CN114367828B - Robot assembly line for dish-washing machine heat exchanger - Google Patents
Robot assembly line for dish-washing machine heat exchanger Download PDFInfo
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- CN114367828B CN114367828B CN202111641559.9A CN202111641559A CN114367828B CN 114367828 B CN114367828 B CN 114367828B CN 202111641559 A CN202111641559 A CN 202111641559A CN 114367828 B CN114367828 B CN 114367828B
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- 238000004851 dishwashing Methods 0.000 title abstract description 5
- 238000003466 welding Methods 0.000 claims abstract description 38
- 238000001514 detection method Methods 0.000 claims abstract description 33
- 238000002372 labelling Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims description 58
- 239000000463 material Substances 0.000 claims description 39
- 239000010687 lubricating oil Substances 0.000 claims description 26
- 238000007599 discharging Methods 0.000 claims description 17
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 15
- 229910052782 aluminium Inorganic materials 0.000 claims description 15
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 238000001179 sorption measurement Methods 0.000 claims description 9
- NIXOWILDQLNWCW-UHFFFAOYSA-N acrylic acid group Chemical group C(C=C)(=O)O NIXOWILDQLNWCW-UHFFFAOYSA-N 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000000007 visual effect Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000000034 method Methods 0.000 abstract description 9
- 230000008569 process Effects 0.000 abstract description 8
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000004153 renaturation Methods 0.000 abstract description 2
- 239000011248 coating agent Substances 0.000 description 5
- 238000000576 coating method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000000314 lubricant Substances 0.000 description 2
- 239000003921 oil Substances 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
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000012943 hotmelt Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
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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
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to the technical field of mechanical automation, in particular to a robot assembly line for a dish-washing machine heat exchanger. The invention is provided with the working 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 perform manual complicated and multiple renaturation work, 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, and is electrically controlled, so that automatic grabbing and placing of the industrial robot on the dish washer heat exchanger can be realized, the welded dish washer heat exchanger can be taken out conveniently and placed on a conveying line to be conveyed to the next process, industrial automatic production is realized, and production efficiency is effectively improved. The electromagnetic valve assembly machine can well assemble the electromagnetic valve on the heat exchanger, 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 dish-washing machine heat exchanger.
Background
Home appliances are key components which are the most technical intensive in the technical field of mechanical automation, and home appliance assembly lines are particularly important due to the diversity of assembled parts and complexity of processes in the home appliance assembly process. The household appliance assembly line is a production line process for sequentially assembling household appliances, and production lines are arranged between every two stations, so that the control of each link must have high reliability and certain sensitivity to ensure the continuity and stability of production. The high precision, high efficiency, high flexibility and high quality of products can be better realized by reasonably planning the assembly line of the household appliances. Dish washer is as one kind of household electrical appliances, if can realize mechanical automation assembly, to replace the manual work to carry out loaded down with trivial details, multiple renaturation's work, improvement production efficiency and quality reliability have huge benefit.
Disclosure of Invention
The invention aims to overcome the scheme in the prior art and provides a robot assembly line for a dish-washing machine heat exchanger.
The technical proposal for realizing the aim of the invention is that the robot assembly line for the dish washer heat exchanger comprises an assembly 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 tool line body unit is used for circulating materials among the units;
the preheating and labeling unit is used for identifying the type and variety of the materials, labeling and tracking the scanning codes;
the first robot welding detection unit is used for detecting welding of materials;
the second robot electromagnetic valve assembly unit is used for positioning and assembling the material electromagnetic valve;
the finished product blanking unit is used for grabbing and blanking materials.
Above-mentioned technical scheme frock line body unit has material loading line body, first commentaries on classics line body, second commentaries on classics line body, unloading line body, the material loading line body is used for artifical material loading, first commentaries on classics line body be the unloading line body of No. one robot welding detection unit No. two robot solenoid valve assembly unit the material loading line body, the second commentaries on classics line body is first commentaries on classics line body be the material loading line body of No. one robot welding detection unit No. two robot solenoid valve assembly unit the unloading line body, the unloading line body is the bilayer line body of qualified product unloading, unqualified product unloading.
