CN211565012U - Radiator gripping apparatus and radiator material loading assembly line - Google Patents

Abstract

The present application provides a radiator gripper and a radiator feeding assembly production line, which belong to the field of production and assembly technology. Among them, the radiator gripper includes a base, a gripping mechanism, a screw tightening mechanism and a visual positioning device. The base has a relative connecting end and a gripping end in a preset direction, and the connecting end is used to connect with a robot. The gripping mechanism is connected to the gripping end, and the gripping mechanism is used to grip the radiator. The screw tightening mechanism is connected to the base, and the screw tightening mechanism is used to tighten the screws to fix the radiator to the mainboard. The visual positioning device is connected to the base, and the visual positioning device is used to obtain the position signal of the radiator, and the robot responds to the position signal. Through this structure, the radiator gripper automatically identifies the position signal of the radiator and grabs the radiator, and then the robot drives the radiator gripper to install and fix the radiator on the mainboard, thereby realizing the automatic assembly of the radiator, saving manpower, and improving production efficiency.

Description

A radiator gripper and radiator feeding assembly production line

technical field

The present application relates to the technical field of production and assembly, and in particular, to a radiator gripper and a radiator feeding and assembling production line.

Background technique

The radiator is an important part of the computer. A large number of integrated circuits are used in computer components. As we all know, high temperature is the enemy of integrated circuits. High temperature will not only cause the system to run erratically, shorten the service life, and may even cause some components to burn out. The heat that causes the high temperature does not come from outside the computer, but from inside the computer, or inside the integrated circuit. The function of the radiator is to absorb the heat, and then dissipate it to the inside or outside of the case to ensure that the temperature of the computer components is normal. In the current radiator feeding and assembling production line, the radiator is usually assembled on the motherboard manually, and then the radiator is locked on the motherboard by tightening the screws, and then the feeding and assembly of the radiator are completed. As a result, the production efficiency of the radiator assembly production line is low and labor is wasted.

Utility model content

The embodiment of the present application provides a radiator gripper and a radiator feeding and assembling production line, so as to improve the problem of low production efficiency of the radiator assembly production line.

In the first aspect, an embodiment of the present application provides a radiator gripper, the radiator gripper is used to install a radiator on a motherboard, the radiator is fixed to the motherboard by screws, and the radiator gripper It includes a base, a grasping mechanism, a screw tightening mechanism and a visual positioning device; the base has opposite connecting ends and grasping ends in a preset direction, and the connecting ends are used to connect with the robot; the grasping mechanism is connected to the grabbing end, and the grabbing mechanism is used for grabbing the radiator; the screw tightening mechanism is connected to the base, and the screw tightening mechanism is used for tightening the screw to tighten the radiator is fixed on the main board; the visual positioning device is connected to the base, and the visual positioning device is used to obtain a position signal of the radiator, and the robot responds to the position signal.

In the above technical solution, the radiator gripper is provided with a grasping mechanism, a screw tightening mechanism and a visual positioning device. In the actual production process, the position signal of the radiator in the material box is first obtained through the visual positioning device, so that the robot is receiving After reaching the position signal, the radiator can be accurately grasped by the grasping mechanism, and then the assembly position signal of the radiator on the motherboard can be obtained through the visual positioning device, and then the radiator can be assembled on the motherboard by driving the radiator grasper by the robot. The screw tightening mechanism tightens the screw to fix the radiator on the main board, thereby realizing the automatic assembly of the radiator, saving manpower and improving production efficiency.

In addition, the radiator gripper provided by the embodiment of the present application also has the following additional technical features:

Further, the screw tightening mechanism includes a mounting seat, a driving device and a tightening device; the mounting seat is movably connected to the base, and the driving device is used to drive the mounting seat to move along the preset direction ; The tightening device is mounted on the mounting seat.

In the above technical solution, the driving device can drive the mounting seat to move in a preset direction, and the tightening device is mounted on the mounting seat. When tightening the screw, the tightening device can move relative to the base in a preset direction toward the grab end, so as to extend the tightening device, so as to tighten the screw through the tightening device, preventing other parts of the radiator gripper from interfering with the motherboard state.

Further, the radiator gripper further includes a limit structure; the limit structure is used to limit the range of movement of the mounting seat along the preset direction.

In the above technical solution, the radiator gripper is further provided with a limiting structure, and the limiting structure is used to limit the movement range of the mounting seat along the preset direction, that is to say, the limiting structure can limit the movement of the mounting seat , to prevent the moving range of the mounting seat from being too large, thereby reducing the control accuracy of the robot driving the radiator gripper to tighten the screws.

Further, the limiting structure includes a protruding portion, a first limiting portion and a second limiting portion; the protruding portion is provided on the mounting seat; the first limiting portion and the second limiting portion The positions are all set on the base; when the mounting seat moves in the direction close to the grabbing end along the preset direction, the protruding portion can abut against the first limiting portion; When the mounting seat moves toward the direction close to the connecting end along the preset direction, the protruding portion can abut against the second limiting portion.

