CN210527813U - Manipulator, unloading mechanism and assembly system - Google Patents

Abstract

The utility model provides a manipulator, unloading mechanism and assembly system, the manipulator includes: a connecting plate; the pressing frame is arranged on the connecting plate and is positioned on one side of the connecting plate; the clamping part sets up in the both ends of pressing the frame, and the clamping part includes sliding driving spare and the first splint that are connected with sliding driving spare. The utility model provides a manipulator includes the connecting plate, presses frame and clamping part. The clamping part comprises a sliding driving part and a first clamping plate connected with the sliding driving part, and when the clamping part grabs the material, the sliding driving part drives the first clamping plate to clamp the material. Specifically, the quantity of clamping part is three, and three clamping part is located the three corner of pressure frame respectively. The utility model provides a manipulator has realized the mechanization to material handling, has reduced workman's intensity of labour, and has improved work efficiency.

Description

Manipulator, unloading mechanism and assembly system

Technical Field

The utility model relates to an industrial manufacturing technical field particularly, relates to a manipulator, unloading mechanism and an assembly system.

Background

The air conditioner consists of evaporator and condenser and is mainly made of long U-shaped copper pipe and aluminum alloy fin. Mainly rely on manual assembly, fin and the artifical turnover skip transport that utilizes of long U copper pipe, working strength is big, and is efficient.

In the correlation technique, after the fin finishes the poling process, the fin needs to be manually taken out of the tool clamp, the hand is easily cut by manual carrying, the fin can be deformed, the working strength is high, and the efficiency is low.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving one of the technical problem that exists among the prior art at least.

Therefore, the utility model discloses the first aspect provides a manipulator.

The utility model discloses the second aspect provides an unloading mechanism.

The utility model discloses the third aspect provides an assembly system.

The utility model discloses the first aspect provides a manipulator, include: a connecting plate; the pressing frame is arranged on the connecting plate and is positioned on one side of the connecting plate; the clamping part sets up in the both ends of pressing the frame, and the clamping part includes sliding driving spare and the first splint that are connected with sliding driving spare.

The utility model provides a manipulator includes the connecting plate, presses frame and clamping part. The connecting plate is used for connecting the manipulator with an external driving part, and the clamping parts are arranged at two ends of the pressing frame and can stretch into the grabbing vacant positions under the driving of the pressing frame and grab and carry materials. Specifically, the clamping part includes the first splint that slide driving spare and be connected with slide driving spare, and when the clamping part snatched the material, the first splint of slide driving spare drive pressed from both sides tight material. Specifically, the quantity of clamping part is three, and three clamping part is located the three corner of pressure frame respectively. Further, through setting up the pressure frame structure and can implement a whole decurrent pressure to the material of centre gripping, avoid the material to receive the extrusion force of both sides and appear convex condition. Specifically, the pressing frame is made of aluminum profiles. The utility model provides a manipulator has realized the mechanization to material handling, has reduced workman's intensity of labour, and has improved work efficiency.

According to the utility model discloses above-mentioned technical scheme the manipulator, can also have following additional technical characterstic:

in the above technical solution, the robot further includes: the fixed seat is connected with the pressing frame and is positioned at one end of the pressing frame; the lifting cylinder is arranged on the fixed seat; the clamping cylinder is connected with the lifting cylinder, and the lifting cylinder can drive the clamping cylinder to lift; the second clamping plate is connected with the clamping cylinder; wherein, the flexible direction of lift cylinder is mutually perpendicular with the flexible direction of die clamping cylinder.

In this technical scheme, the manipulator still includes fixing base, lift cylinder, die clamping cylinder and second splint. Wherein, be provided with the fixing base in the one end of pressure frame to be provided with lift cylinder on the fixing base, be provided with die clamping cylinder and second splint on the lift cylinder, lift cylinder drive die clamping cylinder goes up and down, and die clamping cylinder can drive the second splint and press from both sides tight material. Specifically, the telescopic direction of the lifting cylinder is the vertical direction, and the telescopic direction of the clamping cylinder is the horizontal direction.

In the above technical solution, the first splint includes: a main plate part connected with the sliding driving part; the one end of tray portion is connected with the mainboard portion, and the other end of tray portion is provided with the inclined plane.

In the technical scheme, the first clamping plate comprises a main plate part and a supporting plate part, wherein the main plate part is arranged in the vertical direction, the supporting plate part is connected with the end part of the main plate, an included angle is formed between the supporting plate part and the main plate part, the main plate part tightly holds materials in the process of moving the materials, and the supporting plate part supports the bottoms of the materials to be placed and slide down; furthermore, the end part of the supporting plate part is provided with the inclined plane, an upward component force and a downward component force can be decomposed by arranging the inclined plane when the material is clamped, the smoothness of the bottom of the material in the clamping process is further ensured, and the bottom is prevented from protruding.

