CN114367828A - Dish washer heat exchanger robot assembly line - Google Patents
Dish washer heat exchanger robot assembly line Download PDFInfo
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- CN114367828A CN114367828A CN202111641559.9A CN202111641559A CN114367828A CN 114367828 A CN114367828 A CN 114367828A CN 202111641559 A CN202111641559 A CN 202111641559A CN 114367828 A CN114367828 A CN 114367828A
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- 238000003466 welding Methods 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 30
- 238000002372 labelling Methods 0.000 claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims description 59
- 239000000463 material Substances 0.000 claims description 42
- 239000010687 lubricating oil Substances 0.000 claims description 32
- 238000007599 discharging Methods 0.000 claims description 21
- 229910000838 Al alloy Inorganic materials 0.000 claims description 17
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 238000001179 sorption measurement Methods 0.000 claims description 8
- 238000003825 pressing Methods 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 4
- 238000004851 dishwashing Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 9
- 238000004519 manufacturing process Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 6
- 230000008901 benefit Effects 0.000 abstract description 5
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000005056 compaction Methods 0.000 description 3
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 229920000459 Nitrile rubber Polymers 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000004153 renaturation Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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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
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
- B23P23/06—Metal-working plant comprising a number of associated machines or apparatus
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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
- B23P19/00—Machines 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
-
- 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
- B23P19/00—Machines 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
- B23P19/001—Article feeders for assembling machines
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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
- B23P19/00—Machines 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
- B23P19/04—Machines 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B40/00—Technologies aiming at improving the efficiency of home appliances, e.g. induction cooking or efficient technologies for refrigerators, freezers or dish washers
Abstract
The invention relates to the technical field of mechanical automation, in particular to a robot assembly line for a heat exchanger of a dish washing machine. The automatic welding and labeling device is provided with the tooling line body unit, the preheating and labeling unit, the first robot welding detection unit, the second robot electromagnetic valve assembly unit and the finished product blanking unit, has high automation degree, can work in a complicated and multiple way, and has high efficiency and reliability. The special machine fixture is provided with a special machine fixture robot connecting unit, a special machine fixture sucker fixture and a special machine fixture cylinder gripper fixture, electrical control is achieved, the industrial robot can automatically grab and place the dish washer heat exchanger, the welded dish washer heat exchanger can be conveniently taken out and placed on a conveying line to be conveyed to the next procedure, industrial automatic production is achieved, and production efficiency is effectively improved. The electromagnetic valve assembling machine can be used for assembling the electromagnetic valve on the heat exchanger well, and has the advantages of reliable quality and controllable process.
Description
Technical Field
The invention relates to the technical field of mechanical automation, in particular to a robot assembly line for a heat exchanger of a dish washing machine.
Background
The household appliance is the most intensive key part in the technical field of mechanical automation, and in the household appliance assembly process, the household appliance assembly line is very important due to the diversity of the assembled parts and the complexity of the process. The household appliance assembly line is an assembly line process for sequentially assembling household appliances, and assembly line production is carried out between stations, so that the control of each link has to have high reliability and certain sensitivity to ensure the continuity and stability of production. The reasonable planning of the household appliance assembly line can better realize high precision, high efficiency, high flexibility and high quality of products. The dish washing machine is used as one of household appliances, if mechanical automatic assembly can be realized, the dish washing machine has great benefits for replacing manual work to carry out complicated and multiple-renaturation work and improving the production efficiency and the quality reliability.
Disclosure of Invention
The invention aims to overcome the scheme in the prior art and provides a robot assembly line for a heat exchanger of a dishwasher.
The technical scheme for realizing the purpose of the invention is as follows: a robot assembly line for a dish washing machine heat exchanger comprises a tool line body unit, a preheating and labeling unit, a first robot welding detection unit, a second robot electromagnetic valve assembly unit and a finished product blanking unit,
the tooling line body unit is used for transferring materials among the units;
the preheating and labeling unit is used for identifying the type and variety of the material, labeling and scanning a code and tracking;
the first robot welding detection unit is used for detecting the welding of materials;
the second robot electromagnetic valve assembling unit is used for positioning and assembling the material electromagnetic valve;
the finished product blanking unit is used for grabbing and blanking materials.
According to the technical scheme, the tooling line body unit is provided with a feeding line body, a first circulation line body, a second circulation line body and a discharging line body, wherein the feeding line body is used for manual feeding, the first circulation line body is the discharging line body of the first robot welding detection unit and the feeding line body of the second robot electromagnetic valve assembly unit, the second circulation line body is the feeding line body of the first robot welding detection unit and the discharging line body of the second robot electromagnetic valve assembly unit, and the discharging line body is a double-layer line body for discharging qualified products and discharging unqualified products.
According to the technical scheme, the preheating and labeling unit is provided with an upper cover lifting machine, a preheating mechanism and a labeling mechanism in sequence according to the operation sequence.