The preheating and labeling unit in the technical scheme is provided with an upper cover lifting machine, a preheating mechanism and a labeling mechanism in sequence according to the operation sequence.
According to the technical scheme, the welding detection unit of the first robot is provided with a first assembling robot and a special machine clamp, the special machine clamp is connected to the assembling 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 grip 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 upper sides of the special machine clamp connecting module and the special machine clamp first control module are connected with the special machine clamp sucker clamp;
the lower side of the special machine clamp connecting module is connected with the special machine clamp cylinder gripper clamp;
the special machine clamp first control module is provided with a special machine clamp first electromagnetic valve, and the special machine clamp first electromagnetic valve is provided with a special machine clamp first electromagnetic valve shield;
the special machine clamp connecting module is U-shaped, two special machine clamp sucker clamps are arranged, and the special machine clamp sucker clamps correspond to the special machine clamp cylinder gripper clamps one by one;
the special machine clamp suction disc clamp is provided with a special machine clamp suction disc mounting frame module, a special machine clamp vacuum system module and a special machine clamp limit control module, wherein the special machine clamp suction disc 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 suction disc mounting frame module, and the special machine clamp limit control module is connected to the upper side of the special machine clamp suction disc 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, and the special machine clamp sucker mounting upper frame is fixedly connected with 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 chuck, the special machine clamp vacuum generating device is connected with the special machine clamp chuck mounting lower frame, and the special machine clamp vacuum chuck is connected with the special machine clamp chuck mounting upper frame;
the special machine clamp limit control module is provided with a special machine clamp limit switch and a special machine clamp locating pin, and the special machine clamp limit switch and the special machine clamp locating pin are arranged on the special machine clamp sucker mounting upper frame.
According to the technical scheme, the special machine clamp cylinder gripper clamp is provided with an array 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 grabbing and placing 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 cylinder, and the special machine clamp detection sensor is used for detecting whether the special machine clamp cylinder gripper clamp moves in place.
The electromagnetic valve assembling unit of the second robot 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, a second 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 assembling unit of an electromagnetic valve, the heat exchanger positioning unit is used for positioning a 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 assembling unit of the electromagnetic valve 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 compacting system, wherein the heat exchanger backup plate is connected to the upper right side of the assembly single-machine main body frame, the adsorption system is connected to the heat exchanger backup plate, and the positioning tool and the profiling compacting system are positioned on the left side of the heat exchanger backup plate;
the feeding unit of the electromagnetic valve is positioned at the left lower side of the heat exchanger backup plate and is provided with an electromagnetic valve precise profiling tool, a precise profiling tool connecting block and an in-place signal sensor, the electromagnetic valve precise profiling tool is connected with the precise profiling tool connecting block, and the in-place signal sensor corresponds to the electromagnetic valve precise profiling tool and the precise profiling 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-and-down moving mechanism, and the transverse moving mechanism and the up-and-down moving mechanism are respectively used for transverse displacement and up-and-down displacement of the sponge lubricating oil smearing mechanism;
the electromagnetic valve lubricating oil smearing mechanism is also provided with an excessive lubricating oil receiving disc.
Above-mentioned technical scheme the assembly cell of solenoid valve 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, 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.
The technical scheme is that the safety protection device further comprises a safety protection unit, the safety protection unit comprises an aluminum profile upright post, an aluminum profile embedded acrylic plate and a safety door, the aluminum profile embedded acrylic plate is embedded in the aluminum profile upright post, and the safety door bolt is connected with the aluminum profile upright post through a shaft.
After the technical scheme is adopted, the invention has the following positive effects:
(1) The automatic feeding device is used for a robot assembly line of a dish washer heat exchanger, and is provided with an industrial 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, so that the automatic feeding device is high in automation degree, can be used for manually and repeatedly carrying out complex work, and is high in efficiency and reliability.
(2) The special machine clamp 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 industrial robot on the heat exchanger of the dish washer can be realized, the welded heat exchanger of the dish washer 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 lubricates the electromagnetic valve and completes final assembly through the matching among the heat exchanger positioning unit, the feeding unit of the electromagnetic valve, the electromagnetic valve smearing lubricating oil mechanism and the assembly unit of the electromagnetic valve, and the servo system is adopted to rotate, so that constant-speed and constant-force control can be realized, the assembly quality of each electromagnetic valve is ensured, the electromagnetic valve on the heat exchanger can be well assembled, and the electromagnetic valve assembling machine has the advantages of reliable quality and controllable process.