Specifically, the sliding driving piece and the first clamping plate which are matched with each other are respectively arranged at three corners of the pressing frame, and the three sliding driving pieces can slide on the pressing frame, so that the three first clamping plates surround two sides of the material; the fourth edge of pressing the frame is provided with lift cylinder, die clamping cylinder and second splint, and after the material was grabbed, lift cylinder and die clamping cylinder drive second splint motion to make the second splint press from both sides tight material, avoid removing the in-process material landing at the manipulator. In particular, the sliding drive is a sliding cylinder.

The utility model discloses the second aspect provides an unloading mechanism, including any one of the above-mentioned technical scheme the manipulator, consequently have above-mentioned technical scheme's whole beneficial effect.

In the above technical scheme, the unloading mechanism still includes: the opening tool assembly is configured to be used for moving the limiting plate of the tool clamp to form a grabbing vacant position; wherein the manipulator is configured to be placed into the gripping vacancy for gripping material on the tool holder.

The utility model provides an unloading mechanism is including the frock subassembly and the manipulator of opening that the cooperation was used. The opening tool assembly is adaptive to the limiting plate of the tool clamp, the limiting plate of the tool clamp can be moved, so that the materials clamped in the tool clamp are released, and grabbing vacant positions are ensured to exist on the peripheral side of the materials; and then the manipulator can stretch into the grabbing vacant position under the driving action so as to grab the material and place the material at a target position. The utility model provides an unloading mechanism releases the material that frock clamp clamped through opening the frock subassembly, moves the material to the target position through the manipulator, realizes full-automatic unloading, need not staff's manual work unloading, and degree of automation is high, guarantees the uniformity of next process supplied materials, can reduce staff's intensity of labour by a wide margin, the cost of using manpower sparingly; meanwhile, the blanking mechanism can be matched with an important link of automatic operation so as to improve the working efficiency of the whole assembly system.

Specifically, when a fin of the air conditioner is subjected to tube penetration, in order to ensure effective positioning of the fin, the fin needs to be clamped in a tool clamp, and the fin is limited by a limiting plate of a working clamp; in the blanking process after the tube penetration is finished, the fin after the tube penetration is required to be released firstly. The utility model provides an unloading mechanism, limiting plate and the fin that the release poling was accomplished through opening frock subassembly automatic movement frock clamp then pass through manipulator centre gripping fin to the fin of accomplishing the poling is transported to next station, guarantees going on in order of next process.

According to the utility model discloses above-mentioned technical scheme unloading mechanism, can also have following additional technical characteristics:

in the above technical scheme, open the frock subassembly and include: a pulling part configured to be suitable for pulling the limit plate of the tool clamp; the pulling part includes: mounting a plate; the pulling cylinder is arranged on the mounting plate; the connecting piece is connected with the pulling cylinder, the connecting piece is configured to be connected with the limiting plate, and the pulling cylinder is used for driving the connecting piece to move so as to pull the limiting plate; the lifting cylinder is connected with the mounting plate and is used for driving the pulling part to move; wherein, the flexible direction of pulling cylinder is mutually perpendicular with the flexible direction of promoting the cylinder.

In the technical scheme, the pulling part can be used for pulling the limiting plate of the tool clamp and relieving the limitation of the limiting plate on the material in the tool clamp; specifically, pulling portion includes mounting panel, pulling cylinder, connecting piece and promotes the cylinder, and the degree of freedom of two directions can be realized to pulling portion, realizes dodging when the pulling limiting plate. Specifically, the pulling cylinder is arranged on the mounting plate, the connecting piece is arranged on the pulling cylinder, the structure of the connecting piece is matched with the limiting plate, and the connecting piece can be clamped with the structure on the limiting plate, so that the limiting plate is pulled by the connecting piece under the driving of the pulling cylinder; still be provided with the promotion cylinder on the mounting panel, the promotion cylinder can guarantee breaking away from and the joint of connecting piece and limiting plate on the one hand with realizing the holistic lift of pulling portion, and on the other hand plays the effect of dodging, avoids pulling portion and frock clamp's structure to interfere, guarantees that pushing portion can promote the buckle structure on the baffle side of frock clamp, guarantees that the manipulator can snatch the material smoothly.

In any of the above technical solutions, the opening tool assembly includes a pushing portion configured to be suitable for pushing a snap structure on a baffle side of the tool clamp. The pushing part includes: a push cylinder; the pushing piece is connected with the pushing cylinder, the pushing piece is configured to be suitable for being in contact with the buckling structure, and the pushing cylinder is used for driving the pushing piece to stretch.

In this technical scheme, the promotion portion can be used for opening frock clamp's fender side buckle structure, and the promotion portion includes the promotion cylinder and the impeller of mutually supporting. The pushing piece is matched with the buckling structure on the side of the baffle plate of the tool fixture, the pushing piece is connected with the pushing cylinder, and the buckling structure can be pushed under the driving of the pushing cylinder so as to realize the side plate of the tool fixture and ensure that materials in the tool fixture have grabbing vacant positions.

Specifically, the opening tool assembly comprises a pulling part and a pushing part which are matched with each other. The pulling part can be used for pulling a limiting plate of the tool clamp and relieving the limitation of the limiting plate on materials in the tool clamp; the pushing portion can be used for opening a buckling structure on the side of the baffle plate of the tool clamp, so that limitation of the baffle plate on materials in the tool clamp is removed, a grabbing vacancy is reserved between the materials and the baffle plate, and the manipulator can stretch into the grabbing vacancy and grab the materials.

