CN206718500U - A kind of through-flow fan blade automatic welding machine - Google Patents

Abstract

It the utility model is related to a kind of through-flow fan blade automatic welding machine, including feeding unit material, transmission positioning unit, bonding machine unit, blanking unit and automatic control circuit；Feeding unit material includes material frame belt conveyor, carries frame component, three axle robert, and three axle robert is provided with middle section grabbing assembly；Transmit positioning unit and be provided with middle section belt conveyor, double belt components, displaceable member, pick-up component, positioning component, positioning visual component；Bonding machine unit includes bonding machine, rotational positioning component, welding visual component；Blanking unit includes finished product grabbing assembly, shears, manipulator, upset clip claw assembly and feed bin.The automatic charging that saves during the utility model is realized for existing material frame structure, the automatic blanking being automatically positioned with finished product of loose mail, the labor intensity of worker is reduced to a certain extent, improve the production efficiency and quality of through-flow fan blade.

Description

A kind of through-flow fan blade automatic welding machine

Technical field

The technical field of through-flow fan blade ultrasonic bonding is the utility model is related to, more particularly to a kind of through-flow fan blade automatic welding Pick.

Background technology

Through-flow fan blade has been widely used in air-conditioning, convection current now due to the features such as compact-sized, air quantity is big, noise is low In the air exchange devices such as fan, wind curtain machine, shaft-cup, middle section, end cap (in some documents, are referred to as by shaft-cup, multiple middle sections, end cap For loose mail) after injection molding, formed using ultrasonic bonding.

Traditional through-flow fan blade manufacturing is all by the loose mail product of injection formed, is formed using human weld.In fan blade Welding process in, in order to ensure the quality of product, it is necessary to by it is each section loose mail according to certain order, pass through visual identification indicia Circle contraposition is inserted into previous loose mail, but the marked circle very little aligned, is easily produced visual fatigue, is reduced the accurate of welding Property.Human weld's fan blade generally existing welding efficiency is low, the unstable situation of welding product.In addition, through-flow fan blade was welding Cheng Zhonghui produces ear-piercing noise, and this noise easily causes the symptoms such as people's fatigue, headache, nausea, the sense of hearing injury to human body It is larger.And increasingly perfect as country sets up to the law of labourer's health protection, enterprise is using traditional human weld Mode will face the risk of offence state's laws.

In recent years due to growth in the living standard, air conditioning requirements amount increases severely, on the demand of through-flow fan blade is also rapid therewith Rise.The substantial increase of order also brings huge challenge to manufacturing works, and this requires the manufacture that manufacturing works can quickly, stable Go out substantial amounts of qualified products to meet customer need.

With the rising of cost of labor, present enterprise generally faces the awkward situation that order increases severely, recruitment is difficult.It is more and more Enterprise have begun to pursue intelligent, automated production.Due to through-flow fan blade, positioning accuracy request is high in welding process, production The features such as product clamping is difficult, and product standard and type is numerous, this similar automatic welding machine also rarely has welding matter both at home and abroad at present Amount is stable, the automatic welding machine of efficiency high occurs.

Utility model content

The purpose of this utility model is to provide a kind of through-flow fan blade automatic welding machine, including feeding unit material, transmission positioning list Member, bonding machine unit, blanking unit and automatic control circuit.The automatic charging saved in being realized for existing material frame structure, dissipate The automatic blanking being automatically positioned with finished product of part, reduces the labor intensity of worker, improves through-flow fan blade to a certain extent Production efficiency and quality.

The purpose of this utility model is realized by following technical proposals：A kind of through-flow fan blade automatic welding machine, including it is upper Material unit, transmission positioning unit, bonding machine unit, blanking unit and automatic control circuit；

The feeding unit material includes material frame belt conveyor, carries frame component, three axle robert, and the frame component that carries is arranged on institute The outside of material frame belt conveyor is stated, the frame component that carries includes two crotch, two groups of crotch guide rails and two groups of chain drives, The three axle robert is arranged on the top for carrying frame component, and the three axle robert is provided with middle section grabbing assembly；It is described Middle section grabbing assembly includes middle section and captures pedestal, a servomotor is set at the top of the middle section crawl pedestal, the middle section is grabbed Take and Jiong shape bogie is set in the middle part of pedestal, the servomotor passes through ball-screw and the Jiong shape bogie drive connection；Institute State middle section crawl pedestal bottom and two swingable grasping bodies are set, the grasping body head sets clamping plate, the grasping body tail Portion sets swing arm, and the Jiong shape bogie passes through connecting rod and the swing arm drive connection；

The transmission positioning unit is provided with middle section belt conveyor and double belt components, the output end of the middle section belt conveyor Displaceable member is set, the output ends of double belt components sets pick-up component, the displaceable member and the pick-up component it Between positioning component is set, the displaceable member includes displacement cylinder, slider cylinder, guide rail, and the slider cylinder is arranged on described On guide rail, the piston rod of the displacement cylinder is fixedly connected with the slider cylinder, and cylinder folder is fixed with the slider cylinder Pawl；The pick-up component includes two axis robots, and two axis robot is provided with sucker；The positioning component is provided with positioning table, Be provided with multiple locating detents around the positioning table, the lower section of the positioning table sets positioning cylinder, the locating detent with it is described Positioning cylinder drive connection；The top of the positioning component is provided with positioning visual component, and the positioning visual component includes industry Camera and light source；

