CN112975386A - Automatic refrigerator assembling process - Google Patents
Automatic refrigerator assembling process Download PDFInfo
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- CN112975386A CN112975386A CN202110255765.XA CN202110255765A CN112975386A CN 112975386 A CN112975386 A CN 112975386A CN 202110255765 A CN202110255765 A CN 202110255765A CN 112975386 A CN112975386 A CN 112975386A
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- refrigerator
- cylinder
- refrigerator door
- clamping
- main body
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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Abstract
The invention belongs to the technical field of refrigerator assembly, and particularly discloses an automatic refrigerator assembly process, which comprises the following steps: s1, respectively transporting the refrigerator door and the refrigerator main body to an assembly area; s2, assembling, wherein the rotating shaft identification part identifies the rotating shaft on the refrigerator main body in the assembling area and generates a corresponding three-dimensional space position; a clamping unit on the assembly robot clamps a refrigerator door in an assembly area and transports the refrigerator door to a rotating shaft hole identification area, and a rotating shaft hole identification part identifies a rotating shaft hole at the bottom of the refrigerator door and generates a corresponding three-dimensional space position; the control unit generates a corresponding transfer route according to the three-dimensional space positions of the rotating shaft and the rotating shaft hole and controls the assembly robot, so that the assembly robot transfers the refrigerator door according to the corresponding transfer route; s3 transfer treatment. Above-mentioned assembly process can solve the problem that adopts the low assembly efficiency that manual assembly caused among the prior art, to the wearing and tearing of refrigerator door bottom and pivot and cause staff's hand muscle damage.
Description
Technical Field
The invention belongs to the technical field of refrigerator assembly, and particularly relates to an automatic refrigerator assembly process.
Background
With the development of society, refrigerators have become essential living necessities for households by virtue of the unique functions of refrigeration, freezing, preservation and the like. In the production process of the refrigerator, the refrigerator door and the refrigerator main body need to be assembled. The method adopted in the prior art is as follows: the staff holds the two sides of the refrigerator door and takes up the refrigerator door, so that the rotating shaft hole at the bottom of the refrigerator door is opposite to the rotating shaft at the bottom of the refrigerator main body, and the rotating shaft is inserted into the rotating shaft hole. However, since the rotating shaft hole is located at the bottom of the refrigerator door, the worker cannot clearly see the positions of the rotating shaft and the rotating shaft hole during assembly, and therefore the rotating shaft can only be tried to be inserted into the rotating shaft hole according to the position of the refrigerator door which is continuously changed. The refrigerator door is generally about thirty jin, and the staff can waste more physical power at the in-process of assembly to long-time assembly still can cause the damage of hand muscle, moreover, because the staff sees the position of unclear pivot and pivot hole, leads to the assembly efficiency very low, and at the in-process of assembly, still can cause the pivot to slide in the refrigerator door bottom, causes the wearing and tearing of refrigerator door bottom and pivot.
Disclosure of Invention
The invention aims to provide an automatic assembly process of a refrigerator, which aims to solve the problems of low assembly efficiency, abrasion to the bottom of a refrigerator door and a rotating shaft and hand muscle damage of workers caused by manual assembly in the prior art.
In order to achieve the purpose, the technical scheme of the invention is as follows: an automatic assembly process of a refrigerator comprises the following steps:
s1, transportation, respectively transporting the refrigerator door and the refrigerator main body to the assembly area; the method specifically comprises the following steps:
s11, the refrigerator main body transportation unit and the refrigerator door transportation unit respectively transport the refrigerator main body and the refrigerator door;
s12, oil brushing treatment is carried out on the rotating shaft, and the oil brushing device can brush the rotating shaft at the bottom of the refrigerator main body in the process that the refrigerator main body is transported to an assembly area;
s13, code scanning processing, wherein after the refrigerator door is transported to an assembly area, the code scanning device can identify the identification code on the refrigerator door, if the specification of the refrigerator door corresponding to the identification code identified by the code scanning device is not matched with the specification of the refrigerator main body, the assembly is stopped, and if the specification is matched, the next step is carried out;
s2, assembling, wherein the rotating shaft identification part identifies the rotating shaft on the refrigerator main body in the assembling area and generates a corresponding three-dimensional space position; a clamping unit on the assembly robot clamps a refrigerator door in an assembly area and transports the refrigerator door to a rotating shaft hole identification area, and a rotating shaft hole identification part identifies a rotating shaft hole at the bottom of the refrigerator door and generates a corresponding three-dimensional space position; the control unit generates a corresponding transfer route according to the three-dimensional spatial positions of the rotating shaft and the rotating shaft hole and controls the assembling robot, so that the assembling robot transfers the refrigerator door according to the corresponding transfer route, and finally the refrigerator door and the refrigerator main body are assembled;
and S3, transferring the assembled refrigerator and the refrigerator main body to the next process.
Further, the step S3 specifically includes the following steps:
s31, adopting a refrigerator door clamping follow-up device to clamp the refrigerator door which completes the assembly of the rotating shaft and the rotating shaft hole in the assembly area and move to the next station along with the refrigerator main body transportation unit;
and S32, when the refrigerator main body and the refrigerator door move to the floating pressing fluent strip device, returning the refrigerator door clamping follow-up device to the original position, pressing the refrigerator door conveyed by the refrigerator door clamping follow-up device by the floating pressing fluent strip device, and conveying the refrigerator door to the next procedure along with the refrigerator main body conveying unit.
Further, in step S12, the oil brushing device includes a first positioning unit, an oil coating robot, and an oil pot and an oil brushing device disposed on the oil coating robot, the first positioning unit is configured to position the refrigerator main body, the oil pot is connected to the oil brushing device, and the oil coating robot drives the oil brushing device to brush oil on the rotating shaft of the refrigerator door main body; the oil coating robot and the first positioning unit are respectively connected with the control unit.
Further, in step S2, the clamping unit includes a clamping frame, a clamping portion and an adsorption portion, the clamping frame is mounted on the assembly robot, the clamping portion includes two sets of clamping assemblies, each set of clamping assembly includes a first cylinder, a second cylinder and a clamping block, the first cylinder is fixed on the clamping frame, the first cylinder is used for driving the second cylinder to move towards the transportation direction of the refrigerator main body transportation unit, the second cylinder is used for driving the clamping block to move, a telescopic shaft of the second cylinder is perpendicular to the movement direction of the telescopic shaft of the first cylinder, and the two sets of clamping blocks are used for clamping two sides of the refrigerator door; the adsorption assembly comprises vacuum equipment and a sucker, and the sucker is fixed on the clamping frame; the first air cylinder, the second air cylinder and the vacuum equipment are respectively connected with the control unit.