In the above technical solution, the mounting seat is provided with a protruding portion, and the base is provided with a first limiting portion and a second limiting portion. When the mounting seat moves toward the grab end along the preset direction, the protruding portion can abut against the first limiting portion, and when the mounting seat moves toward the connecting end along the preset direction, the protruding portion can abut against the first limiting portion At the second limiting portion, the movement of the mounting seat is restricted, and the structure is simple and easy to implement.

Further, the tightening device is an electric screwdriver.

In the above technical solution, when assembling the radiator, the screw is tightened by an electric screwdriver to fix the radiator on the main board, the screw tightening process can be precisely controlled and adjusted, and important process parameters are recorded to ensure the screw tightening accuracy .

Further, the mounting seat includes a moving seat and a connecting seat; the moving seat is movably connected to the base along the preset direction; the connecting seat is detachably connected to the moving seat, the The electric screwdriver is installed on the connecting seat.

In the above technical solution, the connecting base is detachably connected to the moving base, and the electric screwdriver is installed on the connecting base. When the electric screwdriver is damaged or needs to be replaced, this simple structure facilitates the maintenance and replacement of the electric screwdriver.

Further, the connecting seat includes a first seat body and a second seat body; the first seat body and the second seat body can be detachably connected to the moving seat; the electric screwdriver includes an electric screwdriver body and a vacuum suction pipe, the vacuum suction pipe is connected to the output end of the electric screwdriver body; the first seat body is provided with a first hole for installing the vacuum suction pipe; the second seat body is provided with a first hole for installation the second hole of the electric screwdriver body.

In the above technical solution, the electric screwdriver includes an electric screwdriver body and a vacuum suction tube, and the vacuum suction tube is connected to the output end of the electric screwdriver body. During actual production, the electric screwdriver can absorb the screw through the vacuum suction tube, and then tighten the screw to realize the screw automatic feeding and tightening.

In the second aspect, the embodiment of the present application also provides a radiator feeding and assembling production line, including a conveying line, a feeding mechanism, a robot and the above-mentioned radiator gripper; the conveying line is used for conveying the main board to an assembly position; the feeding The mechanism is used to transport the radiator to the position to be grasped; the output end of the robot is connected to the connecting end, and the robot is used to drive the radiator gripper to grasp the radiator located at the position to be grasped , and move the heat sink to the assembly position to be assembled with the motherboard.

In the above technical solution, the main board is firstly transported to the radiator assembly position through the conveying line, then the radiator is moved to the position to be grasped by the feeding mechanism, and finally the radiator gripper is driven by the robot to be grasped from the position to be grasped. The radiator is moved to the assembly position, and the radiator is assembled, thereby realizing the automatic production of radiator feeding, main board transportation and radiator assembly, reducing labor and improving production efficiency.

In addition, the radiator feeding and assembling production line provided by the embodiment of the present application also has the following additional technical features:

Further, the radiator feeding and assembling production line further includes a transfer mechanism; the transfer mechanism includes a first frame, an execution device and a grabbing device, and the first frame and the grabbing device pass through the execution device connected, the execution device is used to drive the grab device to grab the tray on which the radiator is placed, and transfer the tray to a material box for containing the tray.

In the above technical solution, the radiator feeding and assembling production line is further provided with a transfer mechanism. During the production process, a plurality of trays are placed in the material box on the feeding mechanism, and the radiator is placed on the tray. After the radiator grabber grabs the radiator from the tray, the empty tray can be transferred to another by the transfer mechanism. In a material box, the pallets can be stacked in the material box, thereby improving the conveying capacity of the material box and the storage capacity of the radiator.

Further, the radiator feeding and assembling production line further includes a pressing mechanism; the pressing mechanism is used for pressing the radiator on the main board.

In the above technical solution, when assembling the radiator, the radiator is first driven by the robot to install the radiator on the main board, then the radiator is pressed on the main board by the pressing mechanism, and finally the radiator is pressed on the radiator The screw tightening mechanism tightens the screws so that the radiator is fixed to the motherboard, thereby realizing the assembly of the radiator. This simple structure prevents the radiator from sliding on the motherboard before being fixed on the motherboard, thereby causing heat dissipation. The radiator assembly fails or the assembly accuracy of the radiator is reduced.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the following drawings will briefly introduce the drawings that need to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore do not It should be regarded as a limitation of the scope, and for those of ordinary skill in the art, other related drawings can also be obtained according to these drawings without any creative effort.

1 is a schematic structural diagram of a radiator feeding and assembling production line provided by an embodiment of the application;

Fig. 2 is the structural schematic diagram of the feeding mechanism of the radiator feeding and assembling production line shown in Fig. 1;

3 is a schematic structural diagram of the radiator assembly on the motherboard of the radiator feeding and assembling production line shown in FIG. 1;

4 is a schematic structural diagram of a radiator gripper of the radiator feeding and assembling production line shown in FIG. 1 from a first perspective;

5 is a schematic structural diagram of a radiator gripper of the radiator feeding and assembling production line shown in FIG. 1 from a second perspective;

6 is a schematic structural diagram of the screw tightening mechanism of the radiator gripper shown in FIG. 4;

7 is a schematic structural diagram of the radiator gripper of the radiator feeding and assembling production line shown in FIG. 1 from a third perspective;

8 is a schematic structural diagram of the transfer mechanism of the radiator feeding and assembling production line shown in FIG. 1;

FIG. 9 is a schematic structural diagram of the pressing mechanism of the radiator feeding and assembling production line shown in FIG. 1 .