The bonding machine unit includes bonding machine, rotational positioning component, welding visual component, and the rotational positioning component is set There are two axis robots, two axis robot is provided with rotary cylinder clamping jaw；The welding visual component includes industrial camera and light Source, the industrial camera and light source are inclined at the oblique upper of the pallet both sides of the bonding machine respectively；

The blanking unit includes finished product grabbing assembly, shears, manipulator, upset clip claw assembly and feed bin, described Finished product grabbing assembly includes finished product crawl support, and finished product crawl support is provided with horizontal guide rail, right on the horizontal guide rail Claim to set left grasping body and right grasping body, the side of the horizontal guide rail is parallel to be provided with bidirectional modulation thick stick, the bidirectional modulation thick stick One end left-handed ball screw is set, the other end of the bidirectional modulation thick stick sets dextrorotation ball screw, and the left grasping body leads to Cross screw to be connected with the left-handed ball screw, the right grasping body is connected by screw with the dextrorotation ball screw, described Bidirectional modulation thick stick and drive mechanism power connector；The shears is arranged on the manipulator, is set on the shears There is guide plate, the upset clip claw assembly is hinged on the shears, and the upset clip claw assembly includes tumble cylinder, regulation Screw rod, clamping cylinder and clamping jaw piece.

Further, the ball-screw includes screw rod, nut, and the screw rod passes through shaft coupling and the servomotor Axis connection is exported, the nut is fixed on the Jiong shape bogie.

Further, grasping component axle is set on the Jiong shape bogie, and one end of the connecting rod is hinged on the grasping On component axle, the other end of the connecting rod is hinged with the swing arm.

Further, the middle section crawl pedestal both sides set positioning hole, and the both ends of the grasping component axle are arranged on institute State in positioning hole.

Further, concora crush component is set between two grasping bodies, the concora crush component includes fixed seat, elasticity pressure Bar, the elastic layering are connected by press strip guide rod with the fixed seat, pocketed springs on the press strip guide rod.

Further, the fixed seat is fixedly mounted by Qian shape connector and the middle section crawl pedestal.

Further, the ball-screw includes screw rod, nut, and the screw rod passes through shaft coupling and the servomotor Axis connection is exported, the nut is fixed on the Jiong shape bogie.

Further, grasping component axle is set on the Jiong shape bogie, and one end of the connecting rod is hinged on the grasping On component axle, the other end of the connecting rod is hinged with the swing arm.

Further, the middle section crawl pedestal both sides set positioning hole, and the both ends of the grasping component axle are arranged on institute State in positioning hole.

The utility model has the following advantages that compared with prior art：

1st, the utility model can reduce the labor intensity of welding personnel to a certain extent, improve the production of through-flow fan blade Efficiency and the stability of production.

2nd, corresponding material-uploading style is developed according to existing standard A5 material frames, at present, this material-uploading style other from It is no in the equipment of dynamicization.This material-uploading style largely remains original operating habit, can both save Substantial amounts of cost, difficulty of the equipment in extension process can be reduced again.

3rd, the utility model make use of existing bonding machine to the full extent, and carry out automatic improving, compared with again Bonding machine or automatic welding structure are designed, there can be obvious advantage in terms of cost control.

4th, novel visual alignment system is developed, camera and light source incline are installed, this visual-alignment system is compared with existing Some camera and light source move mounting means, while welding precision is ensured, can greatly lift welding efficiency.

5th, the blanking unit stored automatically is developed, substantial amounts of finished product through-flow fan blade can be stored automatically, in artificial rewinding Labor intensity can be substantially reduced, also provides possibility to produce different products in same equipment.

6th, it can be worked independently using modularized design, each unit, the adaptability of equipment can be provided, also be equipment Subsequent upgrade has reserved convenience.

The utility model is described in detail below in conjunction with the drawings and specific embodiments.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model；

Fig. 2 is the structural representation of feeding unit material；

Fig. 3 is the structural representation of XY platforms；

Fig. 4 is the structural representation for carrying frame component；

Fig. 5 is the structural representation of Z axis component；

Fig. 6 is the structural representation of middle section grabbing assembly；

Fig. 7 is the crawl schematic diagram of middle section grabbing assembly；

Fig. 8 is the structural representation for transmitting positioning unit；

Fig. 9 is the structural representation of displaceable member；

Figure 10 is the structural representation of pick-up component；

Figure 11 is the structural representation of positioning component；

Figure 12 is the structural representation of bonding machine unit；

Figure 13 is the structural representation of bonding machine；

Figure 14 is the structural representation of rotational positioning component；

Figure 15 is the structural representation of rotary cylinder clamping jaw；

Figure 16 is the structural representation for welding visual component；

Figure 17 is the fundamental diagram of visual component；

Figure 18 is the structural representation of blanking unit；

Figure 19 is the scheme of installation of finished product grabbing assembly；

Figure 20 is the structural representation for overturning clip claw assembly；

Figure 21 is the structural representation of shears；

Figure 22 is the structural representation of finished product grabbing assembly；

Figure 23 is the stereogram of finished product grabbing assembly.