Drawings
In order that the invention may be more readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the construction line body structure of the present invention;
FIG. 3 is a schematic diagram of the preheating and labeling structure of the present invention;
FIG. 4 is a schematic diagram of a welding detection structure of a first robot according to the present invention;
FIG. 5 is a schematic structural view of a special machine clamp according to the present invention;
FIG. 6 is a schematic structural view of a special fixture robot connection unit according to the present invention;
FIG. 7 is a schematic structural view of a chuck clamp of the special machine clamp of the invention;
FIG. 8 is a schematic structural view of a special machine clamp cylinder gripper clamp of the invention;
FIG. 9 is a top view of a robotic solenoid valve assembly of the second embodiment of the invention;
FIG. 10 is a schematic view showing a front view of an assembly unit of the solenoid valve of the present invention;
FIG. 11 is a schematic perspective view of an assembly unit of the solenoid valve of the present invention;
FIG. 12 is a schematic diagram of the finished product blanking structure of the present invention;
fig. 13 is a schematic view of a safety protection structure according to the present invention.
In the figure: the assembly line body unit 100, the preheating and labeling unit 200, the first robot welding detection unit 300, the second robot electromagnetic valve assembly unit 400, the finished product blanking unit 500, the feeding line body 110, the first transfer line body 120, the second transfer line body 130, the discharging line body 140, the upper cover lifting machine 210, the preheating mechanism 220, the labeling mechanism 230, the first assembling robot 310, the special fixture 320, the special fixture robot connection unit 32100, the special fixture suction cup clamp 32200, the special fixture cylinder gripper clamp 32300, the special fixture connection module 32110, the special fixture first control module 32120, the special fixture first electromagnetic valve 32121, the special fixture first electromagnetic valve shield 32122, the special fixture suction cup mounting frame module 32210, the special fixture vacuum system module 32220, the special fixture limit control module 32230, the special fixture suction cup mounting upper frame 32211, the special fixture suction cup mounting lower frame 32212 Special fixture vacuum generating device 32221, special fixture vacuum chuck 32222, special fixture limit switch 32231, special fixture positioning pin 32232, special fixture pneumatic finger 32310, special fixture gripper frame 32320, special fixture second control module 32330, special fixture mounting plate 32321, special fixture auxiliary limit block 32322, special fixture second solenoid valve 32331, special fixture detection sensor 32332, assembly single body frame 441, heat exchanger backup plate 4411, adsorption system 4412, positioning fixture 4413, profiling compression system 4414, solenoid valve precise profiling fixture 4421, precise profiling fixture connection block 4422, in-place signal sensor 4423, sponge lubricant smearing mechanism 4431, lateral movement mechanism 4432, up-and-down movement mechanism 4433, extra lubricant receiving disc 4434, planetary reducer 4441, moving plate 4442, servo motor 4443, assembly cylinder 4444, finished product blanking unit 500, and manufacturing cylinder 44, truss 510, finished product unloading unit anchor clamps 520, skip positioning mechanism 530, safety protection unit 600, aluminium alloy stand 610, embedded acrylic plate 620 of aluminium alloy, emergency exit 630.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the 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 a robot assembly line for a heat exchanger of a dish washer, characterized in that: comprises an industrial 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 working line body unit 100 is used for circulating materials among the 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 materials, labeling and tracking the scanning codes;
the first robot welding detection unit 300 is used for detecting welding of materials;
the second robot electromagnetic valve assembling unit 400 performs positioning and assembling of the material electromagnetic valve by using visual positioning and grabbing;
the finished product blanking unit 500 is used for grabbing and blanking materials, so as to achieve the function of grabbing and stacking the materials from the tooling line body unit 100 to the skip car.