In any of the above technical solutions, the method further includes: the lifting machine frame is provided with a roller piece, and the roller piece is used for bearing the tool clamp; the lifting chain wheel mechanism is arranged on the lifting rack and connected with the roller piece and used for driving the roller piece to lift; the roller piece comprises a roller and a power part connected with the roller, and the power part is used for driving the roller to roll.

In the technical scheme, the lifting conveying line comprises a lifting rack and a lifting chain wheel mechanism, wherein a roller piece is arranged on the lifting rack, and the lifting chain wheel mechanism can drive the roller piece to lift so as to realize the lifting of the tool clamp in the vertical direction; the roller piece comprises a roller and a power part, and the driving part can drive the roller to roll so as to realize the movement of the tool clamp in the horizontal direction.

In any of the above technical solutions, the push cylinder is disposed on the lifting frame; the quantity of promotion portion is two, and two promotion positions are located the both ends of baffle, correspond the setting with the buckle structure that is located the baffle both ends.

In the technical scheme, the pushing cylinder is arranged on the lifting frame, so that the pushing cylinder is stably installed; the pushing portions are arranged at two ends of the baffle, and the two pushing portions are located at two ends of the baffle, so that each pushing portion is correspondingly arranged with one buckle structure, and the baffle of the tool clamp is guaranteed to be completely released.

Specifically, the utility model discloses the reason that sets up two promotion portions lies in frock clamp's baffle is provided with two buckle structure. It will be understood by those skilled in the art that the number of pushing portions is not limited to two, but is matched with the number of snap structures in the tool holder, and those skilled in the art can set the number according to actual conditions.

In any one of the above technical solutions, the opening tool assembly further includes: the blocking part is arranged on the lifting rack and located at the discharge end of the roller, and the blocking part is used for limiting the tool clamp.

The stop part is arranged on the lifting frame and is positioned at the discharge end of the roller, so that the tool clamp can be limited, the tool clamp is matched with the position for opening the tool assembly, and the secondary position adjustment of the tool clamp is avoided. Specifically, the tool clamp can move under the driving of the roller, and when the tool clamp moves to the position where the blocking portion is located, the blocking portion prevents the tool clamp from continuing to move forward, so that the tool clamp stays at the set position. At this moment, the pushing portion corresponds to the buckling structure of the baffle of the tooling fixture, and the pulling portion corresponds to the limiting plate of the tooling fixture.

In any of the above technical solutions, the blocking portion includes: the two ends of the rotating shaft are hinged with the lifting frame; the stop block is arranged on the rotating shaft, and the rotating shaft can drive the stop block to move; and the rotating cylinder is connected with the rotating shaft and used for driving the rotating shaft to rotate.

In this technical scheme, the stop part includes pivot, dog and rotation cylinder. Wherein, the rotation cylinder is connected with the pivot to can drive the pivot and rotate, in order to drive dog and frock clamp looks butt that are located the pivot tip, in order to play spacing effect, guarantee that frock clamp is in the position that sets up, guarantee that promotion portion corresponds with the buckle structure of frock clamp's baffle, pulling portion corresponds with frock clamp's limiting plate.

In any of the above technical solutions, the method further includes: and the robot is connected with the manipulator and is used for driving the manipulator to move.

In this technical scheme, unloading mechanism still includes the robot, and the robot is connected with the connecting plate of manipulator to the manipulator snatchs and removes the material.

The utility model discloses the third aspect provides an assembly system, include: as in any of the first aspect of the present invention; or the blanking mechanism of any of the second aspects.

The utility model provides an assembly system is because of manipulator or unloading mechanism including above-mentioned arbitrary technical scheme, consequently, has above-mentioned manipulator or unloading mechanism's whole beneficial effect, no longer discusses one by one here.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a robot according to an embodiment of the present invention;

FIG. 2 is a top view of the robot of the embodiment shown in FIG. 1;

FIG. 3 is a side view of the robot of the embodiment shown in FIG. 1;

fig. 4 is a schematic structural diagram of a blanking mechanism according to an embodiment of the present invention;

FIG. 5 is a front view of the blanking mechanism of the embodiment shown in FIG. 4;

FIG. 6 is a side view of the blanking mechanism of the embodiment shown in FIG. 4;

FIG. 7 is a partial schematic structural view of the blanking mechanism of the embodiment shown in FIG. 4;

FIG. 8 is a partial schematic structural view of the blanking mechanism of the embodiment shown in FIG. 4;

FIG. 9 is a partial schematic structural view of the blanking mechanism of the embodiment shown in FIG. 4;

FIG. 10 is an enlarged view of a portion A of the blanking mechanism of the embodiment shown in FIG. 4;

FIG. 11 is a partial enlarged view of the blanking mechanism of the embodiment shown in FIG. 4 at B;

FIG. 12 is a schematic structural view of a tooling fixture used in conjunction with the blanking mechanism of the embodiment shown in FIG. 4;

fig. 13 is a partially enlarged view of the tooling fixture of the embodiment of fig. 12 at C.