Icon: 100-radiator feeding assembly line; 10-conveying line; 11-assembly position; 12-jig; 20-feeding mechanism; 21-first conveyor belt; 211-first connection position; 212-to be grabbed Position; 22-Second conveyor belt; 221-Second connection position; 222-Third connection position; 23-Lifting device; 24-Code scanner; 30-Robot; 31-Robot control cabinet; Tool; 41-base; 411-connecting end; 412-grabbing end; 413-first rail; 414-second rail; 415-moving slot; 42-visual positioning device; 43-grabbing mechanism; 431-first A clamping piece; 432-second clamping piece; 433-first driving piece; 44-screw tightening mechanism; 441-installation seat; 4411-moving seat; 4412-first seat body; 442-driving equipment; 443-tightening device; 4431-electric screwdriver body; 4432-vacuum suction pipe; 45-limiting structure; - Motherboard; 51 - Radiator; 52 - Screw; 60 - Transfer mechanism; 61 - First frame; 62 - Actuator; 621 - First movable seat; 622 - First drive device; 6221 - First rack; 6222-first driving guide rail; 623-second movable seat; 624-second driving device; 6241-second driving guide rail; 63-grabbing device; 70-pressing mechanism; 71-second frame; 72-lowering Pressing device; 721-third movable seat; 722-third driving device; 7221-third rack; 7222-third driving guide rail; 723-pressing part; 724-second driving part; 80-rework table; 90-positioning piece; A-up and down direction; B-preset direction.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments It is a part of the embodiments of the present application, but not all of the embodiments. The components of the embodiments of the present application generally described and illustrated in the drawings herein may be arranged and designed in a variety of different configurations.

Thus, the following detailed description of the embodiments of the application provided in the accompanying drawings is not intended to limit the scope of the application as claimed, but is merely representative of selected embodiments of the application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further definition and explanation in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship that the product of the application is usually placed in use, or the Orientation or positional relationship that is commonly understood by those skilled in the art, or the orientation or positional relationship that the product of the application is commonly placed in use, is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must be It has a specific orientation, is constructed and operates in a specific orientation, and therefore should not be construed as a limitation of the present application. Furthermore, the terms "first", "second", etc. are only used to differentiate the description and should not be construed to indicate or imply relative importance.

Example

As shown in FIG. 1 , an embodiment of the present application provides a radiator feeding and assembling production line 100 , including a conveying line 10 , a feeding mechanism 20 , a robot 30 and a radiator gripper 40 . The conveying line 10 is used to convey the main board 50 to the assembly position 11 . The feeding mechanism 20 is used to transport the radiator 51 to the position 212 to be grasped. The output end of the robot 30 is connected to the radiator gripper 40 , and the robot 30 is used to drive the radiator gripper 40 to grasp the radiator 51 at the position to be grasped 212 , and move the radiator 51 to the assembly position 11 to be assembled with the motherboard 50 .

In the actual production process, firstly, the main board 50 is transported to the assembly position 11 of the radiator 51 through the conveying line 10 , then the radiator 51 is moved to the waiting position 212 by the feeding mechanism 20 , and finally the robot 30 drives the above-mentioned radiator to grasp the position 212 . The tool 40 grabs the radiator 51 from the position to be grasped 212, transfers it to the assembly position 11, and assembles the radiator 51, thereby realizing the automatic production of feeding the radiator 51, conveying the main board 50 and assembling the radiator 51, reducing the labor and improve production efficiency.

Exemplarily, the conveying direction in which the main board 50 is conveyed by the conveying line 10 and the conveying direction in which the radiator 51 is conveyed by the feeding mechanism 20 are perpendicular to each other.

The conveying line 10 is provided with a jig 12 , and the conveying line 10 is used for conveying the movement of the jig 12 . When the jig 12 transports the main board 50 to the assembling position 11 , the stopper disposed on the conveying line 10 can stop the jig 12 , so that the jig 12 stays at the assembling position 11 .

In this embodiment, the conveying line 10 has an upper guide line and a lower guide line. The upper guide line is used for conveying the jig 12 with the main board 50 placed thereon, and the lower guide line is used for conveying the jig 12 without the main board 50 placed thereon. In other embodiments, the conveying line 10 may also have other structures, for example, the conveying line 10 is a plate chain conveying line 10, a belt conveying line 10, and the like.

Optionally, as shown in FIG. 2 , the feeding mechanism 20 includes a first conveyor belt 21 , a second conveyor belt 22 and a lifting device 23 . The first conveyor belt 21 has a first connecting position 211 and a position to be grasped 212, the second conveyor belt 22 has a second connecting position 221 and a third connecting position 222, and the first conveyor belt 21 has one end of the position to be grasped 212 and One end of the second conveyor belt 22 having the second connecting position 221 is connected to the lifting device 23 , and the lifting device 23 can transport the empty material box at the position to be grasped 212 to the second connecting position 221 along the vertical direction A.