The tooling line body unit 100 has a feeding line body 110, a first transfer line body 120, a second transfer line body 130, and a discharging line body 140, where the feeding line body 110 is used for manual feeding, the first transfer line body 120 is a discharging line body of the first robot welding detection unit 300, and the second transfer line body 130 is a feeding line body of the second robot electromagnetic valve assembly unit 400, the second transfer line body 120 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 a qualified product and a non-qualified product.
The preheating and labeling unit 200 has an upper cover lifter 210, a preheating mechanism 220, and a labeling mechanism 230 sequentially provided in the order of operation. The preheating mechanism 220 performs hot-melt welding of the heat exchanger (the heat exchanger is a plastic member).
The first robot welding detection unit 300 is provided with a first 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 is provided with a special machine clamp robot connection unit 32100, a special machine clamp sucker clamp 32200 and a special machine clamp cylinder grip clamp 32300; the assembly robot 310 is fixed on the ground by an integrated steel platform, and the special machine clamp suction disc clamp 32200 can take out a welded workpiece by using a suction disc through a vacuum generating system, place the workpiece on a conveying line and convey the workpiece to the next working procedure; the special fixture cylinder gripper 32300 is used primarily to grip pre-assembled heat exchangers and place them into a welding apparatus. The welding equipment is a welding machine (not shown in the figure) which is additionally arranged, and is matched with an external gas detection machine to carry out gas seal detection on welded materials. After the materials are welded and inspected, the feeding and discharging functions of the welding machine and the inspecting machine are realized.
The special fixture robot connection unit 32100 is connected with a special fixture connection module 32110, the special fixture connection module 32110 is connected with a special fixture first control module 32120, and the upper sides of the special fixture connection module 32110 and the special fixture first control module 32120 are connected with a special fixture sucker fixture 32200;
the lower side of the special machine clamp connection module 32110 is connected with a special machine clamp cylinder grip clamp 32300; however, it will be appreciated that the special fixture suction cup clamp 32200 and the special fixture cylinder gripper clamp 32300 may be installed on both sides, so that the industrial robot may simultaneously implement the placement of the pre-installed dishwasher heat exchanger in the welding apparatus for welding and removal of the welded dishwasher heat exchanger without turning or performing a secondary motion.
The special fixture first control module 32120 is provided with a special fixture first electromagnetic valve 32121, and a special fixture first electromagnetic valve 32121 is provided with a special fixture first electromagnetic valve shield 32122; the special fixture first solenoid valve shield 32122 is used to protect the special fixture first solenoid valve 32121.
The special machine clamp connecting module 32110 is U-shaped, and two special machine clamp sucker clamps 32200 are arranged, and the special machine clamp sucker clamps 32200 and the special machine clamp cylinder gripper clamps 32300 are in one-to-one correspondence; the special machine clamp connection module 32110 is formed by fixedly connecting two longitudinal rods of a transverse rod and is approximately U-shaped. The special fixture first control module 32120 is connected to the middle position of the cross bar.
The special fixture suction cup clamp 32200 is provided with a special fixture suction cup mounting frame module 32210, a special fixture vacuum system module 32220 and a special fixture limit control module 32230, wherein the special fixture suction cup mounting frame module 32210 is connected to the upper side of the special fixture connection module 32110, the special fixture vacuum system module 32220 is connected to the special fixture suction cup mounting frame module 32210, and the special fixture limit control module 32230 is connected to the upper side of the special fixture suction cup mounting frame module 32210.
The special fixture suction cup mounting frame module 32210 has a special fixture suction cup mounting upper frame 32211 and a special fixture suction cup mounting lower frame 32212, the special fixture suction cup mounting upper frame 32211 being fixedly connected to the special fixture suction cup mounting lower frame 32212; the fixed connection may be a bolt connection, a welding, a middle bar bridge, etc., and is not limited thereto.
The special fixture vacuum system module 32220 is provided with a special fixture vacuum generating device 32221 and a special fixture vacuum chuck 32222, wherein the special fixture vacuum generating device 32221 is connected to the special fixture chuck mounting lower frame 32212, and the special fixture vacuum chuck 32222 is connected to the special fixture chuck mounting upper frame 32211; the special fixture vacuum chuck 32222 is uniformly arranged according to the surface characteristics of the heat exchanger, and is suitable for adapting to heat exchangers of various types as much as possible. The special machine clamp vacuum chuck 32222 is made of nitrile rubber, the surface of the heat exchanger of the dish washer is not damaged, and the operation, the installation and the maintenance are very convenient.