Further, in step S31, the refrigerator door clamping and following device includes a first rack, a synchronous belt module, a third cylinder, a linear guide rail, a support frame, a fixed block, a guide block, a fourth cylinder, a fifth cylinder and a first pressing plate, the synchronous belt module and the linear guide rail are disposed on the first rack, and the synchronous belt module is disposed above the linear guide rail; the third cylinder is driven by a synchronous belt module and is used for driving the guide block to vertically reciprocate; the support frame is connected to the linear guide rail in a sliding mode, the fixing block and the fifth cylinder are fixed to the support frame, two sides of the fixing block are inclined planes, and the upper portion of the fixing block is narrower than the lower portion of the fixing block; the inner sides of the two groups of guide blocks are inclined planes, and the inner sides of the two groups of guide blocks can be respectively matched with the inclined planes on the two sides of the fixed block; the fifth cylinder is used for driving the fourth cylinder and the first pressing plate to vertically move, the fourth cylinder is used for driving the first pressing plate to compress or separate from the refrigerator door, and the synchronous belt module, the third cylinder, the fourth cylinder and the fifth cylinder are all connected with the control unit.
Further, in step S32, the floating pressing fluent strip device includes a plurality of sets of support pillars and fluent strips, the support pillars and fluent strips are located at one side of the refrigerator main body transport unit, the support pillars are used for supporting the fluent strips, and the fluent strips can contact with the assembled refrigerator door.
Further, the first positioning unit comprises a second rack, and a clamping part, a moving part and a distance measuring part which are arranged on the second rack, wherein the clamping part, the moving part and the distance measuring part are all connected with the control unit; the refrigerator comprises a refrigerator main body, a clamping part, a moving part and a distance measuring part, wherein the clamping part is used for clamping two sides of the refrigerator main body, the moving part is used for moving the clamped refrigerator main body back and forth, and the distance measuring part is used for measuring the distance between the distance measuring part and the refrigerator main body; the clamping part comprises a placing plate fixed above the second rack, two groups of clamping assemblies are respectively arranged on two sides of the placing plate, each group of clamping assemblies comprises a first servo motor, a lead screw, a holding claw, a first sliding rail and a second pressing plate, the first servo motor and the sliding rail are fixed on the placing plate, the lead screw is driven by the motor, a nut is in threaded connection with the lead screw, one end of the nut is rotationally connected to the holding claw, the holding claw is in sliding connection with the first sliding rail, and the second pressing plate is fixed at one end of the holding claw; the moving part comprises a driving motor, a second sliding rail, a gear and a rack, the driving motor is fixed on the second rack and used for driving the gear to rotate, the rack is connected to the second rack in a sliding mode and driven by the gear; the bottom of the placing plate is connected to the second sliding rail in a sliding mode, and the placing plate is fixed to one end of the rack; the distance measuring part adopts a laser distance measuring instrument.
Further, in step S2, the rotation axis recognition part includes a first bracket and a first recognition camera fixed to the first bracket, and the rotation axis hole recognition unit includes a second bracket and a second recognition camera fixed to the second bracket.
Further, the refrigerator door transportation unit comprises a third support, a suspension chain conveyor, a hanger, a second positioning unit, a fixing part and a shifting-away part, wherein the hanger is fixed on the suspension chain conveyor and used for placing the refrigerator door; railings for fixing the fixing part are arranged on two sides of the hanging tool; the bottom of the hanger is provided with a plurality of inclined supporting rods, the refrigerator door is placed on the supporting rods, the outer sides of the supporting rods are lower than the other side, and the outer sides of the supporting rods are provided with baffle plates; the fixing part comprises a base, a pin shaft, a linear bearing and a pressure spring; the base is fixed on the railing, a through hole is formed in the base, the linear bearing is fixed in the through hole, the pin shaft can slide in the linear bearing, limiting blocks are arranged at two ends of the pin shaft, and the surface area of each limiting block is larger than that of the through hole; the pressure spring is sleeved outside the pin shaft, one end of the pressure spring, which is far away from the linear bearing, is fixed on the pin shaft, and the other end of the pressure spring is fixed on the limiting block on the side through the through hole; the poking-away part comprises a proximity switch, a sixth cylinder, a seventh cylinder and a poking-away block, the proximity switch and the sixth cylinder are fixed on a third support, the sixth cylinder is used for driving the seventh cylinder to move horizontally, the six cylinder is used for driving the poking-away block to move vertically, a groove is formed in one side, away from the seventh cylinder, of the poking-away block, the groove can be clamped on the pin shaft, and the width of a clamping groove of the groove is smaller than that of the limiting block; the proximity switch is used for sensing the position of the fixing part; the second positioning unit comprises a third rack, a third recognition camera, a fixed seat and positioning assemblies arranged on two sides of the fixed seat and used for positioning a hanging tool, and the two groups of positioning assemblies are respectively positioned on two sides of the suspension chain conveyor; each group of positioning assemblies comprises a connecting plate, a third slide rail, a second servo motor and a clamping jaw, the hanger can pass through the position above the third rack, the fixing seat is fixed on the third rack, the third slide rail is fixed above the fixing seat, the connecting plate is connected to the third slide rail in a sliding mode, the clamping jaw is fixed on the connecting plate, the clamping jaw can clamp and position the hanger, the third identification camera is fixed on a third support, and the third identification camera is used for identifying the position of the hanger and collecting images; the proximity switch, the sixth air cylinder, the seventh air cylinder, the third recognition camera and the second servo motor are all connected with the control unit.
Further, sweep a yard device and include bar code scanner, third servo motor, chain sprocket subassembly, third servo motor and chain sprocket are located on the third support, third servo motor is used for the drive the sprocket rotates, the sprocket is used for driving the chain removes, bar code scanner fixes on the chain.