During actual production, the worker places the pallet on which the radiator 51 is placed into the material box, and then places the material box at the first connection position 211 , and the first conveyor belt 21 transports the material box to the position to be grasped 212 for The robot 30 drives the radiator gripper 40 to grab the radiator 51 , and then transports the material box with the empty trays placed along the vertical direction A to the second connection position 221 through the lifting device 23 , and then passes the second conveyor belt 22 to place the The material box with empty pallets is transported to the third connection position 222 for workers to place the pallet with the radiator 51 in the material box. Through this simple structure, the automatic feeding of the radiator 51 is realized, saving the cost of artificial.

The first conveyor belt 21 and the second conveyor belt 22 are both roller conveyor belts. In other embodiments, the first conveyor belt 21 and the second conveyor belt 22 may also have other structures. For example, the first conveyor belt 21 and the second conveyor belt 22 are both For belt conveyors.

Optionally, the feeding mechanism 20 is further provided with a code scanner 24, which is connected to the first connection position 211 of the first conveyor belt 21 for scanning and identifying the material box, and then obtains the information of the material box. information to prevent workers from placing the wrong bins on the feeding mechanism 20 .

In other embodiments, the feeding mechanism 20 may also have other structures. For example, the feeding mechanism 20 is a closed carousel belt, and the closed carousel belt has a loading position and a picking position. The worker places the tray on which the radiator 51 is placed on the The material box is then placed in the upper part position, and the material box is transported to the pick-up position by the closed rotary conveyor belt for production needs. When the radiator 51 in the material box is finished, the material box on which the empty tray is placed can be conveyed to the upper part position by the closed rotary conveyor belt, thereby realizing the automatic feeding of the radiator 51 .

Exemplarily, the robot 30 is a six-axis robot.

1 , the radiator feeding and assembling production line 100 includes a robot control cabinet 31 , and the robot control cabinet 31 is used for controlling the movements of the robot 30 and for supplying power to the robot 30 .

In this embodiment, as shown in FIG. 3 , the radiator gripper 40 is used to install the radiator 51 on the motherboard 50 , and the radiator 51 is fixed to the motherboard 50 by screws 52 . Wherein, as shown in FIG. 4 , the radiator gripper 40 includes a base 41 , a visual positioning device 42 , a grasping mechanism 43 and a screw tightening mechanism 44 . The base 41 has opposite connecting ends 411 and grabbing ends 412 in the preset direction B, and the connecting ends 411 are used for connecting with the robot 30 . The visual positioning device 42 is connected to the base 41 , and the visual positioning device 42 is used to obtain the position signal of the radiator 51 , and the robot 30 responds to the position signal. The grabbing mechanism 43 is connected to the grabbing end 412 , and the grabbing mechanism 43 is used for grabbing the radiator 51 . The screw tightening mechanism 44 is connected to the base 41 , and the screw tightening mechanism 44 is used for tightening the screws 52 to fix the heat sink 51 to the motherboard 50 .

In the production process, the position signal of the radiator 51 in the material box is first obtained through the visual positioning device 42, so that the robot 30 can accurately grasp the radiator 51 through the grasping mechanism 43 after receiving the position signal, and then visually The positioning device 42 obtains the signal of the assembly position 11 of the radiator 51 on the main board 50, and then drives the radiator gripper 40 to assemble the radiator 51 on the main board 50 by the robot 30, and finally tightens the screw 52 through the screw tightening mechanism 44, so that the heat sink 52 is tightened. 51 is fixed on the main board 50, thereby realizing automatic assembly of the radiator 51, saving manpower and improving production efficiency.

The base 41 has opposite connecting ends 411 and grabbing ends 412 in the preset direction B, the grabbing mechanism 43 is connected to the grabbing end 412, and the connecting end 411 is used to connect with the output end of the robot 30, thereby enabling the robot 30 drives the radiator gripper 40 to move.

Exemplarily, the visual positioning device 42 is a charge-coupled device. When the radiator 51 is grasped, the radiator 51 in the material box is first photographed by the charge-coupled device, and then the position of the radiator 51 in the material box is obtained. signal, and then the robot 30 responds to the position signal of the radiator 51 to drive the radiator gripper 40 to accurately grasp the radiator 51 . That is, after the CCD obtains the position signal of the radiator 51 , the robot control cabinet 31 can control the action of the robot 30 according to the position signal, so that the radiator gripper 40 can accurately grasp the radiator 51 .

In this embodiment, as shown in FIG. 5 , the grasping mechanism 43 includes a first clamping member 431 , a second clamping member 432 and a first driving member 433 . Both the first clamping member 431 and the second clamping member 432 are movably connected to the base 41 . The first driving member 433 is used to drive the first clamping member 431 and the second clamping member 432 to move, so that the first clamping member 431 and the second clamping member 432 cooperate to clamp the heat sink 51 .

Further, the first driving member 433 is used to drive the first clamping member 431 and the second clamping member 432 to approach or move away from each other, thereby realizing that the first clamping member 431 and the second clamping member 432 cooperate to clamp the heat sink 51 to realize the grabbing of the radiator 51 .