In the technical scheme, the first robot welding detection unit is provided with an assembly robot and a special machine clamp, the special machine clamp is connected to the assembly robot, and the special machine clamp is provided with a special machine clamp robot connecting unit, a special machine clamp sucker clamp and a special machine clamp cylinder gripper clamp;
the special machine clamp robot connecting unit is connected with a special machine clamp connecting module, the special machine clamp connecting module is connected with a special machine clamp first control module, and the special machine clamp sucking disc clamp is connected to the upper sides of the special machine clamp connecting module and the special machine clamp first control module;
the lower side of the special machine clamp connecting module is connected with the special machine clamp air cylinder gripper clamp;
the special plane clamp first control module is provided with a special plane clamp first electromagnetic valve which is provided with a special plane clamp first electromagnetic valve shield;
the special machine clamp connecting module is U-shaped, the number of the special machine clamp sucking disc clamps is two, and the special machine clamp sucking disc clamps correspond to the special machine clamp cylinder gripper clamps one by one;
the special machine clamp sucker fixture is provided with a special machine clamp sucker mounting frame module, a special machine clamp vacuum system module and a special machine clamp limiting control module, the special machine clamp sucker mounting frame module is connected to the upper side of the special machine clamp connecting module, the special machine clamp vacuum system module is connected to the special machine clamp sucker mounting frame module, and the special machine clamp limiting control module is connected to the upper side of the special machine clamp sucker mounting frame module.
According to the technical scheme, the special machine clamp sucker mounting frame module is provided with a special machine clamp sucker mounting upper frame and a special machine clamp sucker mounting lower frame, wherein the special machine clamp sucker mounting upper frame is fixedly connected to the special machine clamp sucker mounting lower frame;
the special machine clamp vacuum system module is provided with a special machine clamp vacuum generating device and a special machine clamp vacuum sucker, the special machine clamp vacuum generating device is connected to a special machine clamp sucker mounting lower frame, and the special machine clamp vacuum sucker is connected to a special machine clamp sucker mounting upper frame;
the special machine clamp limiting control module is provided with a special machine clamp limiting switch and a special machine clamp positioning pin, and the special machine clamp limiting switch and the special machine clamp positioning pin are arranged on the special machine clamp sucker mounting upper frame.
The special machine clamp air cylinder gripper clamp in the technical scheme is provided with a plurality of groups of special machine clamp pneumatic fingers, a special machine clamp gripper frame and a special machine clamp second control module, wherein the special machine clamp pneumatic fingers are used for gripping and releasing a heat exchanger;
the special machine clamp gripper frame is provided with a special machine clamp mounting plate and a special machine clamp auxiliary limiting block, the special machine clamp mounting plate is connected to the lower side of the special machine clamp robot connecting unit, and the special machine clamp auxiliary limiting block is used for auxiliary positioning of the heat exchanger;
the special machine clamp second control module is provided with a special machine clamp second electromagnetic valve and a special machine clamp detection sensor, the special machine clamp second electromagnetic valve is used for controlling the air cylinder, and the special machine clamp detection sensor is used for detecting whether the special machine clamp air cylinder gripper clamp moves in place.
The second robot electromagnetic valve assembling unit in the technical scheme is provided with an electromagnetic valve feeding reciprocating table, a visual identification system, an electromagnetic valve material box discharging system, an electromagnetic valve assembling machine, an assembling robot and an electromagnetic valve special machine clamp;
the electromagnetic valve assembling machine is provided with an assembling single-machine main body frame, the assembling single-machine main body frame is provided with a heat exchanger positioning unit, a feeding unit of an electromagnetic valve, an electromagnetic valve lubricating oil smearing mechanism and an electromagnetic valve assembling unit, the heat exchanger positioning unit is used for positioning the heat exchanger, the feeding unit of the electromagnetic valve is used for feeding and positioning the electromagnetic valve of the heat exchanger, the electromagnetic valve lubricating oil smearing mechanism is used for smearing lubricating oil on the electromagnetic valve of the heat exchanger, and the electromagnetic valve assembling unit is used for assembling the electromagnetic valve of the heat exchanger;
the heat exchanger positioning unit is provided with a heat exchanger backup plate, an adsorption system, a positioning tool and a profiling compaction system, the heat exchanger backup plate is connected to the right upper side of the assembly unit main body frame, the adsorption system is connected to the heat exchanger backup plate, and the positioning tool and the profiling compaction system are located on the left side of the heat exchanger backup plate;
the electromagnetic valve precision copying tool is connected to the precision copying tool connecting block, and the in-place signal sensor corresponds to the electromagnetic valve precision copying tool and the precision copying tool connecting block;
the electromagnetic valve lubricating oil smearing mechanism is provided with a sponge lubricating oil smearing mechanism, a transverse moving mechanism and an up-down moving mechanism, wherein the transverse moving mechanism and the up-down moving mechanism are respectively used for transverse displacement and up-down displacement of the sponge lubricating oil smearing mechanism;
the electromagnetic valve lubricating oil smearing mechanism is also provided with a surplus lubricating oil receiving disc.
Above-mentioned technical scheme solenoid valve's assembly unit has planetary reducer, movable plate, servo motor, cylinder for the assembly, the accurate profile modeling frock of solenoid valve with accurate profile modeling frock connecting block connect in planetary reducer, planetary reducer fixed connection in the movable plate, servo motor drive connect in planetary reducer, the cylinder for the assembly connect in the movable plate.
According to the technical scheme, the finished product blanking unit is provided with a truss, a finished product blanking unit clamp and a skip positioning mechanism, the finished product blanking unit clamp and the skip positioning mechanism are fixed on the ground, and the finished product blanking unit clamp is connected to the truss.
Above-mentioned technical scheme still has the safety protection unit, the safety protection unit has aluminium alloy stand, the embedded ya keli board of aluminium alloy, emergency exit, the embedded ya keli board of aluminium alloy is embedded in the aluminium alloy stand, emergency exit bolt hub connection in the aluminium alloy stand.