Embodiment

Embodiment one：

For convenience of specific embodiment of the present utility model is understood, the specific knot of through-flow fan blade product is simply introduced first Structure.Under normal circumstances, through-flow fan blade is made up of three parts：Section, a shaft-cup, an end cap in several.Middle section is by middle pitch circle Disk, fan blade, melten gel blade are by injection machine injection molding, and middle pitch circle disk upper end injection is fluted, and lower end is molded with circular arc wind Melten gel blade is left in leaf, fan blade end.Shaft-cup is formed by a plastic disc and a chromium plated shaft nesting, shaft-cup in actual production Include common shaft-cup and fan blade shaft-cup.End cap is formed by an aluminium set is nested with a plastic disc, actual production middle-end Lid includes common end cap (inside repair), bucket step dispatch workers to do on-site repairs end cap through-flow fan blade outside of the aluminium set bucket step inside through-flow fan blade And Nei Xiu and fan blade end cap of dispatching workers to do on-site repairs.One or more marked circles are all molded with three middle section, shaft-cup, end cap member discs, Aligned during convenient welding.The structure of through-flow fan blade is referred to the content disclosed in utility model patent ZL201520348387.X Understood, be not described in detail herein.

In welding process, there is being placed on up for melten gel groove to weld on pallet shaft-cup first；Then take every time Saved in one, middle shackle mark is justified into alignment shaft-cup marked circle, then the melten gel blade of middle section is inserted by melten gel groove surface also upward Into the melten gel groove of shaft-cup；After some middle sections are welded, end cap there is into melten gel boss one down, to good marked circle, placed On middle section, and complete to weld, it is possible to complete the welding of a complete through-flow fan blade product.

Referring to Fig. 1, a kind of through-flow fan blade automatic welding machine of the present utility model, including feeding unit material 1, transmission positioning unit 2nd, bonding machine unit 3, blanking unit 4 and automatic control circuit.The utility model overall structure uses modularized design, by feeding 4 four unit 1, transmission positioning unit 2, bonding machine unit 3, blanking unit sequence of modules are integrated together, and form a speed It hurry up, the through-flow fan blade automatic welding machine that precision is high.Each there is independent function and control system, energy in this four modules Enough independent machines for turning into an isolated operation.This design method can greatly improve the adaptability of machine, be follow-up machine It is convenient that the upstream and downstream equipment such as device connection injection machine provide.The utility model improves operating efficiency, by for effective utilization space Section, shaft-cup, end cap separate feeding.

For the apparent elaboration course of work of the present utility model, next to each unit of the present utility model The course of work is illustrated.

Under normal circumstances, through-flow fan blade is welded by shaft-cup, middle section, end cap, and wherein shaft-cup and end cap all only have one Part, and middle festival-gathering has more than one piece, so the middle no fast and accurately feeding of energy-conservation is one of bottleneck of whole equipment work.To understand Certainly above-mentioned bottleneck, the utility model devise feeding unit material 1.Feeding unit material 1 of the present utility model cost allow in the case of, Robot automatic charging mode can be used, it is better.

Referring to Fig. 2, the feeding unit material 1 includes frame 5, and material frame belt conveyor 7 is set in frame, carries frame component 6, three axles Manipulator, the outside for carrying frame component and being arranged on the material frame belt conveyor, the three axle robert, which is arranged on, described carries frame The top of component.The material frame 11 for filling middle section is transported on the material frame belt conveyor 7 of feeding unit material 1, starts material frame conveying skin Band 7, material frame belt conveyor use two groups of belt gears, driven by motor, the structure of belt gear belongs to existing skill Art.

Referring to Fig. 4, the frame component that carries includes two crotch, two groups of crotch guide rails 15 and two groups of chain drives 16, Crotch can be moved under the drive of chain drive 16 along crotch guide rail 15, and chain drive is driven by motor 19.Fork Two yokes are arranged at the bottom of frame, and a yoke is provided with detection baffle plate 18, cylinder-pressing component is provided with relatively on another yoke 17.A5 material frames 11 are transported to and carried on frame component 6 by material frame belt conveyor 7, when A5 material frames 11 are completely attached to carrying the rear end of frame component 6 Detection baffle plate 18 when, cylinder-pressing component 17 action can clamp whole material frame immediately, and then A5 material frames 11 can be carried frame component 6 Upper limit is lifted, and is maintained at upper limit.Frame component is carried using the symmetrical of two groups of crotch guide rails and two groups of chain drives Structure, can both ensure material frame in uphill process can even running, and can enough allow material frame reclaiming process keep it is indeformable. The structure of chain drive belongs to prior art.

