CN213730285U

CN213730285U - Robot online equipment for fan parts

Info

Publication number: CN213730285U
Application number: CN202022106841.4U
Authority: CN
Inventors: 欧阳绍云
Original assignee: Shenzhen Singsun Electronic Science & Technology Co ltd
Current assignee: Shenzhen Singsun Electronic Science & Technology Co ltd
Priority date: 2020-09-23
Filing date: 2020-09-23
Publication date: 2021-07-20
Anticipated expiration: 2030-09-23

Abstract

The utility model discloses a fan part robot on-line equipment, including the transfer chain, the technology board has been placed to the transfer chain upper surface, the fan unit has been placed to technology board upper surface, transfer chain body one end is fixed with the RFID and reads the ware, fan part material detection on-line device is installed to transfer chain one side, fan part material detection on-line device one end is installed and is had positioning function's four-jaw anchor clamps, the utility model discloses an industrial robot, visual identification system realize that the automatic identification of fan subassembly presss from both sides to embrace and goes up the line, replace workman's transport, avoid taking place fan specification nonconformity, damage unfavorable phenomena such as fan subassembly among the manual handling operation process, improvement production efficiency and assembly precision that moreover can be great, and four-jaw anchor clamps can adapt to different specification fan subassemblies, and adaptability is better.

Description

Robot online equipment for fan parts

Technical Field

The utility model relates to an air conditioner trade equipment assembly technical field specifically is a fan part robot line feeding equipment.

Background

With the development of science and technology, the living standard of people is improved, the popularization of household appliances such as air conditioners and the like is gradually becoming a necessity in life, and the mass production of the air conditioners is promoted in turn. In the past, fan components are all conveyed on line manually, but the manual conveying operation is easy to cause human adverse phenomena such as the deviation of the specification of the fan components and the model of a fan unit, damage to fan components in the conveying process and the like, the labor intensity of workers is high, and more importantly, the production efficiency is low and the requirement of mass production cannot be met. With the development of automation technology, the robot for enterprises to replace manpower is also suitable for the development of times, and the necessary requirement for improving the production efficiency is met.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a fan part robot line loading equipment to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a fan part robot on-line equipment, includes the transfer chain, technology board has been placed to the transfer chain upper surface, fan unit has been placed to technology board upper surface, transfer chain body one end is fixed with the RFID and reads the ware, fan part material detects the on-line device is installed to transfer chain one side, four-jaw anchor clamps that have the locate function are installed to fan part material detects on-line device one end.

Preferably, the fan part material detection online device comprises a robot seat frame, an industrial robot, a fan part tooling vehicle and a fan assembly, the robot seat frame is installed on one side of the conveying line body, the industrial robot is fixed to the top of the robot seat frame, one end of the industrial robot is fixedly connected with the four-jaw clamp, the fan part tooling vehicles are symmetrically arranged on two sides of the robot seat frame, and the fan assembly is placed on the upper surface of the fan part tooling vehicle.

Preferably, the four-jaw clamp comprises a mounting plate, a profile frame, a first linear slide rail, a mounting frame, a double-reverse ball screw, a screw driving motor, a rack, a gear driving motor, a driving gear, a clamping plate and a CCD industrial camera, wherein the mounting plate is fixed at one end of the industrial robot, the profile frame is fixed at the bottom of the mounting plate, the mounting frame is symmetrically and slidably connected to the inner wall of the profile frame through the first linear slide rail, the double-reverse ball screw is mounted inside the mounting frame, the screw driving motor is fixed at one end of the mounting frame, the output end of the screw driving motor is fixedly connected with the double-reverse ball screw, the rack is symmetrically fixed on the inner wall of the mounting plate, the gear driving motor is fixed in the middle of the mounting frame, the driving gear is fixed at the output end of the gear driving motor and is meshed with the rack, the clamping plate is fixed at both output ends of the double-reverse ball screw, and a CCD industrial camera is fixed in the middle of the section bar frame.

Preferably, the two sides of the fan component tooling vehicle are symmetrically provided with tooling vehicle positioning devices.

Preferably, the screw driving motor and the gear driving motor are both speed reducing motors.

Preferably, one side of the holding clamp plate is connected with the inner wall of the profile frame in a sliding mode through a second linear sliding rail.

Compared with the prior art, the beneficial effects of the utility model are that:

the utility model discloses an industrial robot, visual identification system realize that the automatic identification of fan subassembly presss from both sides to embrace to go up the line, replace workman's transport, take place in the manual handling operation process that the fan specification is inconsistent, damage bad phenomena such as fan subassembly, improvement production efficiency and assembly accuracy that moreover can be great, and four-jaw anchor clamps can adapt to different specification fan subassemblies, and adaptability is better.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic structural view of a material detection and feeding device of a fan component of the present invention;

FIG. 3 is a schematic view of the structure of the four-jaw clamp of the present invention;

fig. 4 is a schematic view of the bottom structure of the four-jaw clamp of the present invention.