After the technical scheme is adopted, the invention has the following positive effects:
(1) the automatic assembly line is used for a dish washer heat exchanger robot assembly line, is provided with a tooling line body unit, a preheating and labeling unit, a first robot welding detection unit, a second robot electromagnetic valve assembly unit and a finished product blanking unit, has high automation degree, can work in a complicated and multiple way, and has high efficiency and reliability.
(2) The special machine clamp provided by the invention is provided with the special machine clamp robot connecting unit, the special machine clamp sucker clamp and the special machine clamp cylinder gripper clamp, and is electrically controlled, so that the automatic grabbing and placing of the heat exchanger of the dish washing machine by an industrial robot can be realized, the welded heat exchanger of the dish washing machine can be conveniently taken out and placed on a conveying line to be conveyed to the next process, the industrial automatic production is realized, and the production efficiency is effectively improved.
(3) The electromagnetic valve assembling machine disclosed by the invention has the advantages that the electromagnetic valves are lubricated and finally assembled through the matching among the heat exchanger positioning unit, the feeding unit of the electromagnetic valves, the electromagnetic valve lubricating oil coating mechanism and the assembling unit of the electromagnetic valves, the servo system is adopted for rotation, the constant-speed and constant-force control can be realized, the assembling quality of each electromagnetic valve can be ensured, the electromagnetic valves on the heat exchangers can be well assembled, the quality is reliable, and the process is controllable.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic structural view of a tooling line body according to the present invention;
FIG. 3 is a schematic view of a preheating and labeling structure of the present invention;
FIG. 4 is a schematic view of a welding detection structure of the first robot of the present invention;
FIG. 5 is a schematic structural view of the special machine jig of the present invention;
FIG. 6 is a schematic structural view of a robot connecting unit of the special-purpose jig of the present invention;
FIG. 7 is a schematic structural view of the chuck holder of the special machine tool of the present invention;
FIG. 8 is a schematic structural view of a special machine clamp cylinder gripper clamp of the present invention;
FIG. 9 is a top view of the solenoid valve assembly of robot two of the present invention;
FIG. 10 is a front view schematically illustrating the structure of an assembling unit of the solenoid valve of the present invention;
FIG. 11 is a perspective view of an assembly unit of the solenoid valve of the present invention;
FIG. 12 is a schematic view of the blanking structure of the finished product of the present invention;
fig. 13 is a schematic view of the safety protection structure of the present invention.
In the figure: the system comprises a tooling line body unit 100, a preheating and labeling unit 200, a first robot welding detection unit 300, a second robot electromagnetic valve assembling unit 400, a finished product blanking unit 500, a feeding line body 110, a first circulation line body 120, a second circulation line body 130, a blanking line body 140, an upper cover lifter 210, a preheating mechanism 220, a labeling mechanism 230, an assembling robot 310, a special machine clamp 320, a special machine clamp robot connecting unit 32100, a special machine clamp sucker clamp 32200, a special machine clamp air cylinder gripper clamp 32300, a special machine clamp connecting module 32110, a special machine clamp first control module 32120, a special machine clamp first electromagnetic valve 32121, a special machine clamp first electromagnetic valve shield 32122, a special machine clamp sucker mounting frame module 32210, a special machine clamp vacuum system module 20, a special machine clamp limiting control module 32230, a special machine clamp sucker mounting upper frame 32211, a special machine clamp sucker mounting lower frame 32212, a special machine clamp sucker mounting frame 32210, a special machine clamp sucker mounting structure, a special machine clamp sucker mounting structure, a special machine clamp and a special machine clamp positioning mechanism, A special machine clamp vacuum generating device 32221, a special machine clamp vacuum suction cup 32222, a special machine clamp limit switch 32231, a special machine clamp positioning pin 32232, a special machine clamp pneumatic finger 32310, a special machine clamp gripper frame 32320, a special machine clamp second control module 32330, a special machine clamp mounting plate 32321, a special machine clamp auxiliary limiting block 32322, a special machine clamp second electromagnetic valve 32331, a special machine clamp detection sensor 32332, an assembling single machine main body frame 441, a heat exchanger backup plate 4411, an adsorption system 4412, a positioning tooling 4413, a profiling pressing system 4414, an electromagnetic valve precision profiling tooling 4421, a precision profiling tooling connecting block 4422, an in-place signal sensor 4423, a sponge lubricating oil smearing mechanism 4431, a transverse moving mechanism 4432, an up-down moving mechanism 4433, an excessive lubricating oil receiving plate 4434, a planetary speed reducer 4441, a moving plate 4442, a servo motor 4443, an assembling air cylinder 4444, a finished product blanking unit 500, a truss 510, a servo motor and a special machine clamp positioning pin 32232, Finished product unloading unit anchor clamps 520, skip positioning mechanism 530, safety protection unit 600, aluminium alloy stand 610, aluminium alloy embedded acrylic plate 620, emergency exit 630.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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 some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Referring to fig. 1 to 13, the present invention provides an assembly line of a robot for heat exchanger of dish washer, which is characterized in that: comprises a tooling line body unit 100, a preheating and labeling unit 200, a first robot welding detection unit 300, a second robot electromagnetic valve assembling unit 400 and a finished product blanking unit 500,
the tooling line body unit 100 is used for transferring materials among units; meanwhile, reliable positioning and posture adjustment are realized;
the preheating and labeling unit 200 is used for identifying the type and variety of the material, labeling and code scanning and tracking;
the first robot welding detection unit 300 is used for detecting welding of materials;
the second robot solenoid valve assembling unit 400 uses visual positioning to grab and position and assemble the material solenoid valve;
the finished product blanking unit 500 is used for grabbing and blanking materials, and the functions of grabbing and stacking the materials from the tooling line body unit 100 to a skip car are achieved.