Referring to Fig. 3, three axle robert is provided with XY platforms 8, and the X-axis of XY platforms is pacified using the high performance lateral recumbent posture of manipulator 14 Dress, Y-axis are driven by the way of double timing belts 12 plus guide rail 13, and manipulator 14 is moved by double drives edge guide rails 13 of timing belt 12, Ensure the stationarity in the high speed motions of XY platforms 8.Z axis component 10 is arranged on X-axis manipulator 14.The work of manipulator is former Reason is that servomotor drives leading screw to rotate, and the screw motion on leading screw is driven, so as to control the Z axis component being fixed on screw to enter Row is axially moved.Cylinder, stepper motor driven manipulator can also be used, manipulator belongs to prior art.The three axles machine Tool is provided with middle section grabbing assembly 9 on hand, and middle section grabbing assembly can move in XYZ space, to the middle section in material frame successively Captured.Due to A5 material frames 11, depth itself has reached 480mm, and middle section needs to leave in the Z-axis direction after being crawled out Material frame 20mm, the middle section for preventing from not clipping can be likely to hit material frame in XY platform moving process, plus middle abridged edition height Degree is generally in 70mm or so, so the movement travel of Z axis will be greater than 570mm.If middle section grabbing assembly 9 is directly installed on commonly On manipulator, it will produce a very long cantilever structure, the consequence that Z axis sport efficiency can be caused low with rigidity deficiency.For this Individual deficiency, Z axis component 10 of the present utility model is designed to the structure of the aerating cylinder 22 of manipulator 21, as shown in Figure 5.As crawl A5 Three layers above in material frame 11 or during four layers of material, manipulator 21 moves up and down；When manipulator 21 is captured close to material frame bottom During two layers of material in face, during being moved under the holding of manipulator 21, cylinder 22 completes the action moved downward, conversely, In the uphill process of manipulator 21, cylinder 22 has completed upward action, and middle section is caught into material frame.Middle section grabbing assembly 9 is installed On cylinder arm plate 20, up and down motion is driven by cylinder 22.

Referring to Fig. 6, the middle section grabbing assembly includes middle section and captures pedestal 82, and one is set at the top of the middle section crawl pedestal Individual servomotor 81, the middle section crawl pedestal middle part set Jiong shape bogie 85, and the servomotor passes through ball-screw 84 With the Jiong shape bogie drive connection；The middle section crawl pedestal bottom sets two swingable grasping bodies, the grasping Body head sets clamping plate 93, and the grasping body afterbody sets swing arm 90, the Jiong shape bogie by connecting rod 87,88 with it is described Swing arm drive connection.

Referring to Fig. 6, servomotor is fixed on the top of middle section crawl pedestal 82, and confession is offered on middle section crawl pedestal top plate The axis hole that servo motor output shaft passes through, ball-screw 84 include screw rod, nut, and screw rod passes through shaft coupling 83 and servomotor Axis connection is exported, nut is fixed on Jiong shape bogie 85, or nut processes integral, servomotor drive with Jiong shape bogie Dynamic Jiong shape bogie reciprocatingly slides in middle section crawl pedestal.

The front and rear sides of middle section crawl pedestal 82 are each to fix one piece of panel 89, and the top of two pieces of panels is bolted on The bottom of middle section crawl pedestal, the bottom of panel are provided with two axis holes, and hinge 82 and the axis hole at the middle part of swing arm 90 are rotatablely connected, Two swing arms are rotatably installed between two pieces of panels.Grasping component axle 86, the connecting rod are set on the Jiong shape bogie 85 87th, 88 one end is hinged on the grasping component axle, and the other end of the connecting rod is hinged by bearing pin 91 and the swing arm. Wherein, left connecting rod 87 is fork-shaped, and two yokes of left connecting rod 87 are hinged on the grasping component axle, one end position of right connecting rod 88 Between two yokes of left connecting rod 87.

Referring to Fig. 6, positioning hole 100 is set on the panel of the middle section crawl pedestal both sides, the grasping component axle 86 Both ends are arranged in the positioning hole.Positioning hole is vertical elongated hole, for limiting the glide direction and cunning of Jiong shape bogie 85 Dynamic distance.

Referring to Fig. 6, Fig. 7, when crawl process starts, first decline whole grabbing device, servomotor 81 passes through shaft coupling Device 83 drives ball-screw 84 to rotate, the upward sliding of Jiong shape bogie 85, and swing arm 90 is driven by left connecting rod 87, right connecting rod 88 Rotated around hinge 92, so as to realize that two grasping bodies open.Two clamping plates 93 on swing arm 90 are extend into two In middle section 99, two grasping bodies of reverse drive are then closed by servomotor 81 and captured, once captures and production is saved in two pieces Product.Clamping plate 93 is made up of sheet metal, and according to the certain bending of specific product design.Bending should can extend into middle section In circular hole, it putting without prejudice to middle section, whole grasping mechanism can be driven again when opening using servomotor, adjust product Clamping degree, and adapt to the clamping of a variety of different products.

Referring to Fig. 6, concora crush component is set between two grasping bodies, the concora crush component includes fixed seat 95, elasticity Press strip 96, the elastic layering are connected by press strip guide rod 98 with the fixed seat, pocketed springs 97 on the press strip guide rod.

Referring to Fig. 6, the fixed seat 95 is fixedly mounted by Qian shape connector 94 and the middle section crawl pedestal 82.Qian shape Connector is made up of bottom plate and two pieces of connecting plates, and bottom plate is connected with fixed seat, and two pieces of connecting plates are provided with connection elongated hole, lead to respectively Two pieces of panels that bolt is crossed with middle section crawl pedestal both sides are connected.