The special fixture limit control module 32230 has a special fixture limit switch 32231 and a special fixture positioning pin 32232, and the special fixture limit switch 32231 and the special fixture positioning pin 32232 are disposed on the special fixture suction cup mounting upper frame 32211.
The special machine clamp cylinder gripper clamp 32300 is provided with an array of special machine clamp pneumatic fingers 32310, a special machine clamp gripper frame 32320 and a special machine clamp second control module 32330, wherein the special machine clamp pneumatic fingers 32310 are used for grabbing and placing the heat exchanger;
the special fixture gripper frame 32320 is provided with a special fixture mounting plate 32321 and a special fixture auxiliary limiting block 32322, the special fixture mounting plate 32321 is connected to the lower side of the special fixture robot connection unit 32100, and the special fixture auxiliary limiting block 32322 is used for auxiliary positioning of the heat exchanger; the special machine clamp pneumatic fingers 32310 and the special machine clamp auxiliary limiting blocks 32322 jointly ensure accurate positioning and grabbing of the heat exchanger of the dish washer.
The special fixture second control module 32330 has a special fixture second solenoid valve 32331 and a special fixture detection sensor 32332, the special fixture second solenoid valve 32331 is configured to control a cylinder, and the special fixture detection sensor 32332 is configured to detect whether the special fixture cylinder gripper 32300 is moved into place. Wherein, special plane fixture second solenoid valve 32331 is used for controlling the action of special plane fixture pneumatic finger 32310.
The special fixture cylinder gripper 32300 moves over the dishwasher heat exchanger. The special machine clamp detection sensor 32332 detects the heat exchanger of the dish washer, and the special machine clamp second electromagnetic valve 32331 controls the special machine clamp pneumatic fingers 32310 to act and grab the heat exchanger of the dish washer. The machine clamp cylinder gripper 32300 places the dishwasher heat exchanger into a welding device for welding. After the welding is finished, the heat exchanger of the dish washer rises to a certain height in the welding equipment, meanwhile, the special machine clamp vacuum system module 32220 of the special machine clamp suction disc clamp 32200 acts to suck the heat exchanger of the dish washer after the welding, and meanwhile, the special machine clamp cylinder gripper clamp 32300 is used for placing the unwelded heat exchanger. It can be understood that the welding mechanism can be matched with an external gas detection machine at the same time for gas seal detection of welded materials. After completion, the welding equipment is withdrawn, and the dishwasher heat exchanger is placed on a conveyor line, and the flow goes to the next process.
The solenoid valve assembling unit 400 of the second robot is provided with a solenoid valve feeding reciprocating table 410, a visual recognition system 420, a solenoid valve material box blanking system 430, a solenoid valve assembling machine 440, a second assembling robot 450 and a solenoid valve special machine clamp 460; the second robot electromagnetic valve assembly unit 400 grabs materials through an electromagnetic valve special machine clamp 460, performs special machine assembly, and then takes out and places the materials in a conveying line to be conveyed to the next station; meanwhile, the solenoid valve assembly unit 400 of the second robot grabs the accessory, namely the solenoid valve, through the solenoid valve special machine clamp 460 and is placed on an assembly 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 assembling unit of an electromagnetic valve, the heat exchanger positioning unit is used for positioning a 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 assembling unit of the electromagnetic valve is used for assembling the electromagnetic valve of the heat exchanger;
the heat exchanger positioning unit comprises a heat exchanger backup plate 4411, an adsorption system 4412, a positioning tool 4413 and a profiling compacting system 4414, wherein the heat exchanger backup plate 4411 is connected to the upper right side of the assembled single-machine 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 compacting system 4414 are positioned on the left side of the heat exchanger backup plate 4411; the heat exchanger backup plate 4411 is U-shaped and can be adapted to different types of heat exchangers. The suction system 4412 includes a suction cup, a vacuum generator, etc., which are not described in detail herein, and the suction system 4412 is mainly used for performing suction positioning on the back surface of the heat exchanger. The positioning tooling 4413 accurately supports the assembled lower half, and the assembled part is subjected to final accurate positioning by matching with the profiling compacting system 4414. The profiling compacting system 4414 is a cylinder-driven compacting structure capable of translating left and right, and the compacting structure is similarly fitted to the contact part 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 precise profiling tool 4421, a precise profiling tool connecting block 4422 and an in-place signal sensor 4423, wherein the electromagnetic valve precise profiling tool 4421 is connected with the precise profiling tool connecting block 4422, and the in-place signal sensor 4423 corresponds to the electromagnetic valve precise profiling tool 4421 and the precise 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 coating mechanism comprises a sponge lubricating oil coating 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 coating mechanism 4431; the sponge lubricating oil coating mechanism 4431 is provided with a sponge, and the sponge lubricating oil coating mechanism 4431 is matched with the up-down moving mechanism 4433 through the transverse moving mechanism 4432 to realize the lubrication of the electromagnetic valve sealing ring.