The tooling line body unit 100 is provided with a feeding line body 110, a first transfer line body 120, a second transfer line body 130 and a discharging line body 140, wherein the feeding line body 110 is used for manual feeding, the first transfer line body 120 is a discharging line body of a first robot welding detection unit 300 and a feeding line body of a second robot electromagnetic valve assembly unit 400, the second transfer line body 130 is a feeding line body of the first robot welding detection unit 300 and a discharging line body of the second robot electromagnetic valve assembly unit 400, and the discharging line body 140 is a double-layer line body for discharging qualified products and discharging unqualified products.
The preheating and labeling unit 200 is provided with an upper cover lifter 210, a preheating mechanism 220 and a labeling mechanism 230 in sequence according to the operation sequence. The preheating mechanism 220 performs thermal fusion welding on the heat exchanger (the heat exchanger is a plastic member).
The first robot welding detection unit 300 comprises an assembling robot 310 and a special machine clamp 320, wherein the special machine clamp 320 is connected to the assembling robot 310, and the special machine clamp 320 comprises a special machine clamp robot connecting unit 32100, a special machine clamp sucker clamp 32200 and a special machine clamp air cylinder gripper clamp 32300; the assembly robot 310 is fixed on the ground by an integrated steel platform, and the special machine clamp and suction cup clamp 32200 can take out a welded workpiece by using a suction cup through a vacuum generation system, place the workpiece on a conveying line and convey the workpiece to the next procedure; the special machine clamp cylinder gripper clamp 32300 is mainly used for gripping a preassembled heat exchanger and placing the heat exchanger into welding equipment. The welding equipment is a welding machine (not shown in the figure) which is additionally arranged, and is matched with an external gas detector to carry out gas seal detection on the welded materials. After the materials are welded and inspected, the feeding and discharging functions of the welding machine and the air inspection machine are realized.
The special plane clamp robot connecting unit 32100 is connected with a special plane clamp connecting module 32110, the special plane clamp connecting module 32110 is connected with a first control module 32120 of a special plane clamp, and the upper sides of the special plane clamp connecting module 32110 and the first control module 32120 of the special plane clamp are connected with a special plane clamp sucker clamp 32200;
a special machine clamp cylinder gripper clamp 32300 is connected to the lower side of the special machine clamp connecting module 32110; however, it can be understood that the chuck 32200 and the cylinder gripper 32300 of the special machine clamp can be mounted on both the upper and lower sides, so that the industrial robot can put the pre-installed dishwasher heat exchanger into the welding device to weld and take out the welded dishwasher heat exchanger without turning or performing a secondary motion.
The special plane clamp first control module 32120 is provided with a special plane clamp first electromagnetic valve 32121, and a special plane clamp first electromagnetic valve shield 32122 is installed on the special plane clamp first electromagnetic valve 32121; the special plane clamp first electromagnetic valve shield 32122 is used for protecting the special plane clamp first electromagnetic valve 32121.
The special machine clamp connecting module 32110 is U-shaped, two special machine clamp sucking disc clamps 32200 are provided, and the special machine clamp sucking disc clamps 32200 correspond to the special machine clamp air cylinder gripping clamp 32300 one by one; the special machine clamp connection module 32110 is formed by fixedly connecting a cross bar and two longitudinal bars and is substantially U-shaped. The special machine jig first control module 32120 is attached to the middle of the crossbar.
The special plane clamp suction cup clamp 32200 has a special plane clamp suction cup mounting frame module 32210, a special plane clamp vacuum system module 32220, and a special plane clamp limiting control module 32230, the special plane clamp suction cup mounting frame module 32210 is connected to the upper side of the special plane clamp connection module 32110, the special plane clamp vacuum system module 32220 is connected to the special plane clamp suction cup mounting frame module 32210, and the special plane clamp limiting control module 32230 is connected to the upper side of the special plane clamp suction cup mounting frame module 32210.
The special machine clamp sucker mounting frame module 32210 is provided with a special machine clamp sucker mounting upper frame 32211 and a special machine clamp sucker mounting lower frame 32212, wherein the special machine clamp sucker mounting upper frame 32211 is fixedly connected to the special machine clamp sucker mounting lower frame 32212; the fixed connection may be a bolt connection, a welding, an intermediate lever bridge, etc., and is not limited herein.
The special machine clamp vacuum system module 32220 is provided with a special machine clamp vacuum generating device 32221 and a special machine clamp vacuum chuck 32222, the special machine clamp vacuum generating device 32221 is connected to a special machine clamp chuck mounting lower frame 32212, and the special machine clamp vacuum chuck 32222 is connected to a special machine clamp chuck mounting upper frame 32211; the special machine clamp vacuum suction cups 32222 are uniformly arranged according to the surface characteristics of the heat exchangers, and are preferably adapted to fit as many types of heat exchangers as possible. The vacuum suction cup 32222 of the special machine clamp is made of nitrile rubber, so that the surface of a heat exchanger of the dishwasher is not damaged, and the operation, installation and maintenance are very convenient.