The working principle of the technical scheme is as follows: refrigerator door transportation unit and refrigerator main part transportation unit transport refrigerator door and refrigerator main part respectively, when the refrigerator main part transports to the brushing oil device, the control unit starts driving motor, driving motor drives gear rack function, thereby it places the board and embraces to grab and remove towards the refrigerator main part to drive, reach after the assigned position, start first servo motor, first servo motor drives the lead screw and rotates, the lead screw passes through the nut drive and embraces to grab and remove on first slide rail, thereby make two sets of armful grab remove towards the refrigerator main part, it presss from both sides tightly the refrigerator door both sides to press from both sides until two sets of second clamp plates. Then the driving motor is started again, the driving motor drives the gear rack to move in the reverse direction, the two groups of second pressing plates clamp the refrigerator main body to move towards the laser range finder, when the distance measured by the laser range finder reaches the specified distance, the control unit closes the driving motor, and the oiling robot is controlled to carry out oiling treatment on the rotating shaft on the refrigerator main body. After the oiling is finished, the control unit controls the first servo motor and the driving motor, so that the second pressing plate is far away from the refrigerator main body and returns to the original position.
The refrigerator main body transportation unit continues to transport the refrigerator main body, and stops transporting when the refrigerator main body is transported to the assembly area; the first recognition camera of the rotating shaft recognition part photographs and recognizes the spatial position of the rotating shaft on the refrigerator main body, and the control unit generates the three-dimensional coordinate of the rotating shaft.
When the third recognition camera recognizes that the refrigerator door is transported to the assembly area, the signal is transmitted to the control unit, and the control unit closes the suspension chain conveyor. Scanning the identification code on the refrigerator door of the code scanner and sending the scanning result to the control unit; the control unit judges whether the specifications of the refrigerator door and the refrigerator main body are matched according to the scanning result, if not, the assembly process is stopped, and if so, the assembly process is continued. After the matching is successful, the sixth cylinder and the seventh cylinder are started, the shifting block moves towards the pin shaft, the groove on the final shifting block is clamped on the pin shaft, the sixth cylinder is driven reversely again, the shifting block drives the pin shaft to move through the limiting block, the pin shaft is far away from the refrigerator door, and the refrigerator door can slide to the baffle along the inclined supporting rod after losing the clamping force of the pin shaft to the refrigerator door. When the distance between the proximity switch and the pin shaft reaches a set distance, the proximity switch sends the signal to the controller, and the controller enables the sixth cylinder and the seventh cylinder to operate in the reverse direction, so that the sixth cylinder and the seventh cylinder are separated from the pin shaft. The pin shaft loses the pulling force on the pin shaft and can be restored under the elastic force action of the pressure spring. The assembly robot carries out the centre gripping to this refrigerator door simultaneously, specifically: vacuum apparatus makes the interior negative pressure that produces of sucking disc, holds the surface of refrigerator door, and first cylinder and second cylinder function for the grip block presss from both sides the both sides tight with the refrigerator door, and assembly robot is with the top of refrigerator door centre gripping to pivot hole identification portion. The second recognition camera of the rotating shaft hole recognition part can shoot and recognize the spatial position of the rotating shaft hole, and the control unit generates a three-dimensional coordinate of the rotating shaft hole.
The control unit generates a transfer route of the assembly robot according to the three-dimensional coordinates of the rotating shaft and the rotating shaft hole, and finally the rotating shaft hole at the bottom of the refrigerator door is accurately inserted into the rotating shaft on the refrigerator main body. After the rotating shaft is inserted into the rotating shaft hole, the first air cylinder is driven reversely, so that the first air cylinder drives the second air cylinder and the clamping block to be away from each other, and then the second air cylinder is driven reversely, so that the clamping block is away from the refrigerator door; the assembly robot drives the sucker to push the refrigerator door to close, the sucker is loosened, and the assembly robot drives the clamping frame to return to the original position to wait for clamping the next refrigerator door.
When the refrigerator door is closed, the control unit starts the refrigerator door clamping follow-up device, specifically: the fifth cylinder drives the fourth cylinder and the first pressing plate to vertically move, and then the fourth cylinder drives the first pressing plate to move towards the refrigerator door until the refrigerator door is pressed towards the refrigerator main body.
In the process of transporting the refrigerator main body and the refrigerator door by the refrigerator main body transporting unit, the refrigerator door can drive the first pressing plate to move together due to friction force, and the first pressing plate drives the supporting frame, the fixing block, the fourth cylinder and the fifth cylinder to move together. When the first pressing plate moves to the position of the floating pressing fluent strip device, the fourth air cylinder drives the first pressing plate to move reversely, so that the first pressing plate is far away from the refrigerator door. The third cylinder drives two sets of guide blocks to move downwards, the two sets of guide blocks are just matched with the inclined planes on the two sides of the fixed block, and the synchronous belt module drives the first pressing plate, the supporting frame, the fixed block, the fourth cylinder and the fifth cylinder to move together to a previous station through the fixed block and the guide blocks so as to follow the next refrigerator.
Because the fluency strip is always contacted with the surface of the refrigerator door, the situation that the refrigerator door is inclined can be avoided. The refrigerator main body and the refrigerator door are transported to the next station for assembly of other components.
The beneficial effects of this technical scheme lie in: this technical scheme has realized automatic, the accurate assembly of refrigerator main part and refrigerator door, has avoided carrying out the mode of assembling with the manual work among the prior art, has avoided the damage to workman's hand muscle, has also avoided the fish tail of pivot to the refrigerator door bottom and to the wearing and tearing of self simultaneously, and the refrigerator door assembles fast, accurately. The refrigerator door clamping follow-up device and the floating pressing fluent strip device can play a certain pressing role on the refrigerator door, and the refrigerator door is prevented from falling in the conveying process. The setting of sucking disc not only can produce the adsorption to the refrigerator door, guarantees the stability that the refrigerator door removed, can accomplish the back at the refrigerator door assembly moreover, and the grip block is not when pressing from both sides tightly the both sides of refrigerator door, to the adsorption and the pushing action of refrigerator door. And fourthly, the scanning unit can identify whether the specifications of the refrigerator door and the refrigerator main body are matched, so that the installation error caused by the unmatched specifications is avoided. The clamping part is arranged, so that refrigerator doors with different widths and thicknesses can be clamped, and the applicability is wide.