Wherein, the correspondence between the reference numbers and the component names in fig. 1 to 13 is:

1 blanking mechanism, 102 pulling part, 104 pushing part, 106 mounting plate, 108 pulling cylinder, 110 connecting piece, 112 lifting cylinder, 114 pushing cylinder, 116 pushing part, 118 blocking part, 200 manipulator, 202 connecting plate, 204 pressing frame, 206 sliding driving part, 208 first clamping plate, 2082 main plate part, 2084 supporting plate part, 210 fixing seat, 212 lifting cylinder, 214 clamping cylinder, 216 second clamping plate, 218 reinforcing plate, 220 rubber pad, 222a first clamping part, 222b second clamping part, 222c third clamping part, 300 lifting frame, 400 lifting sprocket mechanism, 500 robot, 600 tooling clamp, 602 buckling structure, 604 limiting plate, 606 rear side plate, 608 baffle plate, 610 left side limiting block, 612 bottom plate, 614 grabbing hole.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more clearly understood, the present invention will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.

The following describes the blanking mechanism 1 and the assembling system provided according to some embodiments of the present invention with reference to fig. 1 to 13.

The first embodiment is as follows:

as shown in fig. 1 to 3, a first embodiment of the present invention provides a manipulator 200, which includes a connection plate 202, a pressing frame 204, and a clamping portion.

Wherein, the pressing frame 204 is arranged on the connecting plate 202 and is positioned at one side of the connecting plate 202; the clamping portion is disposed at two ends of the pressing frame 204, and includes a sliding driving member 206 and a first clamping plate 208 connected to the sliding driving member 206.

The utility model provides a manipulator 200 includes connecting plate 202, presses frame 204 and clamping part. The connecting plate 202 is used for connecting the manipulator 200 with an external driving part, and the clamping parts are arranged at two ends of the pressing frame 204 and can extend into the grabbing vacant positions under the driving of the pressing frame 204 to grab and carry materials. Specifically, the gripping portion includes a sliding drive 206 and a first jaw 208 coupled to the sliding drive 206, and the sliding drive 206 drives the first jaw 208 to grip the material as the gripping portion grips the material. Specifically, the number of the clamping portions is three, and the three clamping portions are respectively located at three corners of the pressing frame 204. Further, through setting up pressure frame 204 and can implement a whole decurrent pressure to the material of centre gripping, avoid the material to receive the extrusion force of both sides and appear convex condition. Specifically, the pressing frame 204 is formed of an aluminum profile. The utility model provides a manipulator 200 has realized the mechanization to material handling, has reduced workman's intensity of labour, and has improved work efficiency.

Further, the robot 200 further includes a fixing base 210, a lifting cylinder 212, a clamping cylinder 214, and a second clamping plate 216. Wherein, a fixing seat 210 is arranged at one end of the pressing frame 204, a lifting cylinder 212 is arranged on the fixing seat 210, a clamping cylinder 214 and a second clamping plate 216 are arranged on the lifting cylinder 212, the lifting cylinder 212 drives the clamping cylinder 214 to lift, and the clamping cylinder 214 drives the second clamping plate 216 to clamp the material. Specifically, the extending and retracting direction of the lifting cylinder 212 is a vertical direction, and the extending and retracting direction of the clamping cylinder 214 is a horizontal direction.

Further, the first clamping plate 208 comprises a main plate portion 2082 arranged in the vertical direction and a supporting plate portion 2084 connected with the end portion of the main plate portion 2082, an included angle is formed between the supporting plate portion 2084 and the main plate portion 2082, the main plate portion 2082 holds materials tightly in the process of moving the materials, and the supporting plate portion 2084 supports the bottoms of the materials to place the materials in a sliding manner; furthermore, the end part of the supporting plate part 2084 is provided with an inclined plane, and an upward component force and a downward component force can be decomposed by arranging the inclined plane when the material is clamped, so that the material is clamped, the smoothness of the bottom of the material in the clamping process is further ensured, and the bottom is prevented from being protruded.

Further, the structure of the second clamping plate 216 is the same as the structure of the first clamping plate 208.

Specifically, the manipulator 200 of the present invention is provided with a sliding driving member 206 and a first clamping plate 208 at three corners of the pressing frame 204, respectively, and the three sliding driving members 206 can slide on the pressing frame 204, so that the three first clamping plates 208 surround two sides of the material; the fourth corner of the pressing frame 204 is provided with a lifting cylinder 212, a clamping cylinder 214 and a second clamping plate 216, and after the material is grabbed, the lifting cylinder 212 and the clamping cylinder 214 drive the second clamping plate 216 to move, so that the second clamping plate 216 clamps the material, and the material is prevented from sliding down during the moving process of the manipulator 200. Specifically, the slide drive 206 is a slide cylinder.