The solenoid valve lube mechanism also has a redundant lube nipple 4434. The excess oil receiving tray 4434 is used for collecting excess oil, which facilitates subsequent cleaning.
The assembly unit of the electromagnetic valve comprises a planetary reducer 4441, a movable plate 4442, a servo motor 4443 and an assembly cylinder 4444, wherein the electromagnetic valve precise profiling tool 4421 and a precise profiling tool connecting block 4422 are connected to the planetary reducer 4441, the planetary reducer 4441 is fixedly connected to the movable plate 4442, the servo motor 4443 is in driving connection with the planetary reducer 4441, and the assembly cylinder 4444 is connected to the movable plate 4442. The assembly cylinder 4444 provides a pressing force, and the servo motor 4443 is matched to complete assembly, so that the servo motor 4443 provides uniform speed and constant torsion, and the assembly quality is ensured.
Robots and the like place the dishwasher heat exchangers on the heat exchanger backup plates 4411, the system automatically positions the heat exchangers, the sucking discs of the adsorption system 4412 adsorb the heat exchangers, and the profiling compacting system 4414 compacts and positions the heat exchangers. The electromagnetic valve is placed in a feeding unit of the electromagnetic valve by manpower or a robot, namely, the electromagnetic valve precise profiling tool 4421 is internally provided with an electromagnetic valve smearing lubricating oil mechanism, and a sealing ring of the electromagnetic valve in the electromagnetic valve precise profiling tool 4421 is lubricated. The assembly unit of the electromagnetic valve is used for assembling the lubricated electromagnetic valve, the electromagnetic valve precise profiling tool 4421 and the precise profiling tool connecting block 44220 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 compacting system 4414 are all unconstrained, and the assembled heat exchanger can be taken away manually or by a robot.
The finished product blanking unit 500 is provided with a truss 510, a finished product blanking unit clamp 520 and a skip positioning mechanism 530, wherein 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 with the truss 510.
The safety protection unit 600 is further provided, the safety protection unit 600 is provided with an aluminum profile upright post 610, an aluminum profile embedded acrylic plate 620 and a safety door 630, the aluminum profile embedded acrylic plate 620 is embedded in the aluminum profile upright post 610, and the safety door 630 is connected to the aluminum profile upright post 610 through a bolt shaft. The upper and lower feed openings are provided with safety gratings, and safety scanners are arranged in a crossed manner for protection. Wherein the preheating and labeling unit 200 is individually protected by a fence, and is safely isolated from the robotic system.