Drawings
FIG. 1 is a flow chart of an automatic assembly process for a refrigerator according to the present invention;
FIG. 2 is a perspective view of the apparatus of FIG. 1 in use;
FIG. 3 is a top view of FIG. 2;
FIG. 4 is a schematic structural diagram of a clamping unit, a refrigerator door clamping follow-up device and a floating pressing fluent strip device;
FIG. 5 is an enlarged view taken at A in FIG. 4;
FIG. 6 is an enlarged view at B in FIG. 4;
FIG. 7 is a schematic structural diagram of an oiling robot in the oiling device;
FIG. 8 is a schematic structural diagram of a first positioning unit in the oil brushing device;
FIG. 9 is a perspective view of a refrigerator door transport unit;
FIG. 10 is a front view of FIG. 9;
fig. 11 is an enlarged view at C in fig. 9.
Detailed Description
The following is further detailed by way of specific embodiments:
reference numerals in the drawings of the specification include: refrigerator door 1, refrigerator main body 2, refrigerator door transport unit 3, refrigerator main body transport unit 4, oil brushing device 5, code scanning device 6, rotating shaft hole identification part 7, rotating shaft identification part 8, assembly robot 9, clamping unit 10, refrigerator door clamping follow-up device 11, floating pressing fluent strip device 12, electric control cabinet 13, robot control cabinet 14, first positioning unit 15, oil coating robot 16, oil can 17, oil brushing device 18, clamping frame 19, first air cylinder 20, second air cylinder 21, clamping block 22, sucking disc 23, first support 24, first identification camera 25, second support 26, second identification camera 27, first rack 28, synchronous belt module 29, third air cylinder 30, linear guide rail 31, support frame 32, fixing block 33, guide block 34, fourth air cylinder 35, fifth air cylinder 36, first pressing plate 37, support column 38, fluent strip 39, second rack 40, third air cylinder 30, linear guide rail 31, support column 32, fixing block 33, guide block 34, fourth air cylinder 35, fifth air cylinder 36, first pressing plate 37, support column 38, fluent strip 39, second, The device comprises a placing plate 41, a first servo motor 42, a screw rod 43, a holding claw 44, a first slide rail 45, a second press plate 46, a driving motor 47, a second slide rail 48, a rack 49, a laser range finder 50, a third support 51, a suspension chain conveyor 52, a hanger 53, a railing 54, a support rod 55, a baffle 56, a base 57, a pin shaft 58, a linear bearing 59, a pressure spring 60, a limiting block 61, a proximity switch 62, a sixth air cylinder 63, a seventh air cylinder 64, a poking-off block 65, a third rack 66, a third recognition camera 67, a fixed seat 68, a connecting plate 69, a third slide rail 70, a second servo motor 71, a clamping jaw 72, a code scanner 73, a third servo motor 74 and a chain and sprocket assembly 75.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiments are substantially as shown in figures 1 to 11 of the accompanying drawings: an automatic assembly process of a refrigerator, as shown in fig. 1, comprises the following steps:
s1, transportation process, respectively transporting the refrigerator door 1 and the refrigerator main body 2 to the assembly area; the method specifically comprises the following steps:
s11, the refrigerator main body transport unit 4 and the refrigerator door transport unit 3 transport the refrigerator main body 2 and the refrigerator door 1, respectively;
s12, performing oil brushing treatment on the rotating shaft, wherein the oil brushing device 5 performs oil brushing treatment on the rotating shaft at the bottom of the refrigerator main body 2 in the process of transporting the refrigerator main body 2 to an assembly area;
s13, code scanning processing, wherein after the refrigerator door 1 is transported to an assembly area, the code scanning device 6 can identify the identification code on the refrigerator door 1, if the specification of the refrigerator door 1 corresponding to the identification code identified by the code scanning device 6 is not matched with the specification of the refrigerator main body 2, the assembly is stopped, and if the specification is matched, the next step is carried out;
s2, assembling, the rotating shaft identifying part 8 identifies the rotating shaft on the refrigerator main body 2 in the assembling area and generates the corresponding three-dimensional space position; a clamping unit 10 on the assembly robot 9 clamps the refrigerator door 1 in the assembly area and transports the refrigerator door 1 to a rotating shaft hole identification area, and a rotating shaft hole identification part 7 identifies a rotating shaft hole at the bottom of the refrigerator door 1 and generates a corresponding three-dimensional space position; the control unit generates a corresponding transfer route according to the three-dimensional spatial positions of the rotating shaft and the rotating shaft hole and controls the assembling robot 9, so that the assembling robot 9 transfers the refrigerator door 1 according to the corresponding transfer route, and finally the refrigerator door 1 and the refrigerator main body 2 are assembled;
s3, transferring the assembled refrigerator and the refrigerator main body 2 to the next process; the method specifically comprises the following steps:
s31, adopting the refrigerator door clamping follow-up device 11 to clamp the refrigerator door 1 which completes the assembly of the rotating shaft and the rotating shaft hole in the assembly area, and moving to the next station along with the refrigerator main body transportation unit 4;
s32, when the refrigerator main body 2 and the refrigerator door 1 move to the floating pressing fluent strip device 12, the refrigerator door clamping follow-up device 11 returns to the original position, and the floating pressing fluent strip device 12 presses the refrigerator door 1 conveyed by the refrigerator door clamping follow-up device 11 and transfers the refrigerator door 1 to the next process along with the refrigerator main body conveying unit 4.
The control unit comprises an electric control cabinet 13 and a robot control cabinet 14.
In step S12, as shown in fig. 7 and 8, the oil brushing device 5 includes a first positioning unit 15, an oil coating robot 16, and an oil pot 17 and an oil brushing device 18 provided on the oil coating robot 16, the first positioning unit 15 is used for positioning the refrigerator main body 2, the oil pot 17 is connected with the oil brushing device 18, and the oil coating robot 16 drives the oil brushing device 18 to brush the rotating shaft on the refrigerator door 1 main body; the oiling robot 16 and the first positioning unit 15 are respectively connected with the control unit.