The first driving member 433 is a two-way cylinder, the cylinder body of the two-way cylinder is fixedly connected to the base 41, the first clamping member 431 and the second clamping member 432 are both movably arranged on the base 41, and the two-way cylinder The output ends are respectively connected with the first clamping member 431 and the second clamping member 432, so as to drive the first clamping member 431 and the second clamping member 432 to approach or move away from each other. In other embodiments, the first driving member 433 may also have other structures, for example, the first driving member 433 includes a motor and two racks, the motor is connected to the base 41 , the first clamping member 431 and the second clamping member 431 Each of the parts 432 is movably arranged on the base 41, and the gears on the motor output shaft mesh with the racks arranged on the first clamping part 431 and the racks arranged on the second clamping part 432 respectively, and then drive the The first clamping member 431 and the second clamping member 432 are close to or away from each other.

In other embodiments, the grasping mechanism 43 may also have other structures. For example, the grasping mechanism 43 is provided with a first clamping member 431 , a second clamping member 432 and a first driving member 433 . The first clamping member 431 It is fixedly connected to the base 41, the second clamping member 432 is movably connected to the base 41, and the first driving member 433 is used to drive the second clamping member 432 to move, so that the second clamping member 432 is close to or away from the first clamping member 432. A clamping member 431 further realizes the clamping function of the heat sink 51 .

In this embodiment, as shown in FIG. 4 and FIG. 6 , the screw tightening mechanism 44 includes a mounting seat 441 , a driving device 442 and a tightening device 443 . The mounting seat 441 is movably connected to the base 41 , the driving device 442 is used to drive the mounting seat 441 to move along the preset direction B, and the tightening device 443 is mounted on the mounting seat 441 .

When the screw 52 is tightened, the tightening device 443 can move relative to the base 41 along the preset direction B toward the grasping end 412, so as to extend the tightening device 443, so that the screw 52 is tightened by the tightening device 443 to prevent the heat sink Other components of the gripper 40 interfere with the main board 50 .

The surface of the base 41 is provided with a first guide rail 413 and a second guide rail 414 , the mounting seat 441 is movably connected to the first guide rail 413 and the second guide rail 414 , and the mounting seat 441 can be mounted on the first guide rail 413 and the second guide rail 414 . The guide rail 414 moves along the preset direction B.

In this embodiment, the driving device 442 is an air cylinder, the cylinder body of the air cylinder is fixedly connected to the inner wall of the base 41 , the mounting seat 441 is movably connected to the base 41 along the preset direction B, and the mounting seat 441 is protruded with a protrusion , the base 41 has a moving groove 415, the moving groove 415 is a rectangular through hole arranged in the length direction along the preset direction B, the protrusion on the mounting seat 441 can pass through the moving groove 415, and the output end of the cylinder is connected to the mounting seat 441. The protrusions are connected so as to drive the mounting base 441 to move in the preset direction B. As shown in FIG. In other embodiments, the driving device 442 may also have other structures. For example, the driving device 442 includes a motor and a rack, the motor is connected to the base 41, and the mounting base 441 is movably connected to the base 41 along the preset direction B, The gear on the output shaft of the motor meshes with the rack provided on the mounting seat 441 , thereby driving the mounting seat 441 to move along the preset direction B. As shown in FIG.

Further, as shown in FIG. 7 , the radiator gripper 40 further includes a limiting structure 45 , and the limiting structure 45 is used to limit the range of movement of the mounting seat 441 along the preset direction B. As shown in FIG.

The limiting structure 45 can limit the movement of the mounting seat 441 to prevent the moving range of the mounting seat 441 from being too large, thereby reducing the control accuracy of the robot 30 driving the radiator gripper 40 to tighten the screws 52 .

In this embodiment, the limiting structure 45 includes a protruding portion 451 , a first limiting portion 452 and a second limiting portion 453 . The protruding portion 451 is provided on the mounting seat 441 , and the first limiting portion 452 and the second limiting portion 453 are both provided on the base 41 . When the mounting seat 441 moves toward the direction close to the grab end 412 along the preset direction B, the protruding portion 451 can abut against the first limiting portion 452 . When the mounting seat 441 moves toward the direction close to the connecting end 411 along the preset direction B, the protruding portion 451 can abut against the second limiting portion 453 .

The mounting seat 441 is provided with a protruding portion 451 , and the base 41 is provided with a first limiting portion 452 and a second limiting portion 453 . When the mounting seat 441 moves toward the direction close to the grab end 412 along the preset direction B, the protruding portion 451 can abut against the first limiting portion 452 . When moving in the direction, the protruding portion 451 can abut against the second limiting portion 453, thereby limiting the movement of the mounting seat 441. This structure is simple and easy to implement.

Wherein, the protruding portion 451 is a block-shaped structure, and in other embodiments, the protruding portion 451 may also be a column-shaped structure.

Optionally, rubber pads are provided on both the first limiting portion 452 and the second limiting portion 453. When the mounting seat 441 moves in a direction close to the grab end 412 along the preset direction B, the protruding portion 451 can interact with the gripping end 412. The rubber pads provided on the first limiting portion 452 are in contact. When the mounting seat 441 moves along the preset direction B toward the connection end 411 , the protruding portion 451 can contact the rubber provided on the second limiting portion 453 . Pad contact, through this structure, the limiting and buffering functions of the mounting seat 441 are realized.