Taking grabbing fins as an example, the fins are placed on the tooling fixture 600 shown in fig. 12, the first clamping plates 208 at three corners of the manipulator 200 hold the fins, specifically, the first clamping plates 208 can extend into the lower portions of the fins through grabbing holes 614 on the tooling fixture 600, the fins are held up by the first clamping plates 208, and then the sliding driving member 206 is driven to further hold the fins tightly; after first splint 208 through three corner mentions the fin, redrive lift cylinder 212 drives second splint 216 with die clamping cylinder 214 and moves, so that second splint 216 presss from both sides tight material, avoid removing in-process material landing at manipulator 200, realized spacing to pressing from both sides the thing material upper surface of getting through the clamping frame, realized spacing to pressing from both sides thing material side and bottom through first splint and second splint, and then realized the handling work to the softer material of this kind of material of similar and fin through the cooperation of clamping frame with first splint and second splint, guaranteed the integrality of material in handling, avoid impaired.

Example two:

as shown in fig. 4 to 9, a first embodiment of the present invention provides a blanking mechanism 1, which includes an opening tool assembly and a manipulator 200.

Specifically, the tool assembly is opened to be adapted to the limiting plate 604 of the tool clamp 600, and the limiting plate 604 of the tool clamp 600 can be moved, so that the material clamped in the tool clamp 600 is released, and a grabbing vacancy is ensured to exist around the material; the manipulator 200 can be driven to extend into the grabbing vacant position to grab the material and place the material at the target position.

The blanking mechanism 1 provided by the utility model can realize full-automatic blanking, does not need manual blanking of workers, has high automation degree, ensures the consistency of incoming materials in the next process, can greatly reduce the labor intensity of the workers and save the labor cost; meanwhile, the blanking mechanism 1 can be matched with an important link of automatic operation so as to improve the working efficiency of the whole assembly system.

Specifically, the utility model provides an unloading mechanism 1 can be used to in the fin poling course of technology of air conditioner. When the fins of the air conditioner are pierced, in order to ensure effective positioning of the fins, the fins need to be clamped in the tool clamp 600, and the fins need to be limited by the limiting plates 604 of the working clamp. The utility model provides an unloading mechanism 1 is through opening limiting plate 604 of frock subassembly automatic movement frock clamp 600 and the fin that the release poling was accomplished, then through manipulator centre gripping fin to the fin of accomplishing the poling is transported to next station, guarantees going on in order of next process.

Specifically, as shown in fig. 9, the opening tool assembly includes a pulling portion 102 and a pushing portion 104. The pulling part 102 can be used for pulling the limiting plate 604 of the tooling fixture 600, and releasing the limitation of the limiting plate 604 on the material in the tooling fixture 600; the push portion 104 may be used to open the snap feature 602 on the stop 608 side of the tooling fixture 600 to release the stop 608 from confining the material within the tooling fixture 600. Through the cooperation of the pulling part 102 and the driving part, the material clamped in the tool clamp 600 can be released, automatic blanking can be realized, the labor intensity of workers is effectively reduced, and the assembly efficiency of the whole assembly system is improved.

In a specific embodiment, the utility model discloses set up a promotion portion 104 respectively at the both ends of baffle 608 for each promotion portion 104 all corresponds the setting with a buckle structure 602, guarantees to release fixture 600's baffle 608 completely. However, it will be understood by those skilled in the art that the number of the pushing portions 104 is not limited to two, but is matched with the number of the snap structures 602 in the tool holder 600, and can be set by those skilled in the art according to the actual situation.

Example three:

as shown in fig. 4 to 9, a second embodiment of the present invention provides a blanking mechanism 1, which includes an opening tool assembly, a manipulator 200, a lifting frame 300 and a lifting chain wheel mechanism 400.

Specifically, the lifting frame 300 is provided with a roller, and the lifting sprocket mechanism 400 can drive the roller to lift, so as to lift the tool clamp 600 in the vertical direction; the roller member includes a roller and a power portion, and the driving portion may drive the roller to roll, so as to realize the movement of the work fixture 600 in the horizontal direction.

That is to say, the blanking mechanism 1 provided in this embodiment can transport the tooling clamp 600 that clamps the material to a designated position through the cooperation of the lifting sprocket mechanism 400 and the lifting frame 300, then open the tooling assembly to release the clamping of the tooling clamp 600 to the material, and leave a grabbing vacancy at the side of the material; after the manipulator 200 extends into the grabbing vacant position, the material is put into the next working procedure; then, the work fixture 600 without the material moves down to the next process by the cooperation of the elevating chain wheel mechanism 400 and the elevating frame 300. The blanking mechanism 1 provided by this embodiment can not only realize automatic blanking of materials, but also realize automatic feeding and automatic blanking of the tool clamp 600.

Further, as shown in fig. 5 and 9, a blocking portion 118 is disposed on the lifting frame 300, and the blocking portion 118 is located at the discharge end of the drum, so that the fixture 600 can be limited. Specifically, when the tooling fixture 600 moves to the position where the blocking portion 118 is located, the blocking portion 118 prevents the tooling fixture 600 from continuing to advance, so that the tooling fixture 600 stays at the set position. At this time, the pushing portion 104 corresponds to the snap structure 602 of the baffle 608 of the tooling fixture 600, and the pulling portion 102 corresponds to the limiting plate 604 of the tooling fixture 600, so as to avoid secondary position adjustment of the tooling fixture 600.