In the figure: 1. a conveying line; 2. a process plate; 3. a fan unit; 4. an RFID reader; 5. a fan component material detection line feeding device; 51. a robot mount; 52. an industrial robot; 53. a fan component tooling vehicle; 54. a fan assembly; 6. a four-jaw clamp; 61. mounting a plate; 62. a profile frame; 63. a first linear slide rail; 64. a mounting frame; 65. a double-reverse ball screw; 66. a lead screw drive motor; 67. a rack; 68. a gear drive motor; 69. a drive gear; 610. clamping the clamping plate; 611. a CCD industrial camera; 7. a tooling vehicle positioning device; 8. and the second linear slide rail.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1, the robot threading equipment for the fan component in the figure comprises a conveying line 1, wherein a process plate 2 is placed on the upper surface of the conveying line 1, a fan unit 3 is placed on the upper surface of the process plate 2, an RFID reader 4 is fixed at one end of the conveying line 1, a fan component material detection threading device 5 is installed at one side of the conveying line 1, and a four-claw clamp 6 with a positioning function is installed at one end of the fan component material detection threading device 5.

Referring to fig. 2, the fan component material detection loading device 5 comprises a robot seat frame 51, an industrial robot 52, a fan component tooling cart 53 and a fan assembly 54, the robot seat frame 51 is installed on one side of the conveyor line 1, the industrial robot 52 is fixed on the top of the robot seat frame 51, one end of the industrial robot 52 is fixedly connected with a four-jaw clamp 6, the fan component tooling carts 53 are symmetrically arranged on two sides of the robot seat frame 51, the fan assembly 54 is placed on the upper surface of the fan component tooling cart 53, the fan assembly 3 is placed on the process plate 2 and conveyed to a fan component loading station through the conveyor line 1, an RFID reader 4 on the conveyor line 1 reads RFID tag information on the process plate 2 at a station before the fan component loading station, and the RFID information system sends specification information of the fan assembly 54 required by the fan assembly 3 to an equipment control system, the fan unit 3 reaches a fan component on-line station along with the conveying line 1, when an in-place sensor senses that the fan unit 3 is in place, the conveying line 1 stops running and sends a unit in-place signal to an equipment control system, the equipment control system controls the industrial robot 52 to drive a four-claw clamp 6 universal for a fan to move to the position above the fan unit 3 after receiving the unit in-place signal, a CCD industrial camera 611 on the four-claw clamp 6 carries out photographing and positioning on a boundary cross beam of the fan unit 3, three-dimensional coordinate (X, Y, Z) position information of the fan unit 3 is marked to provide coordinate information for the on-line of a subsequent fan component 54, the fan component 54 is placed in a material area of the fan component tooling cart 53, the position below the fan component tooling cart 53 is limited by a tooling cart positioning device 7, after the photographing and positioning of the fan unit 3 is completed, the equipment control system controls the industrial robot 52 to convey the four-claw clamp 6 to the position above the material area of the fan component tooling cart 53, the CCD industrial camera 611 shoots to judge whether the material area is empty or not, if the material area is not empty, the specification information of the fan assembly 54 is detected to be matched, the outlet directions of the ground wire and the motor wire of the fan assembly 54 are identified after the matching is qualified, the assembling directivity of the fan assembly 54 is determined, meanwhile, the grabbing position is identified and the grabbing action is automatically executed, the four-claw clamp 6 grabs the fan assembly 54 and lifts the fan assembly 54 to be right above the assembly line of the online station of the fan unit 3, then the fan assembly 54 is vertically and downwards placed to the position, and the online of the fan assembly 54 is completed.