The working principle of the invention is that the upper and lower covers of the workpiece and other accessories are manually fed at the feeding line body 110, and the electromagnetic valve is manually fed at the electromagnetic valve feeding reciprocating table 410. The feeding line 110 conveys the material to the preheating and labeling unit 200, the upper cover lifter 210 picks up the upper cover of the material to lift, and the preheating mechanism 220 starts preheating the critical part. After the preheating is finished, the upper cover lifting machine 210 replaces the upper cover of the material. The labeling mechanism 230 labels the materials and scans the code records, and then the materials flow to the station to be taken. The first assembly robot 310 runs a program, grabs the material by the special fixture 320, places the material to a lower station of the welding equipment, and takes the welded material from an upper station, places the welded material to the circulation line 120 for conveying. The vision recognition system 420 photographs and recognizes the position of the solenoid valve, and guides the second assembling robot 450 to grasp the solenoid valve through the special fixture 460 and put the solenoid valve to the solenoid valve assembling machine 440. The vision recognition system 420 directs the solenoid valve cartridge blanking system 430 to grasp the empty cartridge and place it in the blanking cartridge cart when the layer of solenoid valves is empty. And starting to identify and grasp the next layer of electromagnetic valves. The second assembling robot 450 picks up the material from the end of the first transfer line 120 through the special fixture 460 and puts it to the solenoid valve assembling machine 440. The solenoid valve assembly machine 440 operates the program to start solenoid valve assembly, and after the assembly is completed, the second assembly robot 450 grabs the workpiece by the special fixture 460 and places the workpiece to the second circulation line 130. The first assembly robot 310 runs a program, and the workpiece is grasped from the end of the transfer line 130 by the special machine jig 320 and moved to the inspection special machine. And taking the detected finished workpiece out of the other side of the special machine clamp 320, and placing a new workpiece to be detected into a device to be detected for detection. The first assembly robot 310 transfers the qualified product to the upper layer of the product discharging line body 140 according to the feedback result of the detection device, and transfers the unqualified product to the lower layer of the product discharging line body 140. Truss 510 grabs the workpiece from the upper layer of product blanking line 140 to the in-feed blanking car by special machine fixture 520. The reject flows out of the lower layer of the product-discharging line body 140 to be manually processed.
The foregoing embodiments have been provided for the purpose of illustrating the general principles of the present invention, and are more fully described herein with reference to the accompanying drawings, in which the principles of the present invention are shown and described, and in which the general principles of the invention are defined by the appended claims.
Claims (7)
1. A dishwasher heat exchanger robot assembly line, characterized in that: comprises an industrial 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 tool line body unit (100) is used for circulating materials among the units;
the preheating and labeling unit (200) is used for identifying the type and variety of the materials, labeling and tracking the scanning codes;
the first robot welding detection unit (300) is used for detecting welding of materials;
the second robot electromagnetic valve assembly 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;
the electromagnetic valve assembling unit (400) of the second robot 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), a second 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 assembling unit of an electromagnetic valve, the heat exchanger positioning unit is used for positioning a 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 assembling unit of the electromagnetic valve 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 compression system (4414), wherein the heat exchanger backup plate (4411) is connected to the upper right side of the assembly single-machine 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 compression 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 precise profiling tool (4421), a precise profiling tool connecting block (4422) and an in-place signal sensor (4423), the electromagnetic valve precise profiling tool (4421) is connected with the precise profiling tool connecting block (4422), and the in-place signal sensor (4423) corresponds to the electromagnetic valve precise profiling tool (4421) and the precise 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-and-down moving mechanism (4433), wherein the transverse moving mechanism (4432) and the up-and-down moving mechanism (4433) are respectively used for transverse displacement and up-and-down displacement of the sponge lubricating oil smearing mechanism (4431);
the electromagnetic valve lubricating oil smearing mechanism is also provided with an excessive lubricating oil receiving disc (4434);
the electromagnetic valve assembling unit is provided with a planetary reducer (4441), a moving plate (4442), a servo motor (4443) and an assembling cylinder (4444), wherein the electromagnetic valve precise profiling tool (4421) and the precise profiling tool connecting block (4422) are connected with the planetary reducer (4441), the planetary reducer (4441) is fixedly connected with the moving plate (4442), the servo motor (4443) is in driving connection with the planetary reducer (4441), and the assembling cylinder (4444) is connected with the moving plate (4442);
the preheating and labeling unit (200) is provided with an upper cover lifting machine (210), a preheating mechanism (220) and a labeling mechanism (230) which are sequentially arranged in the running sequence.