Specifically, the blocking portion 118 includes a rotation shaft, a stopper, and a rotation cylinder. Wherein, rotate the pivot through the actuating shaft of rotation cylinder drive and rotate, and then drive and be located epaxial dog and frock clamp 600 looks butt, realize spacing to frock clamp 600.

Example four:

as shown in fig. 4 to 9, a third embodiment of the present invention provides a blanking mechanism 1, which includes an opening tool assembly, a manipulator 200 and a robot 500.

Wherein, the robot 500 is connected with the manipulator 200 and can drive the manipulator 200 to control the manipulator 200 to extend into the grabbing vacant position to grab the material and move the material to the next process.

Specifically, when the material reaches the blanking station, the opened tool assembly moves to the blanking station, the opened tool assembly moves the limiting plate 604 of the tool clamp 600, the clamped material in the tool clamp 600 is released, and the grabbing vacant positions on the peripheral sides of the material are ensured; the robot 500 then drives the robot arm 200 to reach into the gripping vacant position to grip the material and place the material at the target position.

In this embodiment, the material clamped by the tool clamp 600 is released by opening the tool assembly, the robot 500 controls the manipulator 200 to move the material to the target position, full-automatic blanking is realized, manual blanking of workers is not needed, the automation degree is high, the labor intensity of the workers can be greatly reduced, and the labor cost is saved.

In any of the above embodiments, as shown in fig. 10, the pulling portion 102 can achieve two degrees of freedom, and the stopper plate 604 is pulled and the escape is simultaneously achieved. Specifically, the structure of the connecting piece 110 in the pulling part 102 is matched with the limiting plate 604, and the connecting piece 110 can be clamped with the structure on the limiting plate 604, so that the limiting plate 604 can be pulled by pulling the air cylinder 108, and the limitation of the limiting plate 604 on the material is released; the pulling cylinder 108 is connected with the lifting cylinder 112 through the mounting plate 106, so that the lifting cylinder 112 can drive the pulling cylinder 108 and the connecting piece 110 to integrally lift, on one hand, the connecting piece 110 is guaranteed to be separated from and clamped with the limiting plate 604, on the other hand, structural interference between the pulling part 102 and the tool fixture 600 is avoided, the pushing part 104 is guaranteed to push the buckling structure 602 on the side of the baffle 608 of the tool fixture 600, and the manipulator 200 is guaranteed to smoothly grab materials.

In any of the above embodiments, further, as shown in fig. 11, the pushing part 104 includes a pushing cylinder 114 and a pushing member 116, which are engaged with each other. The pushing member 116 is adapted to the fastening structure 602 on the side of the baffle 608 of the tool clamp 600, the pushing member 116 is connected to the pushing cylinder 114, and the fastening structure 602 can be pushed under the driving of the pushing cylinder 114, so as to realize a side plate of the tool clamp 600 and ensure that the material in the tool clamp 600 has a grabbing vacancy.

In any of the above embodiments, further, as shown in fig. 1 to 3, the robot arm 200 is connected to the robot 500 through the connection board 202, so as to ensure the robot 500 to effectively drive the robot arm 200; a pressing block is arranged on the connecting plate 202, and clamping parts are arranged at three corners of the pressing frame 204 to clamp materials from two sides of the materials; the fixed seat 210 at the other corner of the pressing frame 204 is provided with the lifting cylinder 212, and the lifting cylinder 212 is provided with the clamping cylinder 214 and the second clamping plate 216, so that after the material is grabbed by the rest three clamping portions, the lifting cylinder 212 and the clamping cylinder 214 drive the second clamping plate 216 to clamp the material, and the material is prevented from sliding down in the moving process of the manipulator 200.

Specifically, as shown in fig. 2, the robot 200 is provided with a first clamping portion 222a, a second clamping portion 222b, and a third clamping portion 222c at three corners of the pressing frame 204, and a lifting cylinder 212, a clamping cylinder 214, and a second clamping plate 216 at a fourth corner.

Specifically, as shown in fig. 1, the clamping portion includes a clamping cylinder 214 and a first clamping plate 208, the clamping cylinder 214 is mounted on the pressing frame 204 through a cylinder fixing plate; to improve the overall strength of the clamp, a reinforcement plate 218 is provided between the clamp cylinder 214 and the first clamp plate 208; in order to avoid the damage of the manipulator 200 to the material, the rubber pad 220 is arranged on the outer surface of the pressing frame 204, so that the manipulator 200 is in flexible contact with the material, and the integrity of the material is ensured while the material is clamped.

Example five:

the utility model discloses a fourth embodiment provides an assembly system, include: if the utility model discloses arbitrary unloading mechanism 1 in the first aspect, consequently, have above-mentioned unloading mechanism 1's whole beneficial effect, no longer state one by one here. In addition, the assembly system further comprises a tool clamp 600, and the tool clamp 600 is used for clamping the fins so as to finish tube penetrating of the fins.