The first limiting portion 452 includes a first support and a first screw. The first support is protruded on the base 41. The first support is provided with a through hole for the first screw to pass through. A nut is screwed through the through hole on the first support to fix the first screw on the first support. The second limiting portion 453 includes a second support and a second screw. The second support is protruded from the base 41. The second support is provided with a through hole for the second screw to pass through. The through holes on the two supports are screwed with nuts to fix the second screw rods on the second supports.

In other embodiments, the limiting structure 45 may also be other structures. For example, the first limiting portion 452 and the second limiting portion 453 are both disposed on the mounting seat 441 , and the protruding portion 451 is disposed on the base 41 . When the mounting seat 441 moves toward the direction close to the grab end 412 along the preset direction B, the second limiting portion 453 can abut against the protruding portion 451 . When the direction moves, the first limiting portion 452 can abut against the protruding portion 451 , thereby limiting the movement of the mounting seat 441 .

The first limiting portion 452 and the second limiting portion 453 may also be the two side walls of the U-shaped groove provided on the base 41 respectively, so that the protruding portion 451 provided on the mounting seat 441 can only be in the U-shaped groove. move in the groove, so as to limit the moving range of the mounting seat 441 .

In this embodiment, with continued reference to FIG. 4 , the tightening device 443 is an electric screwdriver. When assembling the radiator 51, the screw 52 is tightened by an electric screwdriver to fix the radiator 51 on the motherboard 50, the tightening process of the screw 52 can be precisely controlled and adjusted, and important process parameters are recorded to ensure the accuracy of the screw 52 tightening .

Further, the mounting seat 441 includes a moving seat 4411 and a connecting seat. The moving base 4411 is movably connected to the base 41 along the preset direction B, the connecting base is detachably connected to the moving base 4411, and the electric screwdriver is mounted on the connecting base. When the electric screwdriver is damaged or needs to be replaced, this simple structure facilitates the maintenance and replacement of the electric screwdriver.

The moving base 4411 is movably connected to the first guide rail 413 and the second guide rail 414 , and the moving base 4411 can move along the preset direction B on the first guide rail 413 and the second guide rail 414 .

Exemplarily, the moving base 4411 is a plate-like structure.

In this embodiment, the connecting seat and the moving seat 4411 are connected by bolts. There are various detachable connection methods between the connecting base and the moving base 4411 . For example, the connecting base can also be clamped to the moving base 4411 .

Further, the connection base includes a first base body 4412 and a second base body 4413 , and both the first base body 4412 and the second base body 4413 are detachably connected to the moving base 4411 . The electric screwdriver includes an electric screwdriver body 4431 and a vacuum suction pipe 4432 , and the vacuum suction pipe 4432 is connected to the output end of the electric screwdriver body 4431 . The first seat body 4412 is provided with a first hole for installing the vacuum suction pipe 4432 , and the second seat body 4413 is provided with a second hole for installing the electric screwdriver body 4431 .

In actual production, the electric screwdriver can absorb the screw 52 through the vacuum suction pipe 4432, and then tighten the screw 52, so as to realize the automatic feeding and tightening of the screw 52.

Exemplarily, the vacuum suction pipe 4432 is a rigid straight pipe, and its material can be copper, iron, aluminum, plastic, or the like.

Optionally, the first base body 4412 and the second base body 4413 are connected with the moving base 4411 by bolts. In other embodiments, the first base body 4412 and the second base body 4413 can also be clamped to the moving base 4411 .

In this embodiment, the vacuum suction pipe 4432 is rotatably mounted on the first hole of the first base body 4412 around its own axis, and the electric screwdriver body 4431 passes through and is clamped to the second hole of the second base body 4413, so as to connect the electric screwdriver to the second hole of the second base body 4413. The main body 4431 is mounted on the second base body 4413 .

The second seat body 4413 also has a non-slip washer, which is arranged between the electric screwdriver body 4431 and the hole wall of the second hole to prevent the electric screwdriver body 4431 from sliding relative to the second seat body 4413 in the second hole.

It should be noted that the first seat body 4412 and the second seat body 4413 can also be other structures. A first installation groove is provided on the first seat body 4412, and the vacuum suction pipe 4432 is rotatably installed in the first installation groove around its own axis. Inside, a second installation groove is provided on the second seat body 4413, and the electric screwdriver body 4431 is snapped into the second installation groove.

Optionally, as shown in FIG. 8 , the radiator feeding and assembling production line 100 further includes a transfer mechanism 60 . The transfer mechanism 60 includes a first frame 61, an executing device 62 and a grabbing device 63. The first frame 61 and the grabbing device 63 are connected through the executing device 62, and the executing device 62 is used to drive the grabbing device 63 to grab and place the radiator. 51 pallets, and transfer the pallets to the bins for pallets.

During the production process, a plurality of trays are placed in the material box at the position to be grasped 212, and the radiator 51 is placed on the tray. After the robot 30 drives the radiator gripper 40 to grab the radiator 51 from the tray, the The transfer mechanism 60 can transfer the empty trays to another bin placed on the lifting device 23 , so that the trays can be stacked in the bins, thereby increasing the conveying capacity of the bins and the storage capacity of the radiator 51 .

The first frame 61 serves to connect other components. In this embodiment, the first frame 61 is connected to the ground. In other embodiments, the first frame 61 may also be connected to the feeding mechanism 20 .