In step S2, as shown in fig. 4 and 5, the clamping unit 10 includes a clamping frame 19, a clamping portion and an adsorbing portion, the clamping frame 19 is mounted on the assembly robot 9, the clamping portion includes two sets of clamping assemblies, each set of clamping assembly includes a first cylinder 20, a second cylinder 21 and a clamping block 22, the first cylinder 20 is fixed on the clamping frame 19, the first cylinder 20 is used for driving the second cylinder 21 to move towards the transportation direction of the refrigerator main body transportation unit 4, the second cylinder 21 is used for driving the clamping block 22 to move, the telescopic shaft of the second cylinder 21 is perpendicular to the movement direction of the telescopic shaft of the first cylinder 20, and the two sets of clamping blocks 22 are used for clamping two sides of the refrigerator door 1; the adsorption component comprises vacuum equipment and a sucker 23, and the sucker 23 is fixed on the clamping frame 19; the first cylinder 20, the second cylinder 21 and the vacuum device are connected to a control unit, respectively. Can realize the simultaneous assembly of a plurality of refrigerator doors 1 through setting up a plurality of assembly robots 9, clamping unit 10, pivot discernment portion 8 and pivot discernment portion 8 for assembly efficiency.
In step S2, as shown in fig. 2, 5, and 10, the spindle recognition section 8 includes the first bracket 24 and the first recognition camera 25 fixed to the first bracket 24, and the spindle hole recognition unit includes the second bracket 26 and the second recognition camera 27 fixed to the second bracket 26.
In step S31, as shown in fig. 4 and 6, the refrigerator door clamping and following device 11 includes a first frame 28, a timing belt module 29, a third cylinder 30, a linear guide rail 31, a support frame 32, a fixed block 33, a guide block 34, a fourth cylinder 35, a fifth cylinder 36, and a first pressing plate 37, the timing belt module 29 and the linear guide rail 31 are disposed on the first frame 28, and the timing belt module 29 is disposed above the linear guide rail 31; the third cylinder 30 is driven by the synchronous belt module 29, and the third cylinder 30 is used for driving the guide block 34 to vertically reciprocate; the supporting frame 32 is connected to the linear guide rail 31 in a sliding manner, the fixing block 33 and the fifth cylinder 36 are fixed on the supporting frame 32, two sides of the fixing block 33 are inclined planes, and the upper part of the fixing block 33 is narrower than the lower part; the two groups of guide blocks 34 are arranged, the inner sides of the two groups of guide blocks 34 are inclined planes, and the inner sides of the two groups of guide blocks 34 can be respectively matched with the inclined planes on the two sides of the fixed block 33; the fifth cylinder 36 is used for driving the fourth cylinder 35 and the first pressing plate 37 to vertically move, the fourth cylinder 35 is used for driving the first pressing plate 37 to compress or separate from the refrigerator door 1, and the synchronous belt module 29, the third cylinder 30, the fourth cylinder 35 and the fifth cylinder 36 are all connected with the control unit.
In step S32, as shown in fig. 4, the floating pressing fluent strip apparatus 12 includes sets of the support columns 38 and the fluent strips 39, the support columns 38 and the fluent strips 39 are located on one side of the refrigerator main body transporting unit 4, the support columns 38 are used to support the fluent strips 39, and the fluent strips 39 can be brought into contact with the assembled refrigerator door 1.
As shown in fig. 8, the first positioning unit 15 includes a second frame 40, and a clamping portion, a moving portion and a distance measuring portion which are provided on the second frame 40, and the clamping portion, the moving portion and the distance measuring portion are all connected with the control unit; the clamping part is used for clamping two sides of the refrigerator main body 2, the moving part is used for moving the clamped refrigerator main body 2 back and forth, and the distance measuring part is used for measuring the distance between the distance measuring part and the refrigerator main body 2; the clamping part comprises a placing plate 41 fixed above the second rack 40, two groups of clamping components are respectively arranged on two sides of the placing plate 41, each group of clamping components comprises a first servo motor 42, a screw rod 43, a holding claw 44, a first sliding rail 45 and a second pressing plate 46, the first servo motor 42 and the sliding rail are fixed on the placing plate 41, the screw rod 43 is driven by a motor, a nut is in threaded connection with the screw rod 43, one end of the nut is rotationally connected to the holding claw 44, the holding claw 44 is in sliding connection with the first sliding rail 45, and the second pressing plate 46 is fixed at one end of the holding claw 44; the moving part comprises a driving motor 47, a second slide rail 48, a gear and a rack 49, the driving motor 47 is fixed on the second rack 40, the driving motor 47 is used for driving the gear to rotate, the rack 49 is connected to the second rack 40 in a sliding manner, and the rack 49 is driven by the gear; the bottom of the placing plate 41 is slidably connected to the second slide rail 48, and the placing plate 41 is fixed at one end of the rack 49; the distance measuring unit uses a laser distance meter 50.
The refrigerator main body transportation unit 4 is transported by using a plate chain conveyor, as shown in fig. 9, 10 and 11, the refrigerator door transportation unit 3 comprises a third bracket 51, a suspension chain conveyor 52, a hanger 53, a second positioning unit, a fixing part and a pull-off part, wherein the hanger 53 is fixed on the suspension chain conveyor 52, and the hanger 53 is used for placing the refrigerator door 1; railings 54 for fixing the fixing part are arranged on two sides of the hanging tool 53; the bottom of the hanger 53 is provided with a plurality of inclined supporting rods 55, the refrigerator door 1 is placed on the supporting rods 55, the outer sides of the supporting rods 55 are lower than the other sides, and the outer sides of the supporting rods 55 are provided with baffle plates 56; the fixed part comprises a base 57, a pin shaft 58, a linear bearing 59 and a pressure spring 60; the base 57 is fixed on the railing 54, a through hole is formed in the base 57, a linear bearing 59 is fixed in the through hole, the pin shaft 58 can slide in the linear bearing 59, two ends of the pin shaft 58 are provided with limiting blocks 61, and the surface area of each limiting block 61 is larger than that of the through hole; the pressure spring 60 is sleeved outside the pin shaft 58, one end of the pressure spring 60, which is far away from the linear bearing 59, is fixed on the pin shaft 58, and the other end of the pressure spring 60 is fixed on the limiting block 61 on the side through a through hole; the shifting-away part comprises a proximity switch 62, a sixth cylinder 63, a seventh cylinder 64 and a shifting-away block 65, the proximity switch 62 and the sixth cylinder 63 are fixed on the third support 51, the sixth cylinder 63 is used for driving the seventh cylinder 64 to move horizontally, the sixth cylinder is used for driving the shifting-away block 65 to move vertically, a groove is formed in one side, away from the seventh cylinder 64, of the shifting-away block 65, the groove can be clamped on the pin shaft 58, and the width of a clamping groove of the groove is smaller than that of the limiting block 61; the proximity switch 62 is used for sensing the position of the fixing part; the second positioning unit comprises a third frame 66, a third recognition camera 67, a fixed seat 68 and positioning assemblies arranged on two sides of the fixed seat 68 and used for positioning the hanging tool 53, and the two groups of positioning assemblies are respectively positioned on two sides of the hanging chain conveyor 52; each group of positioning assemblies comprises a connecting plate 69, a third slide rail 70, a second servo motor 71 and a clamping jaw 72, the hanger 53 can pass through the upper part of the third rack 66, the fixing seat 68 is fixed on the third rack 66, the third slide rail 70 is fixed on the fixing seat 68, the connecting plate 69 is connected on the third slide rail 70 in a sliding manner, the clamping jaw 72 is fixed on the connecting plate 69, the clamping jaw 72 can clamp and position the hanger 53, the third recognition camera 67 is fixed on the third support 51, and the third recognition camera 67 is used for recognizing the position of the hanger 53 and collecting images; the proximity switch 62, the sixth air cylinder 63, the seventh air cylinder 64, the third recognition camera 67 and the second servo motor 71 are all connected with the control unit.