The special machine clamp limit control module 32230 is provided with a special machine clamp limit switch 32231 and a special machine clamp positioning pin 32232, and the special machine clamp limit switch 32231 and the special machine clamp positioning pin 32232 are arranged on the special machine clamp suction disc mounting upper frame 32211.
The special machine clamp cylinder gripper clamp 32300 is provided with a plurality of sets of special machine clamp pneumatic fingers 32310, a special machine clamp gripper frame 32320 and a special machine clamp second control module 32330, and the special machine clamp pneumatic fingers 32310 are used for gripping and releasing the heat exchanger;
the special machine clamp gripper frame 32320 is provided with a special machine clamp mounting plate 32321 and a special machine clamp auxiliary limiting block 32322, the special machine clamp mounting plate 32321 is connected to the lower side of the special machine clamp robot connecting unit 32100, and the special machine clamp auxiliary limiting block 32322 is used for auxiliary positioning of the heat exchanger; the pneumatic finger 32310 of special plane anchor clamps and the supplementary stopper 32322 of special plane anchor clamps guarantee the accurate location and the snatching of dish washer heat exchanger jointly.
The special plane clamp second control module 32330 is provided with a special plane clamp second electromagnetic valve 32331 and a special plane clamp detection sensor 32332, the special plane clamp second electromagnetic valve 32331 is used for controlling the air cylinder, and the special plane clamp detection sensor 32332 is used for detecting whether the special plane clamp air cylinder gripper clamp 32300 moves in place. The second electromagnetic valve 32331 of the special machine clamp is used for controlling the action of the pneumatic finger 32310 of the special machine clamp.
The special machine clamp cylinder gripper clamp 32300 is moved over the dishwasher heat exchanger. The special machine clamp detection sensor 32332 detects the heat exchanger of the dish washing machine, and the second electromagnetic valve 32331 of the special machine clamp controls the pneumatic fingers 32310 of the special machine clamp to act to grab the heat exchanger of the dish washing machine. The machine clamp cylinder gripper clamp 32300 places the dishwasher heat exchanger into a welding apparatus for welding. After welding, the heat exchanger of the dish washer is lifted to a certain height in the welding equipment, meanwhile, the invention enters the welding equipment, the vacuum system module 32220 of the special machine clamp suction disc clamp 32200 acts to suck the welded heat exchanger of the dish washer, and meanwhile, the air cylinder gripper clamp 32300 of the special machine clamp places the heat exchanger which is not welded. It can be understood that the welding mechanism can also be matched with an external gas detector to detect the gas seal of the welded material. After completion, the welding equipment is withdrawn, and the heat exchanger of the dish-washing machine is placed on a conveying line and is circulated to the next procedure.
The second robot electromagnetic valve assembling unit 400 is provided with an electromagnetic valve feeding reciprocating table 410, a visual recognition system 420, an electromagnetic valve material box blanking system 430, an electromagnetic valve assembling machine 440, an assembling robot 450 and an electromagnetic valve special machine clamp 460; the second robot solenoid valve assembling unit 400 grabs the material through the solenoid valve special machine clamp 460, performs special machine assembling, then takes out and places the material on the conveying line to convey the material to the next station; meanwhile, the second robot solenoid valve assembling unit 400 grabs the accessory, namely the solenoid valve, through the solenoid valve special machine clamp 460 and places the accessory, namely the solenoid valve, on the assembling special machine.
The electromagnetic valve assembling machine 440 is provided with an assembling single machine main body frame 441, the assembling single machine main body frame 441 is provided with a heat exchanger positioning unit, a feeding unit of an electromagnetic valve, an electromagnetic valve lubricating oil smearing mechanism and an electromagnetic valve assembling unit, the heat exchanger positioning unit is used for positioning the heat exchanger, the feeding unit of the electromagnetic valve is used for feeding and positioning the electromagnetic valve of the heat exchanger, the electromagnetic valve lubricating oil smearing mechanism is used for smearing lubricating oil on the electromagnetic valve of the heat exchanger, and the electromagnetic valve assembling unit is used for assembling the electromagnetic valve of the heat exchanger;
the heat exchanger positioning unit is provided with a heat exchanger backup plate 4411, an adsorption system 4412, a positioning tool 4413 and a profiling pressing system 4414, the heat exchanger backup plate 4411 is connected to the right upper side of the assembling unit main body frame 441, the adsorption system 4412 is connected to the heat exchanger backup plate 4411, and the positioning tool 4413 and the profiling pressing system 4414 are positioned on the left side of the heat exchanger backup plate 4411; the heat exchanger back plate 4411 is U-shaped to accommodate different types of heat exchangers. The absorption system 4412 includes a suction cup, a vacuum generator, etc., and the specific connection configuration thereof is not described herein, and the absorption system 4412 is mainly used for absorbing and positioning the back surface of the heat exchanger. The positioning tool 4413 accurately supports the lower half part of the assembly, and the profiling pressing system 4414 is matched to perform final precise positioning on the assembled part. The profiling compression system 4414 is a cylinder driven compression structure capable of translating left and right, with the compression structure conforming similarly to the contact portion of the heat exchanger.
