss 3 c.
Further, a release structure for driving the linkage rod 3d2 to move towards the direction of making the movable pressing plate 3d far away from the boss 3c is arranged at the position of the second feeding station. The loosening structure includes a first carriage 3f1 provided at the second loading station position and a first cylinder 3f2 provided on the first carriage 3f1, the cylinder body of the first cylinder 3f2 is fixed on the first bracket 3f1, the cylinder rod of the first cylinder 3f2 is coaxially arranged with the linkage rod 3d2 at the second feeding station and extends towards the direction of the linkage rod 3d2 at the second feeding station, when the fixed structure 3 moves to the second feeding station, the cylinder rod of the first cylinder 3f2 extends out to push the linkage rod 3d2 to move so as to loosen the movable pressing plate 3d, the second feeding structure can move the circuit board 1c to the boss 3c, then, the cylinder rod of the first cylinder 3f2 is retracted, and the linkage rod 3d2 moves the movable platen 3d toward the boss 3c under the driving of the first spring 3e2 and finally presses the circuit board 1c against the boss 3 c.
Further, the number of the linkage rods 3d2 is two, the two linkage rods 3d2 are parallel to each other, and the first cylinder 3f2 is a double-rod cylinder and corresponds to the two linkage rods 3d2 respectively.
The second feeding mechanism 5 comprises a material stacking table 5a arranged at the second feeding station and used for placing the circuit board 1c, and a suction cup 5e2 positioned above the material stacking table 5a, wherein the suction cup 5e2 can move up and down and can move back and forth between the material stacking table 5a and a boss 3c on the fixing structure 3 at the second feeding station so as to move the circuit board 1c on the material stacking table 5a to the boss 3c at the second feeding station.
The second feeding mechanism 5 further comprises a horizontal moving mechanism 5c arranged at the second feeding station and used for driving the suction cup 5e2 to move between the material stacking table 5a and the boss 3c located at the second feeding station, and the horizontal moving mechanism 5c can be driven by a belt in the prior art. A second air cylinder 5d is arranged at the output end of the horizontal moving mechanism 5c, an air cylinder rod of the second air cylinder 5d is arranged downwards, a fourth support 5e1 is arranged at the lower end of the second air cylinder 5d, the suction cup 5e2 is arranged on the lower surface of the fourth support 5e1, the lower surface of the suction cup 5e2 is a working surface, the circuit board 1c is adsorbed on the lower surface of the suction cup 5e2, and the working principle of the suction cup 5e2 adopts the prior art. When the suction cup 5e2 moves to just above the boss 3c or the material stacking table 5a, the cylinder rod of the second cylinder 5d extends to place the circuit board 1c on the boss 3c or suck up the circuit board 1c from the material stacking table 5 a.
The suction cups 5e2 are provided in plurality at both ends of the fourth support 5e1 corresponding to the longitudinal direction of the circuit board 1 c.
The second feeding mechanism 5 further comprises a material lifting structure 5b for driving the circuit board 1c in the material stacking table 5a to move upwards, the material lifting structure 5b comprises a through motor 5b1 and a lifting plate 5b2 arranged at one end of an output shaft of the through motor 5b1, the output shaft of the through motor 5b1 is arranged up and down, the lifting plate 5b2 is arranged at the upper end of the output shaft of the through motor 5b1, and the output shaft of the through motor 5b1 is rotatable relative to the lifting plate 5b2, so that the through motor 5b1 can drive the lifting plate 5b2 to move up and down. The lifting plate 5b2 can abut against the material stacking table 5a to drive the material stacking table 5a to move up and down, or the lifting plate 5b2 penetrates through the material stacking table 5a to abut against the circuit board 1c on the material stacking table 5 a. Through material lifting structure 5b, can realize that the topmost circuit board 1c in material stacking platform 5a keeps at fixed height, and the same length is stretched out every time to second cylinder 5d, makes sucking disc 5e2 just can catch circuit board 1 c.