Specifically, as shown in fig. 12 and 13, the bottom plate 612 of the tooling fixture 600 is anodized by hard aluminum, and has high strength, small deformation and wear resistance; the four side faces of the tool clamp 600 are limited respectively, the rear side plate 606 serves as a fixed reference face, and limiting strips are arranged according to the arrangement of the fin holes, so that the long U-shaped copper pipes can be avoided, and fins can be fully limited; the left side limiting block 610 is connected with the micro sliding table to adapt to width errors of fins of different batches, and the side serves as a relatively fixed reference; as shown in fig. 13, the baffle 608 and the bottom plate 612 on the front side of the tooling fixture 600 are fixed by the snap structure 602, the limiting plate 604 on the right side is fixed by the guide rail and the spring guide rod, and the two sides are relatively movable so as to leave a space for loading and unloading; the front side fly leaf sets to the perforated plate, corresponds with the fin hole, is equipped with the breach structure so that place and get a pole, and the manual work will get a pole and extract after the fin clamping, if robot 500 material loading, robot 500 tongs will get a change and extract and place in the turnover hopper so that recycle.

When the tooling clamp 600 clamps the fins, the fin holes can be aligned with the long U-shaped copper pipes through the adjustment of the left limiting block 610 and the right limiting plate 604, good centering performance is achieved, the blocking condition in the pipe penetrating process is avoided, and the safety of the pipe penetrating process can be guaranteed. And because the fin has a size error, through the adjustment of the left limiting block 610 and the right limiting plate 604, the tool clamp 600 can make up for the size error, and the adaptability is strong.

After the fin is pierced, the tooling fixture 600 with the fin is conveyed to the blanking mechanism 1, the opening tooling assembly of the blanking mechanism 1 is arranged opposite to the tooling fixture 600, specifically, the pushing portion 104 corresponds to the buckling structure 602 of the baffle 608 of the tooling fixture 600, and the pulling portion 102 corresponds to the limiting plate 604 of the tooling fixture 600. At this time, the pushing cylinder 114 in the pushing portion 104 drives the pushing member 116 to move, so that the pushing member 116 pushes the fastening structure 602 of the fixed baffle 608 to release the baffle 608 on the front side of the tooling fixture 600; the lifting cylinder 212 in the pulling part 102 drives the connecting piece 110 to descend, and enables the connecting piece 110 to be clamped with the limiting plate 604 on the right side of the tooling clamp 600, and the pulling cylinder 108 in the pulling part 102 drives the connecting piece 110 to move, and enables the connecting piece 110 to pull the limiting plate 604. Through the cooperation of pushing part 104 and pulling part 102, frock clamp 600 can make the fin release, and guarantee that there is the vacant position of snatching around the fin.

After the material has been disengaged from the tooling fixture 600, the robot 500 drives the manipulator 200 to extend into the clamping vacancy of the tooling fixture 600, and the manipulator 200 can clamp the fin and move the fin to the next process. Specifically, in the process of clamping the fin by the manipulator 200, the fin is clamped by the three clamping parts from the two ends of the fin, and after the fin is grabbed, the lifting cylinder 212 and the clamping cylinder 214 are controlled to drive the second clamping plate 216 to move, so that the second clamping plate 216 clamps the fin, and the fin is prevented from sliding down in the moving process of the robot 500. The cooperation between the lifting cylinder 212 and the clamping cylinder 214 can avoid the interference of the structure, so that the manipulator 200 can smoothly grasp the fin.

In particular, the long U-shaped copper tube is easily damaged by the material and the wall thickness during the assembly process, so that the rubber pad 220 is coated on the outer circumference of the manipulator 200 to ensure the flexible contact between the manipulator 200 and the fin. Through the utility model provides a snatch mechanism can realize the automatic unloading of fin, guarantees product quality's technological effect, realizes automatic operation simultaneously, reduces staff intensity of labour, promotes assembly efficiency.

The specific embodiment is as follows:

the utility model provides a mechanism of automatic unloading of fin through the motion of 500 drive manipulators 200 of robot, can realize that the fin poling is automatic.

Specifically, this unloading mechanism 1 mainly includes: a robot arm 200, a robot 500, a lifting sprocket mechanism 400, and an opening tool assembly.

The working process of the blanking mechanism 1 is as follows: after the fin is penetrated, the fin is conveyed to the lifting chain wheel mechanism 400, and the lifting chain wheel mechanism 400 sends the fin to a specified position; opening a pushing part 104 in the tool assembly to push open a buckling structure 602 on the front surface of the tool clamp 600, opening a pulling part 102 in the tool assembly to pull open a limiting plate 604 on the side surface of the tool clamp 600, and leaving a grip vacant position; the robot 500 drives the manipulator 200 to a set position, the flexible material (such as high-quality glue) below the aluminum section in the manipulator 200 presses the top surface of the fin, the sliding driving piece 206 drives the first clamping plate 208 to grab the fin blanking, and the lifting cylinder 212 and the clamping cylinder 214 drive the second clamping plate 216 to clamp the fin.