The feeding unit of the electromagnetic valve is positioned at the left lower side of the heat exchanger backup plate 4411 and is provided with an electromagnetic valve precision profiling tool 4421, a precision profiling tool connecting block 4422 and an in-place signal sensor 4423, the electromagnetic valve precision profiling tool 4421 is connected to the precision profiling tool connecting block 4422, and the in-place signal sensor 4423 corresponds to the electromagnetic valve precision profiling tool 4421 and the precision profiling tool connecting block 4422; the in-place signal sensor 4423 detects the assembly position and performs closed-loop signal feedback.
The electromagnetic valve lubricating oil smearing mechanism is provided with a sponge lubricating oil smearing mechanism 4431, a transverse moving mechanism 4432 and an up-down moving mechanism 4433, wherein the transverse moving mechanism 4432 and the up-down moving mechanism 4433 are respectively used for transverse displacement and up-down displacement of the sponge lubricating oil smearing mechanism 4431; the sponge lubricating oil smearing mechanism 4431 is provided with sponge, and the sponge lubricating oil smearing mechanism 4431 realizes the lubrication of the electromagnetic valve sealing ring through the matched motion of the transverse moving mechanism 4432 and the up-down moving mechanism 4433.
The electromagnetic valve lubricating oil smearing mechanism is also provided with a redundant lubricating oil receiving disc 4434. The excessive lubricating oil receiving disc 4434 is used for collecting excessive lubricating oil, so that subsequent cleaning is facilitated.
The electromagnetic valve assembling unit comprises a planetary speed reducer 4441, a moving plate 4442, a servo motor 4443 and an assembling cylinder 4444, wherein the electromagnetic valve precision copying tool 4421 and the precision copying tool connecting block 4422 are connected to the planetary speed reducer 4441, the planetary speed reducer 4441 is fixedly connected to the moving plate 4442, the servo motor 4443 is connected to the planetary speed reducer 4441 in a driving manner, and the assembling cylinder 4444 is connected to the moving plate 4442. The air cylinder 4444 for assembly provides pressing force, the servo motor 4443 is matched to complete assembly, and the servo motor 4443 provides uniform speed and constant torsion force, so that the assembly quality is ensured.
The robot etc. puts the dish washer heat exchanger to heat exchanger backup plate 4411, and the system is automatic fixes a position the heat exchanger, and the sucking disc of absorption system 4412 is to adsorbing, and profile modeling compresses tightly system 4414 and compresses tightly and fixes a position the heat exchanger. The electromagnetic valve is placed into a feeding unit of the electromagnetic valve, namely the electromagnetic valve precision profiling tool 4421, manually or by a robot and the like, and a lubricating oil mechanism is smeared on the electromagnetic valve to lubricate a sealing ring of the electromagnetic valve in the electromagnetic valve precision profiling tool 4421. The assembly unit of the electromagnetic valve assembles the lubricated electromagnetic valve, the precise profiling tool 4421 and the precise profiling tool connecting block 44220 of the electromagnetic valve are connected with the planetary reducer 4441, and the assembly action is completed through the servo motor 4443. After the heat exchanger is assembled, the adsorption system 4412 and the profiling compaction system 4414 are all released, and the assembled heat exchanger can be taken away manually or by a robot.
The finished product blanking unit 500 has a truss 510, a finished product blanking unit clamp 520, and a skip positioning mechanism 530, the finished product blanking unit clamp 520 and the skip positioning mechanism 530 are fixed on the ground, and the finished product blanking unit clamp 520 is connected to the truss 510.
Still have safety protection unit 600, safety protection unit 600 has aluminium alloy stand 610, the embedded ya keli board of aluminium alloy 620, emergency exit 630, and the embedded ya keli board of aluminium alloy 620 is embedded in aluminium alloy stand 610, and emergency exit 630 bolt hub connection is in aluminium alloy stand 610. Wherein, the upper and lower material ports are all provided with safety gratings, and the safety scanners are arranged in a crossed manner for protection at the manual material loading position. Wherein the preheating and labeling unit 200 is protected by a fence alone and is safely isolated from the robot system.
The working principle of the invention is as follows: the upper and lower covers and other accessories of the workpiece are manually loaded on the loading line body 110, and the electromagnetic valve is manually loaded on the electromagnetic valve loading reciprocating table 410. The material loading line body 110 conveys the material to the preheating and labeling unit 200, the cover lifter 210 grabs the material and lifts the cover, and the preheating mechanism 220 starts preheating the key part. After the preheating is completed, the upper cover lifter 210 replaces the material upper cover. The labeling mechanism 230 rotates the material to the station to be taken after labeling and code scanning recording the material. The assembly robot 310 runs a program, grabs the materials through the special machine clamp 320, puts the materials to the lower station of the welding equipment, takes the welded materials from the upper station, and puts the welded materials to the circulation line body 120 for conveying. The vision recognition system 420 photographs and recognizes the position of the solenoid valve to guide the assembly robot 450 to grab the solenoid valve through the special jig 460 and place the solenoid valve in the solenoid valve assembly machine 440. When recognizing that the layer of solenoid valves are empty, the vision recognition system 420 guides the solenoid valve material box discharging system 430 to grab and discharge empty material boxes to the discharging material box trolley. And starting to recognize and grab the next layer of electromagnetic valve. The assembling robot 450 grabs the materials from the end of the first streamline body 120 through the special machine clamp 460 and puts the materials into the electromagnetic valve assembling machine 440. The solenoid valve assembling machine 440 operates a program to start solenoid valve assembling, and after the assembling is completed, the assembling robot 450 grabs a workpiece through the special machine clamp 460 and puts the workpiece into the second transfer line body 130. The assembly robot 310 runs a program, and the workpiece is grabbed from the tail end of the swivel body 130 through the special machine clamp 320 and moved to the special machine for detection. And taking the detected workpiece away by the other side of the special machine clamp 320, and putting a new workpiece to be detected into the device for detecting the workpiece. The assembly robot 310 puts the qualified products on the upper layer of the product blanking line body 140 to circulate and puts the unqualified products on the lower layer of the product blanking line body 140 to circulate according to the feedback result of the detection equipment. The truss 510 grabs the workpiece from the upper layer of the product blanking line body 140 to the blanking skip through the special machine clamp 520. Unqualified products flow out of the lower layer of the product blanking line body 140 to be manually treated.