The material stacking table 5a comprises a third support 5a1, a placement plate 5a2 supported on the third support 5a1, and a plurality of positioning columns 5a3 positioned on the placement plate 5a2 and used for limiting the circuit board 1c, wherein the positioning columns 5a3 are arranged at four corners of the placement plate 5a2 corresponding to the circuit board 1c, each corner needs two positioning columns 5a3, and the two positioning columns 5a3 correspond to two side faces of the corner. With the positioning posts 5a3, the contact area with the circuit board 1c can be reduced compared to a board, and the circuit board 1c can be sucked up more easily.
The linkage rod 3d2 sets up in an inclined manner, and the upper end is closer to the axis of the rotary table 2 than the lower end, so that when the movable pressing plate 3d moves upwards, the movable pressing plate 3d moves towards the axis direction of the rotary table 2, and the movable pressing plate 3d can move out of the position right above the boss 3c, so that the second feeding mechanism 5 can feed materials from the position right above the boss 3c during feeding.
Further, the robot further comprises a detection mechanism 4 located at the first detection station and a detection mechanism 4 located at the second detection station, and the detection mechanism 4 of the first detection station and the detection mechanism 4 of the second detection station are identical in structure. The detection mechanism 4 of the first detection station is used for detecting whether the power connection post module is placed well, and the detection mechanism 4 of the second detection station is used for detecting whether a through hole in the circuit board 1c is aligned with a threaded hole in the power connection post 1 a. The robot is also provided with a blanking station, blanking is carried out at the blanking station, and a blanking mechanism is arranged at the position of the blanking station, wherein the blanking mechanism can adopt a mechanical arm in the prior art and can also carry out manual blanking.
First material loading station, first detection station, second material loading station, second detection station, twist screw station and unloading station set gradually along the direction of rotation of carousel 2 and the number of station equals fixed knot to construct the number, can realize simultaneously like this to the material loading of electric column module, detect to connect the electric column module whether put, carry out the material loading to circuit board 1c, detect whether through-hole on the circuit board 1c aligns with the screw hole on the electric column, twist screw and unloading.
The detection mechanism 4 comprises a detection frame 41, a second support 4b which is arranged on the detection frame 41 in a vertically movable mode, a plurality of detection columns 4d which are arranged on the second support 4b in a vertically movable mode relative to the second support 4b, and a plurality of sensors 4e which are arranged on the second support 4b, wherein the second support 4b is positioned right above the electric connection columns 1a at the corresponding detection stations, the detection columns 4d correspond to the threaded holes on the corresponding electric connection columns 1a, after the second support 4b drives the detection columns 4d to move downwards for a certain distance, if the sensors 4e do not detect that the detection columns 4d move relative to the second support 4b, the detection columns 4d are inserted into the corresponding threaded holes, at the moment, the electric connection column modules are considered to be placed in place or the through holes are aligned with the threaded holes, if the electric connection column modules are not placed in place or the through holes are not aligned with the threaded holes, at least a part of the detecting column 4d is blocked during the downward movement, and the blocked detecting column 4d moves upward relative to the second support 4b, and the data of the sensor 4e changes. Sensor 4e is the photoelectricity correlation sensor, and every row of detection post 4d corresponds a sensor 4e, and the transmitting terminal and the receiving terminal of photoelectricity correlation sensor set up respectively in the both sides of second support 4b and align with the one row of detection post 4d that corresponds, before detecting, all upper ends that detect post 4d are located same height, the transmitting terminal and the receiving terminal of sensor are located same height and at least partial light that its transmitting terminal sent can be received by the receiving terminal, and when the electric connection post module was placed not in place or the through-hole was not aligned with the screw hole, it can remove second support 4b relatively to detect post 4d for the data that sensor 4e detected change.