Referring to Fig. 6, Fig. 7, when crawl process starts, in order to prevent the middle section grabbed during crawl from influenceing surrounding components Position, first decline whole grabbing device, elastic layering 96 is pressed on middle section, deformed by spring 97, centering section applies Certain precompression, the middle section being crawled is allowed to keep basic horizontal.Servomotor 81 drives ball-screw 84 by shaft coupling 83 Rotate, the upward sliding of Jiong shape bogie 85, drive swing arm 90 to be rotated around hinge 92 by left connecting rod 87, right connecting rod 88, so as to Realize that two grasping bodies open.Two clamping plates 93 on swing arm 90 are extend into two in section 99, then passed through Servomotor 81 is closed two grasping bodies of reverse drive and captured, and once captures in two pieces and saves product.Clamping plate 93 is by thin steel Plate is made, and according to the certain bending of specific product design.Bending can should be extend into the circular hole of middle section, again can be Putting without prejudice to middle section during opening, whole grasping mechanism are driven using servomotor, adjust the clamping degree of product, and can fit Answer the clamping of a variety of different products.

The middle section being crawled up is placed on the middle section belt conveyor 25 of transmission positioning unit.In all in material frame After the completion of section is crawled, lower limit can be automatically lowered and trigger material frame conveying belt motor by carrying frame component 6, and material frame is delivered to The other end of material unit 1, another middle material-saving frame completely expected at the same time can be conveyed to carrying on frame component 6, into next round Section crawl.The material frame of the material frame belt conveyor other end is manually taken away.

Referring to Fig. 8, Fig. 9, Figure 10, Figure 11, the transmission positioning unit is provided with frame 23, and frame is provided with middle section and conveys skin Band 25 and double belt components 24, the output end of the middle section belt conveyor set displaceable member 26, double belt components it is defeated Go out end and pick-up component 27 is set, positioning component 28, the displaceable member are set between the displaceable member and the pick-up component Including displacement cylinder 33, slider cylinder 36, guide rail, the slider cylinder is arranged on the guide rail, the work of the displacement cylinder Stopper rod is fixedly connected with the slider cylinder, and cylinder clamping jaw 38 is fixed with the slider cylinder；The pick-up component includes two Axis robot, two axis robot are provided with sucker 41；The positioning component is provided with positioning table 44, is set around the positioning table There are multiple locating detents 43, the lower section of the positioning table sets positioning cylinder, the locating detent and the positioning cylinder drive connection； The top of the positioning component is provided with positioning visual component, and the positioning visual component includes industrial camera 30 and light source 32.

Referring to Fig. 8, Fig. 9, Figure 10, Figure 11, transmission positioning unit 2 mainly carries out feeding, the course of work to shaft-cup, end cap It is that crawl successively positions shaft-cup, section, end cap in several, and shaft-cup, middle section and end cap is transported to positioning component 28 and clamped, and Carry out vision positioning.Shaft-cup and end cap main structure are substantially similar, and material-uploading style is also the same.The utility model, which uses, manually will Shaft-cup and end cap are placed on double belt components 24 in order, and shaft-cup and end cap can also use robot material-uploading style, effect More preferably.Shaft-cup and end cap are transported at the V-block 29 of front end by double belt components 24, carry out Primary Location.Shaft-cup and end cap arrive Behind position, double belt components 24 can stop motion.Now, pick-up component 27 can be moved to the shaft-cup just having good positioning or end cap just Top, a shaft-cup or end cap are then drawn, is placed on the positioning table 44 of positioning component 28, positioning component 28 is in detecting After section, the four paws positioning cylinder in positioning component 28 can produce action, drive adjustment block 45 to clamp middle section by locating detent 43 Positioned.Four paws positioning cylinder has the features such as positioning precision is high, easy for installation, and can substantially reduce design and debug into This.The effect of the positioning visual component of the top of positioning component 28 is that clamped shaft-cup or end cap are taken pictures and determine to mark Round position, datum mark is provided for follow-up middle section welding.After completing visual processes, the rotational positioning component of bonding machine unit 3 47 can catch away shaft-cup or end cap.The positioning principle of middle section is similar with shaft-cup, end cap, and feeding unit material 1 grabs middle section conveying skin The middle other end for saving belt conveyor 25 is sent to the middle festival-gathering on 25, during the middle V-block 31 saved on belt conveyor can block Section, just position.Middle section in place after, middle section belt conveyor 25 can stop motion, the meeting of slider cylinder 36 in displaceable member 26 Decline, when slider cylinder 36 in place after, clamping jaw cylinder 37 makes cylinder clamping jaw 38 to be clamped section in one, and subsequent slider cylinder 36 is vertical Reset, displacement cylinder 33 shifts whole grabbing assembly onto positioning component 28 top, and rear slider cylinder 36 declines in place, clamping jaw gas Cylinder 37 is unclamped, and middle section is placed on the positioning table 44 of positioning component 28.It will be saved in positioning component 28 in clamping, position vision group Part centering section is taken pictures, and determines the position of marked circle, to be aligned in welding process.The utility model passes through regulation Can adapt to product diameter excursion is 90-105mm, highly can adapt to 60-70mm.Change in this size range, The position for only needing to adjust the adjustment block 45 on positioning component is suitable for change in size.The usual scope 60- of middle section height change 70mm, as long as the height of adjustment displaceable member upper slide unit cylinder；End cap fan blade is highly less than 80mm, it is only necessary to adjusts V1 shaft mechanicals The servomotor 40 of hand 39 controls the height of sucker 41.Height dimension excursion is saved in consideration generally all between 60-80mm, Regulative mode uses dovetail groove adjustment structure.During regulation, the grub screw inside the cylinder mounting plate 35 that first to come loose, then rotate The set screw 34 of top, when slider cylinder 36 is moved to the height of needs, tighten grub screw.This structure can be real Various high-precisions regulation in existing certain distance, and high rigidity can be being kept in motion process, it is highly suitable for height Speed is moved and has the occasion of impact.