The above embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A dish washer heat exchanger robot assembly line which characterized in that: comprises a tooling line body unit (100), a preheating and labeling unit (200), a first robot welding detection unit (300), a second robot electromagnetic valve assembly unit (400) and a finished product blanking unit (500),
the tooling line body unit (100) is used for transferring materials among the units;
the preheating and labeling unit (200) is used for identifying the type and variety of the material, labeling and code scanning and tracking;
the first robot welding detection unit (300) is used for detecting welding of materials;
the second robot electromagnetic valve assembling unit (400) is used for positioning and assembling the material electromagnetic valve;
the finished product blanking unit (500) is used for grabbing and blanking materials.
2. A dishwasher heat exchanger robot assembly line as defined in claim 1, further comprising: the tooling line body unit (100) is provided with a feeding line body (110), a first circulation line body (120), a second circulation line body (130) and a discharging line body (140), wherein the feeding line body (110) is used for manual feeding, the first circulation line body (120) is the discharging line body of the first robot welding detection unit (300) and the feeding line body of the second robot electromagnetic valve assembly unit (400), the second circulation line body (130) is the feeding line body of the first robot welding detection unit (300) and the discharging line body of the second robot electromagnetic valve assembly unit (400), and the discharging line body (140) is a double-layer line body for discharging qualified products and unqualified products.
3. A dishwasher heat exchanger robot assembly line as defined in claim 1, further comprising: the preheating and labeling unit (200) is provided with an upper cover lifting machine (210), a preheating mechanism (220) and a labeling mechanism (230) in sequence according to the operation sequence.
4. A dishwasher heat exchanger robot assembly line as defined in claim 1, further comprising: the first robot welding detection unit (300) is provided with an assembling robot (310) and a special machine clamp (320), the special machine clamp (320) is connected to the assembling robot (310), and the special machine clamp (320) is provided with a special machine clamp robot connecting unit (32100), a special machine clamp sucker clamp (32200) and a special machine clamp air cylinder gripper clamp (32300);
the special machine clamp robot connecting unit (32100) is connected with a special machine clamp connecting module (32110), the special machine clamp connecting module (32110) is connected with a special machine clamp first control module (32120), and the upper sides of the special machine clamp connecting module (32110) and the special machine clamp first control module (32120) are connected with a special machine clamp sucker clamp (32200);
the lower side of the special machine clamp connecting module (32110) is connected with the special machine clamp air cylinder gripper clamp (32300);
the special plane clamp first control module (32120) is provided with a special plane clamp first electromagnetic valve (32121), and a special plane clamp first electromagnetic valve shield (32122) is installed on the special plane clamp first electromagnetic valve (32121);
the special plane clamp connecting module (32110) is U-shaped, the number of the special plane clamp sucker clamps (32200) is two, and the special plane clamp sucker clamps (32200) correspond to the special plane clamp air cylinder gripper clamps (32300) one by one;
the special plane clamp sucker clamp (32200) is provided with a special plane clamp sucker mounting frame module (32210), a special plane clamp vacuum system module (32220) and a special plane clamp limiting control module (32230), the special plane clamp sucker mounting frame module (32210) is connected to the upper side of the special plane clamp connecting module (32110), the special plane clamp vacuum system module (32220) is connected to the special plane clamp sucker mounting frame module (32210), and the special plane clamp limiting control module (32230) is connected to the upper side of the special plane clamp sucker mounting frame module (32210).
5. A dishwasher heat exchanger robot assembly line according to claim 4, characterized in that: the special machine clamp sucker mounting frame module (32210) is provided with a special machine clamp sucker mounting upper frame (32211) and a special machine clamp sucker mounting lower frame (32212), and the special machine clamp sucker mounting upper frame (32211) is fixedly connected to the special machine clamp sucker mounting lower frame (32212);
the special machine clamp vacuum system module (32220) is provided with a special machine clamp vacuum generating device (32221) and a special machine clamp vacuum sucker (32222), the special machine clamp vacuum generating device (32221) is connected to the special machine clamp sucker mounting lower frame (32212), and the special machine clamp vacuum sucker (32222) is connected to the special machine clamp sucker mounting upper frame (32211);
the special plane clamp limiting control module (32230) is provided with a special plane clamp limiting switch (32231) and a special plane clamp positioning pin (32232), and the special plane clamp limiting switch (32231) and the special plane clamp positioning pin (32232) are arranged on the special plane clamp sucker mounting upper frame (32211).