A bottom plate 4c1 is provided on the second bracket 4b, a second spring hole 4c2 and a second guide hole 4c4 are provided in the bottom plate 4c1 at a position corresponding to each inspection post 4d in sequence from top to bottom, the diameter of the second spring hole 4c2 is larger than that of the second guide hole 4c4, the diameter of the second guide hole 4c4 is equal to or slightly larger than that of the inspection post 4d, an annular flange 4d2 is provided at a position near the lower end of the inspection post 4d, the diameter of the annular flange 4d2 is larger than that of the second guide hole 4c4 and slightly smaller than that of the second spring hole 4c2, a second spring 4f2 is sleeved on the inspection post 4d, the lower end of the second spring 4f2 abuts against the annular flange 4d2, the upper end of the second spring 4f2 abuts against a 4f1 fixed on the upper surface of the bottom plate 4c1, a through hole 3 for the upper end of the inspection post 4f 7 to pass through is provided at a position corresponding to the inspection post 4d on the cover plate 4f1, the diameter of the through hole 4f3 is smaller than the diameter of the second spring hole 4c 2. The second spring 4f2 is always in a compressed state so that the test post 4d always has a tendency to move downward, and in a normal condition, the annular flange 4d2 abuts against the lower end face of the second spring hole 4c 2. The lower end of the detection post 4d protrudes downward from the lower surface of the bottom plate 4c1 to ensure that a portion of the detection post 4d can be inserted into the threaded hole under normal conditions.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims (10)

1. The utility model provides an assembly inverter connect robot of electric mechanism, the electric mechanism that connects of inverter include the circuit board and wait to carry out the electric post module that connects that assembles with the circuit board, the electric post module includes the plastic support and installs a plurality of electric posts on the plastic support, and a plurality of electric posts are arranged into one row, are provided with the screw hole in the one end of every electric post be provided with a plurality of through-holes that align with every screw hole on the circuit board, its characterized in that, the robot includes:
a carousel rotatable along a vertical axis;
the fixing structures are arranged at the edge of the turntable at equal angles along the vertical axis and are used for fixing the power connection post module and the circuit board before assembly respectively;
the first feeding structure is arranged at the first feeding station and used for feeding the power connection column module to the fixed structure at the first feeding station;
the first detection mechanism is arranged at the first detection station and used for detecting the electric column module so as to judge whether the electric column module is placed in place;
the second feeding structure is arranged at the position of the second feeding station and used for feeding the circuit board to be assembled to the fixing structure positioned at the second feeding station;
the second detection mechanism is arranged at the second detection station and used for detecting whether the through hole in the circuit board is aligned with the through hole in the electric pole or not;
the automatic screw twisting machine is arranged at a screw twisting station and is used for connecting the circuit board positioned on the fixed structure with the electric pole connecting module by screws;
the blanking mechanism is arranged at a blanking station and used for blanking the assembled electric pole connecting module and the assembled circuit board;
first material loading station, first detection station, second material loading station, second detection station, twist screw station and unloading station set gradually along the direction of rotation of carousel and for the setting of angles such as vertical axis, the contained angle between the two adjacent stations equals the contained angle between the adjacent fixed knot structure.
2. The robot equipped with the inverter-mounted power connection mechanism according to claim 1, wherein the first detection mechanism and the second detection mechanism have the same structure and each of them comprises:
the detection frame is arranged at the first detection station or the second detection station;
the second bracket is arranged on the detection frame in a manner of moving up and down;
the detection posts are arranged on the second support in a vertically movable mode relative to the second support, the number of the detection posts is the same as that of the threaded holes in the power connection post module, and whether the power connection post module is placed in place or whether the through holes are aligned with the threaded holes is judged according to whether the power connection post module can be inserted into the corresponding threaded holes.
3. The robot provided with the power connection mechanism of the inverter according to claim 2, wherein the detection mechanism further comprises a sensor disposed on the second bracket, the sensor is capable of acquiring a movement of the detection column relative to the second bracket, and determining whether the power connection column module is placed in place or whether the through hole is aligned with the threaded hole according to the movement.