2. A dishwasher heat exchanger robotic assembly line as in claim 1, wherein: the tool line body unit (100) is provided with a feeding line body (110), a first flowing line body (120), a second flowing line body (130) and a discharging line body (140), the feeding line body (110) is used for feeding manually, the first flowing 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 flowing 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 of a qualified product discharging and a disqualified product discharging.
3. A dishwasher heat exchanger robotic assembly line as in claim 1, wherein: the welding detection unit (300) of the first robot is provided with a first assembling robot (310) and a special machine clamp (320), the special machine clamp (320) is connected to the first assembling robot (310), and the special machine clamp (320) is provided with a special machine clamp robot connection unit (32100), a special machine clamp sucker clamp (32200) and a special machine clamp cylinder grip clamp (32300); the special fixture robot connecting unit (32100) is connected with a special fixture connecting module (32110), the special fixture connecting module (32110) is connected with a special fixture first control module (32120), and the upper sides of the special fixture connecting module (32110) and the special fixture first control module (32120) are connected with the special fixture sucker fixture (32200); the lower side of the special machine clamp connecting module (32110) is connected with the special machine clamp cylinder gripper clamp (32300); the special fixture first control module (32120) is provided with a special fixture first electromagnetic valve (32121), and the special fixture first electromagnetic valve (32121) is provided with a special fixture first electromagnetic valve shield (32122); the special machine clamp connecting module (32110) is U-shaped, two special machine clamp sucker clamps (32200) are arranged, and the special machine clamp sucker clamps (32200) and the special machine clamp cylinder gripper clamps (32300) are in one-to-one correspondence; the special fixture sucking disc anchor clamps (32200) have special plane anchor clamps sucking disc installation frame module (32210), special plane anchor clamps vacuum system module (32220), special plane anchor clamps spacing control module (32230), special plane anchor clamps sucking disc installation frame module (32210) connect in the upside of special plane anchor clamps connection module (32110), special plane anchor clamps vacuum system module (32220) connect in special plane anchor clamps sucking disc installation frame module (32210), special plane anchor clamps spacing control module (32230) connect in the upside of special plane anchor clamps sucking disc installation frame module (32210).
4. A dishwasher heat exchanger robotic assembly line as in claim 3, wherein: 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 fixture vacuum system module (32220) is provided with a special fixture vacuum generating device (32221) and a special fixture vacuum chuck (32222), the special fixture vacuum generating device (32221) is connected to the special fixture chuck mounting lower frame (32212), and the special fixture vacuum chuck (32222) is connected to the special fixture chuck mounting upper frame (32211); the special fixture limit control module (32230) is provided with a special fixture limit switch (32231) and a special fixture locating pin (32232), and the special fixture limit switch (32231) and the special fixture locating pin (32232) are arranged on the special fixture sucker mounting upper frame (32211).
5. A dishwasher heat exchanger robotic assembly line as in claim 3, wherein: the special machine clamp cylinder gripper clamp (32300) is provided with an array 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 grabbing and placing a 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 fixture second control module (32330) is provided with a special fixture second electromagnetic valve (32331) and a special fixture detection sensor (32332), the special fixture second electromagnetic valve (32331) is used for controlling an air cylinder, and the special fixture detection sensor (32332) is used for detecting whether the special fixture air cylinder gripper fixture (32300) moves in place.
6. A dishwasher heat exchanger robotic assembly line as in claim 1, wherein: the finished product blanking unit (500) is provided with 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).
7. A dishwasher heat exchanger robotic assembly line as in claim 1, wherein: the safety protection device is characterized by further comprising a safety protection unit (600), wherein the safety protection unit (600) is provided with an aluminum profile upright post (610), an aluminum profile embedded acrylic plate (620) and a safety door (630), the aluminum profile embedded acrylic plate (620) is embedded in the aluminum profile upright post (610), and the safety door (630) is connected with the aluminum profile upright post (610) through a bolt shaft.
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| CN114367828A (en) | 2022-04-19 |
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Denomination of invention: A dishwasher heat exchanger robot assembly line Granted publication date: 20240123 Pledgee: Bank of China Limited by Share Ltd. Wuxi Huishan branch Pledgor: WUXI LIMAN ROBOT TECHNOLOGY CO.,LTD. Registration number: Y2024980026558 |