As shown in fig. 2 and 10, the code scanning device 6 includes a code scanner 73, a third servo motor 74, and a chain and sprocket assembly 75, the third servo motor 74 and the chain and sprocket assembly are disposed on the third bracket 51, the third servo motor 74 is used for driving the sprocket assembly to rotate, the sprocket assembly is used for driving the chain to move, and the code scanner 73 is fixed on the chain.
The specific implementation process is as follows:
refrigerator door transport unit 3 and refrigerator main part transport unit 4 transport refrigerator door 1 and refrigerator main part 2 respectively, when refrigerator main part 2 transports to brushing oil device 5, the control unit starts driving motor 47, driving motor 47 drives gear rack 49 and operates, thereby drive place board 41 and embrace and grab 44 and move towards refrigerator main part 2, reach the assigned position after, start first servo motor 42, first servo motor 42 drives lead screw 43 and rotates, lead screw 43 drives through the nut and embraces and grab 44 and move on first slide rail 45, thereby make two sets of armful grab 44 move towards refrigerator main part 2, until two sets of second clamp plate 46 press from both sides tight refrigerator door 1. Then the driving motor 47 is started again, the driving motor 47 drives the gear rack 49 to move reversely, the two groups of second pressing plates 46 clamp the refrigerator main body 2 to move towards the laser range finder 50, when the distance measured by the laser range finder 50 reaches a specified distance, the control unit turns off the driving motor 47, and the oiling robot 16 is controlled to carry out oiling treatment on the rotating shaft on the refrigerator main body 2. After the oiling is completed, the control unit controls the first servo motor 42 and the driving motor 47 so that the second pressing plate 46 is moved away from the refrigerator main body 2 and is retracted to the home position.
The refrigerator main body 2 is transported in a single cloud to continue transportation, and when the refrigerator main body 2 is transported to the assembly area, the refrigerator main body transporting unit 4 stops transportation; the first recognition camera 25 of the rotation shaft recognition part 8 photographs and recognizes the spatial position of the rotation shaft on the refrigerator main body 2, and the control unit generates the three-dimensional coordinates of the rotation shaft.
When the third recognition camera 67 recognizes that the refrigerator door 1 is transported to the assembly area, the signal is sent to the control unit, which closes the suspension chain conveyor 52. The code scanner 73 scans the identification code on the refrigerator door 1 and sends the scanning result to the control unit; the control unit judges whether the specifications of the refrigerator door 1 and the refrigerator main body 2 are matched according to the scanning result, if not, the assembly process is stopped, and if so, the assembly process is continued. After the matching is successful, the sixth air cylinder 63 and the seventh air cylinder 64 are started, so that the shifting block 65 moves towards the pin shaft 58, finally, the groove on the shifting block 65 is clamped on the pin shaft 58, the sixth air cylinder 63 is driven reversely, the shifting block 65 drives the pin shaft 58 to move through the limiting block 61, so that the pin shaft 58 is far away from the refrigerator door 1, and after the refrigerator door 1 loses the clamping force of the pin shaft 58 to the shifting block, the shifting block can slide to the baffle 56 along the inclined support rod 55. When the proximity switch 62 is a set distance from the pin 58, the proximity switch 62 sends the signal to the controller, which causes the sixth and seventh cylinders 63, 64 to operate in reverse, thereby disengaging the pin 58. The pin 58 loses its tension and returns to its original position under the force of the compression spring 60. Simultaneously, the assembly robot 9 clamps the refrigerator door 1, specifically: the vacuum equipment makes the inside of the sucker 23 generate negative pressure to suck the surface of the refrigerator door 1, the first air cylinder 20 and the second air cylinder 21 operate, so that the clamping block 22 clamps the two sides of the refrigerator door 1, and the assembly robot 9 clamps the refrigerator door 1 above the rotating shaft hole identification part 7. The second recognition camera 27 of the rotation shaft hole recognition part 7 photographs and recognizes the spatial position of the rotation shaft hole, and the control unit generates the three-dimensional coordinates of the rotation shaft hole.
The control unit generates a transfer route of the assembly robot 9 according to the three-dimensional coordinates of the rotating shaft and the rotating shaft hole, and finally the rotating shaft hole at the bottom of the refrigerator door 1 is accurately inserted into the rotating shaft on the refrigerator main body 2. After the rotating shaft is inserted into the rotating shaft hole, the first air cylinder 20 is driven reversely, so that the first air cylinder 20 drives the second air cylinder 21 and the clamping block 22 to be far away, and then the second air cylinder 21 is driven reversely, so that the clamping block 22 is far away from the refrigerator door 1; the assembly robot 9 drives the sucker 23 to push the refrigerator door 1, so that the refrigerator door 1 is closed, the sucker 23 is loosened, and the assembly robot drives the clamping frame 19 to return to the original position to wait for clamping the next refrigerator door 1.