6. A dishwasher heat exchanger robot assembly line according to claim 4, characterized in that: the special machine clamp air cylinder gripper clamp (32300) is provided with a plurality of groups of special machine clamp pneumatic fingers (32310), a special machine clamp gripper frame (32320) and a special machine clamp second control module (32330), and the special machine clamp pneumatic fingers (32310) are used for gripping and releasing the heat exchanger;
the special machine clamp gripper frame (32320) is provided with a special machine clamp mounting plate (32321) and a special machine clamp auxiliary limiting block (32322), the special machine clamp mounting plate (32321) is connected to the lower side of the special machine clamp robot connecting unit (32100), and the special machine clamp auxiliary limiting block (32322) is used for auxiliary positioning of the heat exchanger;
the special plane clamp second control module (32330) is provided with a special plane clamp second electromagnetic valve (32331) and a special plane clamp detection sensor (32332), the special plane clamp second electromagnetic valve (32331) is used for controlling the air cylinder, and the special plane clamp detection sensor (32332) is used for detecting whether the special plane clamp air cylinder gripper clamp (32300) moves in place.
7. A dishwasher heat exchanger robot assembly line as defined in claim 1, further comprising: the second robot electromagnetic valve assembling unit (400) is provided with an electromagnetic valve feeding reciprocating table (410), a visual identification system (420), an electromagnetic valve material box blanking system (430), an electromagnetic valve assembling machine (440), an assembling robot (450) and an electromagnetic valve special machine clamp (460);
the electromagnetic valve assembling machine (440) is provided with an assembling single machine main body frame (441), the assembling single machine main body frame (441) is provided with a heat exchanger positioning unit, a feeding unit of an electromagnetic valve, an electromagnetic valve lubricating oil smearing mechanism and an electromagnetic valve assembling unit, the heat exchanger positioning unit is used for positioning the heat exchanger, the feeding unit of the electromagnetic valve is used for feeding and positioning the electromagnetic valve of the heat exchanger, the electromagnetic valve lubricating oil smearing mechanism is used for smearing lubricating oil on the electromagnetic valve of the heat exchanger, and the electromagnetic valve assembling unit is used for assembling the electromagnetic valve of the heat exchanger;
the heat exchanger positioning unit is provided with a heat exchanger backup plate (4411), an adsorption system (4412), a positioning tool (4413) and a profiling pressing system (4414), the heat exchanger backup plate (4411) is connected to the right upper side of the assembling unit main body frame (441), the adsorption system (4412) is connected to the heat exchanger backup plate (4411), and the positioning tool (4413) and the profiling pressing system (4414) are positioned on the left side of the heat exchanger backup plate (4411);
the feeding unit of the electromagnetic valve is positioned at the left lower side of the heat exchanger backup plate (4411), the feeding unit of the electromagnetic valve is provided with an electromagnetic valve precision profiling tool (4421), a precision profiling tool connecting block (4422) and an in-place signal sensor (4423), the electromagnetic valve precision profiling tool (4421) is connected to the precision profiling tool connecting block (4422), and the in-place signal sensor (4423) corresponds to the electromagnetic valve precision profiling tool (4421) and the precision profiling tool connecting block (4422);
the electromagnetic valve lubricating oil smearing mechanism is provided with a sponge lubricating oil smearing mechanism (4431), a transverse moving mechanism (4432) and an up-down moving mechanism (4433), wherein the transverse moving mechanism (4432) and the up-down moving mechanism (4433) are used for transverse displacement and up-down displacement of the sponge lubricating oil smearing mechanism (4431) respectively;
the electromagnetic valve lubricating oil smearing mechanism is also provided with a redundant lubricating oil receiving disc (4434).
8. A dishwasher heat exchanger robot assembly line as defined in claim 7, wherein: the assembling unit of the electromagnetic valve is provided with a planetary speed reducer (4441), a moving plate (4442), a servo motor (4443) and an assembling air cylinder (4444), the electromagnetic valve precision copying tool (4421) and the precision copying tool connecting block (4422) are connected to the planetary speed reducer (4441), the planetary speed reducer (4441) is fixedly connected to the moving plate (4442), the servo motor (4443) is connected to the planetary speed reducer (4441) in a driving mode, and the assembling air cylinder (4444) is connected to the moving plate (4442).
9. A dishwasher heat exchanger robot assembly line as defined in claim 1, further comprising: finished product unloading unit (500) have truss (510), finished product unloading unit anchor clamps (520), skip positioning mechanism (530), finished product unloading unit anchor clamps (520) with skip positioning mechanism (530) are fixed in ground, finished product unloading unit anchor clamps (520) connect in truss (510).
10. A dishwasher heat exchanger robot assembly line as defined in claim 1, further comprising: still have safety protection unit (600), safety protection unit (600) have aluminium alloy stand (610), the embedded ya keli board of aluminium alloy (620), emergency exit (630), the embedded ya keli board of aluminium alloy (620) embedded in aluminium alloy stand (610), emergency exit (630) bolt hub connection in aluminium alloy stand (610).
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| CN202111641559.9A CN114367828B (en) | 2021-12-29 | 2021-12-29 | Robot assembly line for dish-washing machine heat exchanger |
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| CN202111641559.9A CN114367828B (en) | 2021-12-29 | 2021-12-29 | Robot assembly line for dish-washing machine heat exchanger |
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| CN114367828B (en) | 2024-01-23 |
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