Referring to Figure 12, Figure 14, Figure 16, the bonding machine unit includes bonding machine 46, rotational positioning component 47, welding vision Component, the rotational positioning component are provided with two axis robots, and two axis robot is assembled by manipulator 56 and manipulator 57, Rotary cylinder clamping jaw 58 is arranged on manipulator 57；The welding visual component includes industrial camera 48 and light source 49, the industry Camera and light source are inclined at the oblique upper of the both sides of pallet 54 of the bonding machine respectively.

Referring to Figure 12, bonding machine unit major function is that centering section, shaft-cup and end cap are aligned and welded.Bonding machine 46 Using the standard bonding machine on existing market.The major function of rotational positioning component 47 exactly will determine marked circle on positioning component The shaft-cup of position, middle section, end cap crawl out, and on the basis of the marked circle angle drawn by welding visual component, by middle section or Person's end cap rotates to an angle, and overlaps two marked circles.Referring to Figure 17, vision positioning operation principle：θ 1 is single for transmission positioning The marked circle angle that visual component determines is positioned in member, θ 2 is the marked circle angle determined after welding by welding visual component, works as α =| θ 1- θ 2 | at≤180 °, turn clockwise α angles；When α=| θ 1- θ 2 | at >=180 °, 360 ° of-α angles of rotate counterclockwise.Referring to Figure 13, Figure 14, Figure 15, the plumb joint 54 and four swing rod 52a, 52b, 52c, 52d limited separations of positioning of bonding machine 46, generally Less than 200mm, in order to improve the adaptability and efficiency of the automatic welding of bonding machine 46, rotary cylinder clamping jaw 58 must be as far as possible compact, Flexibly.Rotational positioning component 47 is arranged on the upper of bonding machine 46 by base 55, by manipulator 56, manipulator 57, rotary cylinder Clamping jaw 58 forms.Rotary cylinder clamping jaw 58 is the synchronous wheel construction and gripper cylinder 50 and folder driven by a set of servomotor 60 Pulldown 51 forms.The course of work is as follows：Bonding machine 46 is automatically adjusted to SBR, and swing rod 52a, 52b are in relaxed state, support Disk 53 runs to upper limit, and manipulator 57 and rotary cylinder clamping jaw 58 can be moved to determining for transmission positioning unit 2 by manipulator 56 The centre position of hyte part 28, manipulator 57 drive rotary cylinder clamping jaw 58 to decline, and after capturing a shaft-cup, rotary cylinder is pressed from both sides Pawl 58 rises certain height, and the then meeting of manipulator 56 by manipulator 57, rotary cylinder clamping jaw 58 and grabs product movement four Among root swing rod 52a, 52b, 52c, 52d, and shaft-cup is placed on pallet 53, positioning component is moved on in rotary cylinder clamping jaw 58 During 28, swing rod 52a, 52b can be closed, and shaft-cup is stepped up, and welding visual component is taken pictures to shaft-cup, it is determined that mark Round angle, hereafter swing rod 52a, 52b open to slack position；Then manipulator 56 can be by manipulator 57 and rotary cylinder clamping jaw 58 are moved to again the centre position of positioning component 28, are saved in crawl one, are returning to the center mistake of four swing rods Cheng Zhong, the rotation of angle is saved in completion, the marked circle of middle section is rotated into the marked circle same position with shaft-cup, is inserted into shaft-cup On；Pallet 53, which declines, saves position in one, swing rod 52a, 52b are closed, and plumb joint 54 can drop to the upper surface location pair of middle section Middle section is welded, and the welding of all middle sections can be completed several times by repeating above-mentioned circulation；Finally, rotary cylinder clamping jaw 58 can be after One welding for circulating and completing end cap of reforwarding row.After the welding of a through-flow fan blade product is completed, swing rod 52a, 52b meeting Automatically open up, so that blanking unit 4 crawls out fan blade finished product.When the diameter of product changes, it is only necessary to change gripper Piece 51；When product highly changes, the parameter of modification manipulator 57 in the height direction just can adapt to.Not more Change the diameter dimension that the situation of part can adapt to and arrive 100mm for 90, height dimension arrives 80mm for 60.

Referring to Figure 16, due to the limitation of the structure snd size of bonding machine 46 itself, the utility model is by welding visual component When determining the position of marked circle, the industrial camera for welding visual component and light source are inclined to the support of the bonding machine respectively The oblique upper of the both sides of disk 54, the light that light source 49 is sent enter industrial camera 48 by the diffusing reflection of fan blade semi-finished product 62, reached To the purpose of shooting.The characteristics of welding visual component is that each welding action can lack a start and stop, efficiency high.