When the refrigerator door 1 is closed, the control unit activates the refrigerator door clamping follower 11, specifically: the fifth cylinder 36 drives the fourth cylinder 35 and the first pressing plate 37 to move vertically, and then the fourth cylinder 35 drives the first pressing plate 37 to move towards the refrigerator door 1 until the refrigerator door 1 is pressed towards the refrigerator main body 2.
In the process that the refrigerator main body transportation unit 4 transports the refrigerator main body 2 and the refrigerator door 1 again, due to friction, the refrigerator door 1 can drive the first pressing plate 37 to move together, and the first pressing plate 37 drives the support frame 32, the fixed block 33, the fourth cylinder 35 and the fifth cylinder 36 to move together. When moving to the floating pressing fluency strip device 12, the fourth cylinder 35 drives the first pressing plate 37 to move reversely, so that the first pressing plate 37 is far away from the refrigerator door 1. The third cylinder 30 drives the two groups of guide blocks 34 to move downwards, the two groups of guide blocks 34 are just matched with the inclined planes on the two sides of the fixed block 33, and the synchronous belt module 29 drives the first pressing plate 37, the supporting frame 32, the fixed block 33, the fourth cylinder 35 and the fifth cylinder 36 to move together to the previous station through the fixed block 33 and the guide blocks 34 and follow the next refrigerator.
Since the fluency strip 39 is always in contact with the surface of the refrigerator door 1, the situation that the refrigerator door 1 is inclined can be avoided. The refrigerator main body 2 and the refrigerator door 1 are transported to the next station for assembling other components.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing is merely an example of the present invention, and common general knowledge in the field of known specific structures and characteristics is not described herein in any greater extent than that known in the art at the filing date or prior to the priority date of the application, so that those skilled in the art can now appreciate that all of the above-described techniques in this field and have the ability to apply routine experimentation before this date can be combined with one or more of the present teachings to complete and implement the present invention, and that certain typical known structures or known methods do not pose any impediments to the implementation of the present invention by those skilled in the art. It should be noted that, for those skilled in the art, without departing from the structure of the present invention, several changes and modifications can be made, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicability of the patent. The scope of the claims of the present application shall be determined by the contents of the claims, and the description of the embodiments and the like in the specification shall be used to explain the contents of the claims.
Claims (10)
1. An automatic assembly process of a refrigerator is characterized in that: the method comprises the following steps:
s1, transportation, respectively transporting the refrigerator door and the refrigerator main body to the assembly area; the method specifically comprises the following steps:
s11, the refrigerator main body transportation unit and the refrigerator door transportation unit respectively transport the refrigerator main body and the refrigerator door;
s12, oil brushing treatment is carried out on the rotating shaft, and the oil brushing device can brush the rotating shaft at the bottom of the refrigerator main body in the process that the refrigerator main body is transported to an assembly area;
s13, code scanning processing, wherein after the refrigerator door is transported to an assembly area, the code scanning device can identify the identification code on the refrigerator door, if the specification of the refrigerator door corresponding to the identification code identified by the code scanning device is not matched with the specification of the refrigerator main body, the assembly is stopped, and if the specification is matched, the next step is carried out;
s2, assembling, wherein the rotating shaft identification part identifies the rotating shaft on the refrigerator main body in the assembling area and generates a corresponding three-dimensional space position; a clamping unit on the assembly robot clamps a refrigerator door in an assembly area and transports the refrigerator door to a rotating shaft hole identification area, and a rotating shaft hole identification part identifies a rotating shaft hole at the bottom of the refrigerator door and generates a corresponding three-dimensional space position; the control unit generates a corresponding transfer route according to the three-dimensional spatial positions of the rotating shaft and the rotating shaft hole and controls the assembling robot, so that the assembling robot transfers the refrigerator door according to the corresponding transfer route, and finally the refrigerator door and the refrigerator main body are assembled;
and S3, transferring the assembled refrigerator and the refrigerator main body to the next process.
2. An automatic assembling process for a refrigerator according to claim 1, characterized in that: in step S3, the method specifically includes the following steps:
s31, adopting a refrigerator door clamping follow-up device to clamp the refrigerator door which completes the assembly of the rotating shaft and the rotating shaft hole in the assembly area and move to the next station along with the refrigerator main body transportation unit;
and S32, when the refrigerator main body and the refrigerator door move to the floating pressing fluent strip device, returning the refrigerator door clamping follow-up device to the original position, pressing the refrigerator door conveyed by the refrigerator door clamping follow-up device by the floating pressing fluent strip device, and conveying the refrigerator door to the next procedure along with the refrigerator main body conveying unit.
3. An automatic assembling process for a refrigerator according to claim 1, characterized in that: in step S12, the oil brushing device includes a first positioning unit, an oil coating robot, and an oil pot and an oil brushing device provided on the oil coating robot, the first positioning unit is used for positioning the refrigerator main body, the oil pot is connected with the oil brushing device, and the oil coating robot drives the oil brushing device to brush oil on a rotating shaft of the refrigerator door main body; the oil coating robot and the first positioning unit are respectively connected with the control unit.
4. An automatic assembling process for a refrigerator according to claim 1, characterized in that: in step S2, the clamping unit includes a clamping frame, a clamping portion and an adsorption portion, the clamping frame is mounted on the assembly robot, the clamping portion includes two sets of clamping assemblies, each set of clamping assembly includes a first cylinder, a second cylinder and a clamping block, the first cylinder is fixed on the clamping frame, the first cylinder is used for driving the second cylinder to move towards the transportation direction of the refrigerator main body transportation unit, the second cylinder is used for driving the clamping block to move, the telescopic shaft of the second cylinder is perpendicular to the movement direction of the telescopic shaft of the first cylinder, and the two sets of clamping blocks are used for clamping two sides of the refrigerator door; the adsorption assembly comprises vacuum equipment and a sucker, and the sucker is fixed on the clamping frame; the first air cylinder, the second air cylinder and the vacuum equipment are respectively connected with the control unit.