In this embodiment, the execution device 62 includes a first movable seat 621 , a first driving device 622 , a second movable seat 623 and a second driving device 624 . The first movable seat 621 is movably connected to the first frame 61 along the length direction of the first frame 61 , and the first driving device 622 is used to drive the first movable seat 621 to move along the length direction of the first frame 61 . The second movable seat 623 is movably connected to the first movable seat 621 along the vertical direction A, and the second driving device 624 is used to drive the second movable seat 623 to move along the vertical direction A. The grabbing device 63 is connected to the second movable seat 623 . Through this simple structure, the execution device 62 can drive the grabbing device 63 to grab the tray on which the radiator 51 is placed in the bin at the position to be grabbed 212 , and transfer the tray to another material placed on the lifting device 23 . inside the box.

Optionally, the first driving device 622 includes a first motor, a first rack 6221 and two first driving guide rails 6222 . The two first driving guide rails 6222 are arranged in parallel and spaced apart on the first frame 61 , and the first racks 6221 are disposed on the first frame 61 and are parallel to the first driving guide rails 6222 . The first movable seat 621 is connected to the first motor, and the gear on the output shaft of the first motor engages with the first rack 6221, thereby driving the first movable seat 621 on the first driving guide rail 6222 along the length direction of the first frame 61 move. In other embodiments, the first driving device 622 may also have other structures. For example, the first driving device 622 is an air cylinder, the cylinder body of the air cylinder is connected to the first frame 61 , the first movable seat 621 is movably connected to the first frame 61 along the length direction of the first frame 61 , and the output end of the air cylinder is connected to the first frame 61 movably. It is connected to the first movable seat 621 to drive the first movable seat 621 to move along the length direction of the first frame 61 .

Optionally, the second driving device 624 includes a second motor and a second driving guide rail 6241, the second driving guide rail 6241 is connected to the first movable seat 621, the second movable seat 623 is connected to the second motor, and the output shaft of the second motor is The gear meshes with the second rack provided on the second driving guide rail 6241, thereby driving the second movable seat 623 to move along the vertical direction A on the second driving guide rail 6241. In other embodiments, the second driving device 624 may also have other structures. For example, the second driving device 624 is an air cylinder, the cylinder body of the air cylinder is connected to the first movable seat 621, the second movable seat 623 is movably connected to the first movable seat 621 along the vertical direction A, and the output end of the air cylinder is connected to the second movable seat 621. The movable seat 623 drives the second movable seat 623 to move along the vertical direction A.

Exemplarily, the grasping device 63 is a pneumatic finger, and in other embodiments, the grasping device 63 can also be a suction cup, and the tray for placing the radiator 51 is sucked by the suction cup.

Optionally, as shown in FIG. 9 , the radiator feeding and assembling production line 100 further includes a pressing mechanism 70 , and the pressing mechanism 70 is used for pressing the radiator 51 on the motherboard 50 .

When assembling the radiator 51 , the robot 30 drives the radiator gripper 40 to install the radiator 51 on the motherboard 50 , and then presses the radiator 51 on the motherboard 50 by the pressing mechanism 70 , and finally passes the radiator gripper The screw tightening mechanism 44 on the 40 tightens the screws 52 to fix the radiator 51 to the main board 50, thereby realizing the assembly of the radiator 51. This simple structure prevents the radiator 51 from being fixed on the main board 50. Relative sliding occurs on the main board 50 , thereby causing the assembly failure of the heat sink 51 or reducing the assembly accuracy of the heat sink 51 .

In this embodiment, the pressing mechanism 70 includes a second frame 71 and a pressing device 72 , the pressing device 72 is connected to the second frame 71 , and the pressing device 72 can press the radiator 51 against the motherboard 50 .

The first frame 61 plays a role of connecting other components. In this embodiment, the first frame 61 is connected to the ground. In other embodiments, the first frame 61 may also be connected to the conveying line 10 .

Further, the pressing device 72 includes a third movable seat 721 , a third driving device 722 , a pressing member 723 and a second driving member 724 . The third movable seat 721 is movably connected to the second frame 71 along the length direction of the second frame 71 , and the third driving device 722 is used to drive the third movable seat 721 to move along the length direction of the second frame 71 . The pressing member 723 is movably connected to the third movable seat 721 along the vertical direction A, and the second driving member 724 is used to drive the pressing member 723 to move along the vertical direction A.

The third driving device 722 includes a third motor, a third rack 7221 and two third driving guide rails 7222 . The two third driving guide rails 7222 are arranged in parallel and spaced apart on the second frame 71 , and the third rack 7221 is disposed on the second frame 71 and is parallel to the third driving guide rail 7222 . The third movable seat 721 is connected to the third motor, and the gear on the output shaft of the third motor engages with the third rack 7221, thereby driving the third movable seat 721 on the third driving guide rail 7222 along the length of the second frame 71 move. In other embodiments, the third driving device 722 may also have other structures. For example, the third driving device 722 is an air cylinder, the cylinder body of the air cylinder is connected to the second frame 71 , the third movable seat 721 is movably connected to the second frame 71 along the length direction of the second frame 71 , and the output end of the air cylinder is connected to the second frame 71 . It is connected to the third movable seat 721 to drive the third movable seat 721 to move along the length direction of the second frame 71 .