Referring to Figure 18, Figure 19, Figure 20, Figure 21, the blanking unit includes finished product grabbing assembly 65, shears 66, machine Tool hand, upset clip claw assembly 67 and feed bin 68, the shears 66 are installed on a robotic arm, and the shears is provided with and led Plate 73, the upset clip claw assembly 67 are hinged on the shears 66.Major function be the through-flow fan blade that will be welded into Product crawl out from bonding machine unit 3, and are stored in feed bin 68.Its course of work is as follows：When bonding machine 46 is being surpassed When sound wave welds, blanking unit 4 can be automatically adjusted to SBR, and now the Rodless cylinder 70 in manipulator, which is in, stretches out shape State, three axle cylinders 69 are in retracted mode, and finished product grabbing assembly 65 is in open mode；Clip claw assembly 67 is overturn by tumble cylinder 74th, the part such as adjusting screw rod 75, clamping cylinder 76, gripper piece 77 forms, in SBR, tumble cylinder 74 and clamping cylinder 76 all in retracted mode, and shears 66 will overturn clip claw assembly 67 and be maintained at one and can stablize and catch finished product through-flow wind Leaf will not produce the position of interference again；When the welding of the one finished product through-flow fan blade of completion of bonding machine unit 3, outside bonding machine 46 Swing rod 52a, 52b can be automatically opened up, and at this moment the finished product grabbing assembly installed in three axle cylinders 69 is reached inside bonding machine 46, into Product grabbing assembly is closed automatically, clamps finished product through-flow fan blade, and then pallet 53 can decline a certain distance automatically to avoid axle The chromium plated shaft covered, then three axle cylinders 69 and Rodless cylinder 70 are retracted in place simultaneously；Overturn the clamping cylinder of clip claw assembly 67 76 closure can clamp finished product through-flow fan blade automatically, and tumble cylinder 74 will rotate counterclockwise clamping cylinder 76, gripper piece 77 etc. 90 degree, clamping cylinder 76 can automatically open up afterwards in place, and finished product through-flow fan blade can roll into along the guide plate 73 on section bar 72 In feed bin 68.

Referring to Figure 22, Figure 23, the finished product grabbing assembly includes finished product crawl support 105, and the finished product is captured on support Provided with horizontal guide rail 107, left grasping body is symmetrical arranged on the horizontal guide rail and right grasping body, the side of the horizontal guide rail are put down Row is provided with bidirectional modulation thick stick, the left-handed ball screw 119 of one end setting of the bidirectional modulation thick stick, the bidirectional modulation thick stick it is another End sets dextrorotation ball screw, and the left grasping body is connected by screw 109 with the left-handed ball screw, the right grasping body It is connected by screw 110 with the dextrorotation ball screw, the bidirectional modulation thick stick and drive mechanism power connector；The support Middle part sets product contact arm 113.

Referring to Figure 22, Figure 23, the both ends of finished product crawl support 105 set supporting plate 106, two pieces of supporting plates 106 it Between vertically fix two horizontal guide rails 107, be arranged in parallel bidirectional modulation thick stick between two horizontal guide rails, bidirectional modulation thick stick Both ends installed by bearing 112 and two pieces of supporting plates 106.Product contact arm 113 is provided with axis hole, and bearing 111 is installed in axis hole, The middle part of bidirectional modulation thick stick is connected by bearing 111 with product contact arm.

Common clip claw mechanism is all then to be mixed corresponding component of machine as power source using cylinder and assembled 's.It is although simple in construction by the use of cylinder as power source, but clamping force can not accomplish more accurately to control, and produced changing Need to configure corresponding machine components during product and carry out again supporting adjustment and installation.The risk of damage of product had so both been added, had also been added The work load of commissioning staff has been weighed, has been not easy to the intelligent production of product.

Referring to Figure 22, the drive mechanism includes servomotor 101, active synchronization wheel 103, driven synchronizing wheel 116, synchronization Cog belt 104, the driven synchronizing wheel 116 are fixed on the bidirectional modulation thick stick.Servomotor 101 passes through motor mounting rack 102 are fixedly mounted with finished product crawl support, and active synchronization wheel is fixed on the output shaft of the servomotor.Use servo electricity Machine, timing belt drive left and right rotary roll ballscrew, realize the clamping to finished product and clamp the control of dynamics.

Referring to Figure 22, the left grasping body is made up of first slide 114 and left clamping plate 115, and the first slide passes through straight Bobbin holds 108 and is connected with the horizontal guide rail 107, and the right grasping body is made up of second slide and right clamping plate, and described second slides Seat is connected by linear bearing with the horizontal guide rail.Right grasping body is identical with the structure of left grasping body, in the opposite direction.

Referring to Figure 22, the left clamping plate 115 sets flanging 118, and the right clamping plate sets flanging.Left and right clamping plate is It is made up of sheet metal, flanging can strengthen the rigidity of left and right clamping plate.

Referring to Figure 22, Figure 23, when crawl process starts, servomotor 101 drives active synchronization wheel 103 to rotate forward, Driven synchronizing wheel 116 is driven to rotate by synchronous cog belt 104, bidirectional modulation thick stick is rotated with driven synchronizing wheel, and driving two is grabbed Hold body to move to both sides along horizontal guide rail is synchronous, so as to realize that two grasping bodies open.Then, whole grabbing device is to finished product 117 directions are moved, and stop movement when the front end face of product contact arm 113 touches finished product 117；Servomotor 101 drives master Dynamic synchronizing wheel rotates backward, and drives driven synchronizing wheel 116 to rotate by synchronous cog belt 104, bidirectional modulation thick stick is with driven synchronization Wheel rotates, and drives two grasping bodies to be moved along horizontal guide rail to centre, so as to complete whole grasping movement.