4. The robot equipped with a power receiving mechanism for an inverter according to claim 2, wherein the detection mechanism further comprises:
the bottom plate is arranged on the second support, the detection columns are arranged on the bottom plate, the upper ends of the detection columns penetrate out of the upper surface of the bottom plate, the lower ends of the detection columns penetrate out of the lower surface of the bottom plate, second spring holes and second guide holes are sequentially arranged on the bottom plate from top to bottom at positions corresponding to the detection columns, the diameter of each second spring hole is larger than that of each second guide hole, the diameter of each second guide hole is equal to or slightly larger than that of each detection column, an annular flange is arranged at a position, close to the lower end, of each detection column, the diameter of each annular flange is larger than that of each second guide hole and slightly smaller than that of each second spring hole, and each annular flange is located in each second spring hole;
the second spring, the cover is established detect on the post, the lower extreme of second spring supports and leans on annular flange, and the upper end supports and leans on the apron of fixing on the upper surface of bottom plate, the position department corresponding to detecting the post on the apron is provided with the perforation that supplies the upper end of detecting the post to pass, the diameter of perforation is less than the diameter in second spring hole, the second spring is in the state of compressed all the time.
5. The robot equipped with an inverter-mounted power connection mechanism according to any one of claims 1 to 4, wherein the fixing structure includes:
the supporting plate is supported on the turntable, a groove for placing the plastic support is formed in the supporting plate, and the shape of the groove is matched with that of the plastic support when the supporting plate is viewed from top;
the upper surface of the boss is configured to be aligned with the upper end faces of the electric poles of the electric pole modules placed in the grooves, first avoiding holes are formed in the positions, corresponding to each electric pole, of the support plate, and the grooves are closer to the edge of the rotary plate relative to the bosses.
6. The robot equipped with a power-on mechanism for an inverter according to claim 5, wherein the fixing structure further comprises:
a movable platen that is movable back and forth in a direction away from or toward the upper surface of the boss to press the circuit board against the boss when approaching the upper surface of the boss or to release the circuit board when moving away from the upper surface of the boss.
7. The robot equipped with the inverter-mounted power connection mechanism according to claim 6, wherein the fixing structure further comprises:
the linkage rod is arranged on the lower surface of the movable pressing plate, a certain angle is formed between the linkage rod and the movable pressing plate, and the lower end of the linkage rod penetrates through the supporting plate and the boss;
the first spring is sleeved on the linkage rod, the upper end of the first spring abuts against the supporting plate or the boss, the lower end of the first spring abuts against the position close to the lower end of the linkage rod, and the first spring is always in a compressed state.
8. The robot for assembling the power connection mechanism of the inverter according to claim 7, further comprising a release structure, wherein the release structure comprises a first cylinder, a cylinder rod of the first cylinder is coaxially arranged with the linkage rod and can push against a lower end of the linkage rod when the cylinder rod of the first cylinder extends out, so that the movable pressing plate releases the pressure on the circuit board.
9. The robot equipped with the inverter-mounted power connection mechanism according to claim 8, wherein the second feeding mechanism includes:
the material stacking table is arranged at the second feeding station and used for placing a circuit board to be assembled;
the sucking disc is positioned above the material stacking table, can move up and down and can move back and forth between the material stacking table and a boss on the fixing structure positioned at the second feeding station so as to move the circuit board on the material stacking table to the boss positioned at the second feeding station; the linkage rod is obliquely arranged, and the upper end of the linkage rod is closer to the axis of the turntable than the lower end of the linkage rod.
10. A method of assembling a power connection mechanism of an inverter using the robot of claim 1, comprising the steps of:
step 1: the turntable drives the fixing structure to move to a first feeding station, and the power connection column module is placed on the fixing structure;
step 2: the turntable drives the fixing structure to move to a first detection station, the first detection mechanism detects whether the power connection column module is placed in place or not, and the step 3 is carried out after the power connection column module is placed in place;
and step 3: the fixing structure moves to a second feeding station, the circuit board is placed on the fixing structure, and the through hole in the circuit board is aligned with the threaded hole in the electric connecting column;
step 4, moving the fixing structure to a second detection station, detecting whether the through holes are aligned with the corresponding threaded holes by a second detection mechanism, and entering step 5 after the through holes are determined to be aligned;
and 5: the fixing structure moves to a screw screwing station, and screws are screwed into the threaded holes through the through holes;
step 6: moving the fixed structure to a blanking station, and blanking the assembled electric connection column module and the circuit board;
the above steps 1 to 6 can be performed simultaneously.
CN202010822295.6A 2020-08-16 2020-08-16 Robot and method for assembling power connection mechanism of inverter Active CN111975331B (en)

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