Exemplarily, the pressing member 723 is a plate-like structure.

In this embodiment, the second driving member 724 is a cylinder, the cylinder body of the cylinder is fixedly connected to the third movable seat 721, the pressing member 723 is movably connected to the third movable seat 721 along the vertical direction A, and the output end of the cylinder is connected to the third movable seat 721. The pressing member 723 is connected so as to drive the pressing member 723 to move in the up-down direction A. In other embodiments, the second driving member 724 may also have other structures. For example, the second driving member 724 includes a motor and a rack, the motor is connected to the third movable seat 721, and the pressing member 723 is movable along the up-down direction A. On the third movable seat 721, the gear on the motor output shaft meshes with the rack on the pressing member 723, thereby driving the pressing member 723 to move in the up-down direction A.

Optionally, as shown in FIG. 1 , the radiator feeding and assembling production line 100 further includes a repair workbench 80 , and the repair workbench 80 can manually repair the unqualified radiator 51 .

Further, the radiator feeding and assembling production line 100 further includes a positioning member 90 . The positioning member 90 is arranged on the repair workbench 80 , and the positioning member 90 is used for positioning the radiator after the robot 30 grabs the radiator 51 at the position 212 to be grasped. 51.

Before the radiator 51 is assembled to the main board 50, the radiator 51 on the radiator gripper 40 is scanned and precisely positioned by the positioning member 90, so as to ensure the accuracy of the accessories, and in addition, the spatial position of the robot 30 is corrected, The accuracy of the spatial attitude of the robot 30 is improved, thereby improving the assembly qualification rate of the radiator 51 .

Exemplarily, the positioning member 90 is a charge coupled device.

The above are only preferred embodiments of the present application, and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (10)

1. A radiator gripper, characterized in that, the radiator gripper is used to install a radiator on a mainboard, the radiator is fixed to the motherboard by screws, and the radiator gripper comprises: a base, the base has opposite connecting ends and grabbing ends in a preset direction, and the connecting ends are used for connecting with the robot; a grabbing mechanism, the grabbing mechanism is connected to the grabbing end, and the grabbing mechanism is used for grabbing the radiator; a screw tightening mechanism, the screw tightening mechanism is connected to the base, and the screw tightening mechanism is used for tightening the screw to fix the heat sink to the motherboard; and A visual positioning device, the visual positioning device is connected to the base, the visual positioning device is used for acquiring a position signal of the radiator, and the robot responds to the position signal. 2. The radiator gripper according to claim 1, wherein the screw tightening mechanism comprises a mounting seat, a driving device and a tightening device; The mounting seat is movably connected to the base, and the driving device is used to drive the mounting seat to move along the preset direction; The tightening device is mounted on the mounting seat. 3. The radiator gripper according to claim 2, wherein the radiator gripper further comprises a limiting structure; The limiting structure is used to limit the moving range of the mounting seat along the preset direction. 4. The radiator gripper according to claim 3, wherein the limiting structure comprises a protruding portion, a first limiting portion and a second limiting portion; the protruding part is arranged on the mounting seat; The first limiting portion and the second limiting portion are both disposed on the base; When the mounting seat moves toward the grasping end along the preset direction, the protruding portion can abut against the first limiting portion; When the mounting seat moves toward the connection end along the preset direction, the protruding portion can abut against the second limiting portion. 5. The radiator gripper according to claim 2, wherein the tightening device is an electric screwdriver. 6. The radiator gripper according to claim 5, wherein the mounting seat comprises a moving seat and a connecting seat; the movable base is movably connected to the base along the preset direction; The connecting base is detachably connected to the moving base, and the electric screwdriver is mounted on the connecting base. 7. The radiator gripper according to claim 6, wherein the connecting seat comprises a first seat body and a second seat body; The first base body and the second base body can be detachably connected to the moving base; The electric screwdriver includes an electric screwdriver body and a vacuum suction pipe, and the vacuum suction pipe is connected to the output end of the electric screwdriver body; The first seat body is provided with a first channel for installing the vacuum suction pipe; The second seat body is provided with a second hole for installing the electric screwdriver body. 8. A radiator feeding and assembling production line, characterized in that, comprising: a conveying line for conveying the main board to the assembly position; a feeding mechanism, which is used to transport the radiator to the position to be grasped; The radiator gripper of any of claims 1-7; and a robot, the output end of the robot is connected to the connection end, the robot is used to drive the radiator gripper to grab the radiator at the to-be-grip position, and move the radiator to the The assembly position is assembled with the main board. 9. The radiator feeding and assembling production line according to claim 8, wherein the radiator feeding and assembling production line further comprises a transfer mechanism; The transfer mechanism includes a first frame, an executing device and a grabbing device, the first frame and the grabbing device are connected through the execution device, and the execution device is used to drive the grabbing device to grab A tray of the radiator is placed, and the tray is transferred into a bin for holding the tray. 10. The radiator feeding and assembling production line according to claim 8, wherein the radiator feeding and assembling production line further comprises a pressing mechanism; The pressing mechanism is used for pressing the heat sink on the main board.

Images