Claims (9)

1. A kind of 1. through-flow fan blade automatic welding machine, it is characterised in that：Including feeding unit material, transmission positioning unit, bonding machine unit, Blanking unit and automatic control circuit；

   The feeding unit material includes material frame belt conveyor, carries frame component, three axle robert, and the frame component that carries is arranged on the material The outside of frame belt conveyor, the frame component that carries includes two crotch, two groups of crotch guide rails and two groups of chain drives, described Three axle robert is arranged on the top for carrying frame component, and the three axle robert is provided with middle section grabbing assembly；The middle section Grabbing assembly includes middle section and captures pedestal, and a servomotor, the middle section crawl base are set at the top of the middle section crawl pedestal Seat middle part sets Jiong shape bogie, and the servomotor passes through ball-screw and the Jiong shape bogie drive connection；In described Section crawl pedestal bottom sets two swingable grasping bodies, and the grasping body head sets clamping plate, and the grasping body afterbody is set Swing arm is put, the Jiong shape bogie passes through connecting rod and the swing arm drive connection；

   The transmission positioning unit is provided with middle section belt conveyor and double belt components, and the output end of the middle section belt conveyor is set Displaceable member, the output end of double belt components set pick-up component, set between the displaceable member and the pick-up component Positioning component is put, the displaceable member includes displacement cylinder, slider cylinder, guide rail, and the slider cylinder is arranged on the guide rail On, the piston rod of the displacement cylinder is fixedly connected with the slider cylinder, and cylinder clamping jaw is fixed with the slider cylinder；Institute Stating pick-up component includes two axis robots, and two axis robot is provided with sucker；The positioning component is provided with positioning table, described fixed Multiple locating detents are provided with around the platform of position, the lower section of the positioning table sets positioning cylinder, the locating detent and the positioning gas Cylinder drive connection；The top of the positioning component be provided with positioning visual component, it is described positioning visual component include industrial camera and Light source；

   The bonding machine unit includes bonding machine, rotational positioning component, welding visual component, and the rotational positioning component is provided with two Axis robot, two axis robot are provided with rotary cylinder clamping jaw；The welding visual component includes industrial camera and light source, should Industrial camera and light source are inclined at the oblique upper of the pallet both sides of the bonding machine respectively；

   The blanking unit includes finished product grabbing assembly, shears, manipulator, upset clip claw assembly and feed bin, the finished product Grabbing assembly includes finished product crawl support, and the finished product crawl support is provided with horizontal guide rail, symmetrically set on the horizontal guide rail Put left grasping body and right grasping body, the side of the horizontal guide rail is parallel to be provided with bidirectional modulation thick stick, and the one of the bidirectional modulation thick stick End sets left-handed ball screw, and the other end of the bidirectional modulation thick stick sets dextrorotation ball screw, and the left grasping body passes through silk Female to be connected with the left-handed ball screw, the right grasping body is connected by screw with the dextrorotation ball screw, described two-way Adjust thick stick and drive mechanism power connector；The shears is arranged on the manipulator, and the shears is provided with and led Plate, the upset clip claw assembly are hinged on the shears, and the upset clip claw assembly includes tumble cylinder, regulation spiral shell Bar, clamping cylinder and clamping jaw piece.
2. 2. through-flow fan blade automatic welding machine according to claim 1, it is characterised in that：The ball-screw include screw rod, Nut, the screw rod are fixed on the Jiong shape driving by the output axis connection of shaft coupling and the servomotor, the nut On frame.
3. 3. through-flow fan blade automatic welding machine according to claim 2, it is characterised in that：Set and grab on the Jiong shape bogie Component axle is held, one end of the connecting rod is hinged on the grasping component axle, and the other end of the connecting rod is cut with scissors with the swing arm Connect.
4. 4. through-flow fan blade automatic welding machine according to claim 3, it is characterised in that：The middle section crawl pedestal both sides are set Positioning hole is put, the both ends of the grasping component axle are arranged in the positioning hole.
5. 5. through-flow fan blade automatic welding machine according to claim 1, it is characterised in that：Set between two grasping bodies Concora crush component, the concora crush component include fixed seat, elastic layering, and the elastic layering passes through press strip guide rod and the fixed seat Connect, pocketed springs on the press strip guide rod.
6. 6. through-flow fan blade automatic welding machine according to claim 5, it is characterised in that：The fixed seat is connected by Qian shape Part is fixedly mounted with the middle section crawl pedestal.
7. 7. through-flow fan blade automatic welding machine according to claim 6, it is characterised in that：The ball-screw include screw rod, Nut, the screw rod are fixed on the Jiong shape driving by the output axis connection of shaft coupling and the servomotor, the nut On frame.
8. 8. through-flow fan blade automatic welding machine according to claim 7, it is characterised in that：Set and grab on the Jiong shape bogie Component axle is held, one end of the connecting rod is hinged on the grasping component axle, and the other end of the connecting rod is cut with scissors with the swing arm Connect.
9. 9. through-flow fan blade automatic welding machine according to claim 8, it is characterised in that：The middle section crawl pedestal both sides are set Positioning hole is put, the both ends of the grasping component axle are arranged in the positioning hole.