5. An automatic assembling process for a refrigerator according to claim 2, characterized in that: in step S31, the refrigerator door clamping and following device includes a first rack, a timing belt module, a third cylinder, a linear guide rail, a support frame, a fixed block, a guide block, a fourth cylinder, a fifth cylinder, and a first pressing plate, the timing belt module and the linear guide rail are disposed on the first rack, and the timing belt module is disposed above the linear guide rail; the third cylinder is driven by a synchronous belt module and is used for driving the guide block to vertically reciprocate; the support frame is connected to the linear guide rail in a sliding mode, the fixing block and the fifth cylinder are fixed to the support frame, two sides of the fixing block are inclined planes, and the upper portion of the fixing block is narrower than the lower portion of the fixing block; the inner sides of the two groups of guide blocks are inclined planes, and the inner sides of the two groups of guide blocks can be respectively matched with the inclined planes on the two sides of the fixed block; the fifth cylinder is used for driving the fourth cylinder and the first pressing plate to vertically move, the fourth cylinder is used for driving the first pressing plate to compress or separate from the refrigerator door, and the synchronous belt module, the third cylinder, the fourth cylinder and the fifth cylinder are all connected with the control unit.
6. An automatic assembling process for a refrigerator according to claim 2, characterized in that: in step S32, the floating pressing fluent strip device includes a plurality of sets of support pillars and fluent strips, the support pillars and fluent strips are located at one side of the refrigerator main body transport unit, the support pillars are used for supporting the fluent strips, and the fluent strips can be contacted with the assembled refrigerator door.
7. An automatic assembling process for a refrigerator according to claim 3, characterized in that: the first positioning unit comprises a second rack, and a clamping part, a moving part and a distance measuring part which are arranged on the second rack, wherein the clamping part, the moving part and the distance measuring part are all connected with the control unit; the refrigerator comprises a refrigerator main body, a clamping part, a moving part and a distance measuring part, wherein the clamping part is used for clamping two sides of the refrigerator main body, the moving part is used for moving the clamped refrigerator main body back and forth, and the distance measuring part is used for measuring the distance between the distance measuring part and the refrigerator main body; the clamping part comprises a placing plate fixed above the second rack, two groups of clamping assemblies are respectively arranged on two sides of the placing plate, each group of clamping assemblies comprises a first servo motor, a lead screw, a holding claw, a first sliding rail and a second pressing plate, the first servo motor and the sliding rail are fixed on the placing plate, the lead screw is driven by the motor, a nut is in threaded connection with the lead screw, one end of the nut is rotationally connected to the holding claw, the holding claw is in sliding connection with the first sliding rail, and the second pressing plate is fixed at one end of the holding claw; the moving part comprises a driving motor, a second sliding rail, a gear and a rack, the driving motor is fixed on the second rack and used for driving the gear to rotate, the rack is connected to the second rack in a sliding mode and driven by the gear; the bottom of the placing plate is connected to the second sliding rail in a sliding mode, and the placing plate is fixed to one end of the rack; the distance measuring part adopts a laser distance measuring instrument.
8. An automatic assembling process for a refrigerator according to claim 7, characterized in that: in step S2, the spindle recognition portion includes a first bracket and a first recognition camera fixed to the first bracket, and the spindle hole recognition unit includes a second bracket and a second recognition camera fixed to the second bracket.
9. An automatic assembling process for a refrigerator according to claim 1, characterized in that: the refrigerator door transportation unit comprises a third support, a suspension chain conveyor, a hanger, a second positioning unit, a fixing part and a shifting part, wherein the hanger is fixed on the suspension chain conveyor and used for placing the refrigerator door; railings for fixing the fixing part are arranged on two sides of the hanging tool; the bottom of the hanger is provided with a plurality of inclined supporting rods, the refrigerator door is placed on the supporting rods, the outer sides of the supporting rods are lower than the other side, and the outer sides of the supporting rods are provided with baffle plates; the fixing part comprises a base, a pin shaft, a linear bearing and a pressure spring; the base is fixed on the railing, a through hole is formed in the base, the linear bearing is fixed in the through hole, the pin shaft can slide in the linear bearing, limiting blocks are arranged at two ends of the pin shaft, and the surface area of each limiting block is larger than that of the through hole; the pressure spring is sleeved outside the pin shaft, one end of the pressure spring, which is far away from the linear bearing, is fixed on the pin shaft, and the other end of the pressure spring is fixed on the limiting block on the side through the through hole; the poking-away part comprises a proximity switch, a sixth cylinder, a seventh cylinder and a poking-away block, the proximity switch and the sixth cylinder are fixed on a third support, the sixth cylinder is used for driving the seventh cylinder to move horizontally, the six cylinder is used for driving the poking-away block to move vertically, a groove is formed in one side, away from the seventh cylinder, of the poking-away block, the groove can be clamped on the pin shaft, and the width of a clamping groove of the groove is smaller than that of the limiting block; the proximity switch is used for sensing the position of the fixing part; the second positioning unit comprises a third rack, a third recognition camera, a fixed seat and positioning assemblies arranged on two sides of the fixed seat and used for positioning a hanging tool, and the two groups of positioning assemblies are respectively positioned on two sides of the suspension chain conveyor; each group of positioning assemblies comprises a connecting plate, a third slide rail, a second servo motor and a clamping jaw, the hanger can pass through the position above the third rack, the fixing seat is fixed on the third rack, the third slide rail is fixed above the fixing seat, the connecting plate is connected to the third slide rail in a sliding mode, the clamping jaw is fixed on the connecting plate, the clamping jaw can clamp and position the hanger, the third identification camera is fixed on a third support, and the third identification camera is used for identifying the position of the hanger and collecting images; the proximity switch, the sixth air cylinder, the seventh air cylinder, the third recognition camera and the second servo motor are all connected with the control unit.
10. An automatic assembling process for a refrigerator according to claim 9, wherein: sweep a yard device and include bar code collector, third servo motor, chain sprocket subassembly, third servo motor and chain sprocket are located on the third support, third servo motor is used for the drive the sprocket rotates, the sprocket is used for driving the chain removes, bar code collector fixes on the chain.
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| CN202110255765.XA CN112975386B (en) | 2021-03-09 | 2021-03-09 | Automatic refrigerator assembling process |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115400020A (en) * | 2022-05-10 | 2022-11-29 | 浙江厚达智能科技股份有限公司 | Traditional Chinese medicine decoction dreg collection device |
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| CN112975386B (en) | 2022-09-06 |
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