After the fins penetrate through the tubes, the fins and the long U-shaped copper tubes are in clearance assembly and still have certain flexibility, the clamping cylinder 214 needs to adopt a hooking, clamping and holding mode, and the contact surfaces of the clamping cylinder and the fins are made of flexible materials to prevent the fins from deforming. The robot 500 is a six-axis robot with a light load, and cost and layout space are saved on the premise of meeting load and accessibility. Further expanding, the next process after the fins are inserted is fin tube expansion, and the robot 500 can also replace manual fin carrying for feeding and discharging of the tube expander.

Specifically, the bottom surface of the aluminum profile in the manipulator 200 is fixed with the high-strength glue, and the fins are pressed by the high-strength glue, so that the manipulator 200 is ensured to be in flexible contact with the fins; the three groups of sliding table cylinders drive the first clamping plate 208 to clamp two sides of the fin; after the fins are grabbed, the lifting cylinder 212 and the clamping cylinder 214 drive the second clamping plate 216 to clamp the fins, so that the fins are prevented from sliding off during the movement of the robot 500.

Specifically, after the fin is conveyed to the roller piece after the tube penetration, the air cylinder is rotated to drive the rotating shaft and the stop block to clamp the tool clamp 600; the pulling part 102 is composed of two groups of cylinders, one vertical direction and one horizontal direction, and plays roles of lifting, avoiding and in-place hooking, and is used for pulling open the limiting plate 604 on the side surface of the tool clamp 600; the pushing portion 104 is composed of two sets of cylinders, and pushes up the buckle structure 602 in front of the tooling plate, and opens the baffle 608 of the tooling fixture 600, so that the following robot 500 can grab the workpiece for blanking, or can carry the workpiece for blanking.

The utility model discloses a link in the cooperation air conditioner fin poling is automatic realizes the automatic unloading of transplanting behind the fin poling, has replaced artifical transport with robot 500, practices thrift the human cost, guarantees the uniformity of process supplied materials down.

In the description of the present invention, the terms "plurality" or "a plurality" refer to two or more, and unless otherwise specifically limited, the terms "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are merely for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention; the terms "connected," "mounted," "secured," and the like are to be construed broadly and include, for example, fixed connections, removable connections, or integral connections; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present specification, the description of the terms "one embodiment," "some embodiments," "specific embodiments," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A manipulator, characterized by comprising:

a connecting plate;

the pressing frame is arranged on the connecting plate and is positioned on one side of the connecting plate;

the clamping part set up in press the both ends of frame, the clamping part include the sliding driving spare and with the first splint that the sliding driving spare is connected.

2. The robot hand of claim 1, further comprising:

the fixed seat is connected with the pressing frame and is positioned at one end of the pressing frame;

the lifting cylinder is arranged on the fixed seat;

the clamping cylinder is connected with the lifting cylinder, and the lifting cylinder can drive the clamping cylinder to lift;

the second clamping plate is connected with the clamping cylinder;

and the telescopic direction of the lifting cylinder is perpendicular to that of the clamping cylinder.

3. The robot hand of claim 1, wherein the first clamp plate comprises:

a main plate portion connected to the slide driving member;

the main board part is connected with the bottom plate part, and the bottom plate part is connected with the main board part.

4. A blanking mechanism, characterized by comprising a robot as claimed in any one of claims 1 to 3.

5. The blanking mechanism of claim 4, further comprising:

an opening tool assembly configured to move a limit plate of a tool clamp to form a gripping vacancy;

wherein the manipulator is configured to be placed into the gripping vacancy for gripping the material on the tooling fixture.

6. The blanking mechanism of claim 5 wherein the opening tool assembly comprises:

a pulling portion configured to be adapted to pull a limit plate of the tooling fixture; and/or

A pushing portion configured to be adapted to push a catch structure of a baffle side of the tooling fixture.

7. The blanking mechanism of claim 6, wherein the pull portion comprises:

mounting a plate;

a pulling cylinder disposed on the mounting plate;

the connecting piece is connected with the pulling cylinder and is configured to be connected with the limiting plate, and the pulling cylinder is used for driving the connecting piece to move so as to pull the limiting plate;

the lifting cylinder is connected with the mounting plate and is used for driving the pulling part to move;

the stretching direction of the pulling cylinder is perpendicular to the stretching direction of the lifting cylinder.

8. The blanking mechanism of claim 6 wherein the pushing portion comprises:

a push cylinder;

the pushing piece is connected with the pushing cylinder, the pushing piece is configured to be suitable for being in contact with the buckling structure, and the pushing cylinder is used for driving the pushing piece to stretch and retract.

9. The blanking mechanism of any one of claims 5 to 8, further comprising: the lifting frame is provided with a roller piece, and the roller piece is used for bearing the tool clamp;

the roller piece comprises a roller and a power part connected with the roller, and the power part is used for driving the roller to roll; and

the blocking part is arranged on the lifting rack and is positioned at the discharge end of the roller, and the blocking part is used for limiting the tool clamp; and/or

And the lifting chain wheel mechanism is arranged on the lifting rack, is connected with the roller piece and is used for driving the roller piece to lift.

10. An assembly system, comprising:

the robot hand of any one of claims 1 to 3; or

The blanking mechanism of any one of claims 4 to 9.

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