Referring to fig. 3 and 4, the four-jaw clamp 6 includes a mounting plate 61, a profile frame 62, a first linear sliding rail 63, a mounting frame 64, a double-reverse ball screw 65, a screw driving motor 66, a rack 67, a gear driving motor 68, a driving gear 69, a clamping clamp 610 and a CCD industrial camera 611, the mounting plate 61 is fixed at one end of the industrial robot 52, the profile frame 62 is fixed at the bottom of the mounting plate 61, the mounting frame 64 is symmetrically and slidably connected to the inner wall of the profile frame 62 through the first linear sliding rail 63, the double-reverse ball screw 65 is installed inside the mounting frame 64, the screw driving motor 66 is fixed at one end of the mounting frame 64, the output end of the screw driving motor 66 is fixedly connected to the double-reverse ball screw 65, the rack 67 is symmetrically fixed to the inner wall of the mounting plate 61, the gear driving motor 68 is fixed at the middle part of the mounting frame 64, the screw driving motor 66 and the gear driving motor 68 are both speed reducing motors, the output end of the gear driving motor 68 is fixed with a driving gear 69, the driving gear 69 is meshed with the rack 67, the two output ends of the double-reverse ball screw 65 are both fixed with holding clamp plates 610, one side of each holding clamp plate 610 is connected with the inner wall of the section frame 62 in a sliding manner through a second linear slide rail 8, the middle part of the section frame 62 is fixed with a CCD industrial camera 611, the four-jaw clamp 6 is fixedly connected with the industrial robot 52 through a mounting plate 61, all the components on the clamp are connected onto the section frame 62 to form a whole, the holding clamp plates 610 are mounted on screw nuts at the two ends of the double-reverse ball screw 65, and under the driving of the screw driving motor 66, the single-side holding clamp plate 610 reversely moves along the width direction of the section frame 62 to adjust the distance between the two holding clamp plates 610 at the single side, rack 67 is fixed in on the section bar frame 62, and both sides gear drive motor 68 rotates through driving drive gear 69 for drive gear 69 is the transmission on rack 67, drives two mounting bracket 64 section bar frame 62 length direction reverse movement, embraces the splint 610 interval size in order to adjust both sides, and applicable embraces in different specification fan subassembly 54 and presss from both sides the operation, and anchor clamps section bar frame 62 center installation CCD industry camera 611 for the visual inspection system.

Referring to fig. 2, tooling cart positioning devices 7 are symmetrically arranged on two sides of the fan component tooling cart 53, so as to facilitate positioning of the fan component tooling cart 53.

The working principle is as follows:

the fan unit 3 is placed on the process plate 2 and conveyed to a fan component on-line station through the conveying line 1, an RFID reader 4 on the conveying line 1 reads RFID label information on the process plate 2 at the station before the fan component is on-line, an RFID information system sends specification information of a fan component 54 required by the fan unit 3 to an equipment control system, the fan unit 3 reaches the fan component on-line station along with the conveying line 1, when an in-place sensor senses that the fan unit 3 is in place, the conveying line 1 stops running and sends a unit in-place signal to the equipment control system, the equipment control system controls the industrial robot 52 to drive a four-jaw clamp 6 universal for the fan to move to the upper part of the fan unit 3 after receiving the unit in-place signal, a CCD industrial camera 611 on the four-jaw clamp 6 shoots and positions a boundary cross beam of the fan unit 3, and marks a three-dimensional coordinate (X), y, Z) position information, providing coordinate information for online subsequent fan assemblies 54, placing the fan assemblies 54 in a material area of a fan component tooling vehicle 53, limiting the position of the lower part of the fan component tooling vehicle 53 by a tooling vehicle positioning device 7, after the photographing and positioning of the fan assembly 3 are completed, controlling an industrial robot 52 by an equipment control system to convey four-jaw clamps 6 to the upper part of the material area of the fan component tooling vehicle 53, photographing by a CCD industrial camera 611 to judge whether the material area is empty, detecting specification information of the fan assemblies 54 to match if the material is not empty, identifying the wire outgoing directions of the ground wires and the motor wires of the fan assemblies 54 after the matching is qualified, determining the assembling directionality of the fan assemblies 54, identifying the grabbing positions and automatically executing grabbing actions, grabbing the fan assemblies 54 by the four-jaw clamps 6 to be lifted to the upper part of the online station production line of the fan assembly 3, then vertically placing the fan assemblies 54 downwards to the positions, the fan assembly 54 is completed on line, when the fan assembly 54 is clamped by the four-jaw clamp 6, the four-jaw clamp 6 is fixedly connected with the industrial robot 52 through the mounting plate 61, all components on the clamp are connected on the section frame 62 to form a whole, the clamping clamp 610 is arranged on the screw nuts at two ends of the double-reverse ball screw 65, under the drive of the screw drive motor 66, the single-side clamping clamp 610 reversely moves along the width direction of the section frame 62 to adjust the distance between the two clamping clamps 610 at one side, the rack 67 is fixed on the section frame 62, the two-side gear drive motor 68 drives the drive gear 69 to rotate, so that the drive gear 69 is driven on the rack 67 to drive the two section frames 62 of the mounting frame 64 to reversely move along the length direction, so as to adjust the distance between the clamping clamps 610 at two sides, and is suitable for the clamping operation of the fan assemblies 54 with different specifications, the CCD industrial camera 611 is arranged at the center of the section frame 62 of the clamp, for use in a visual inspection system.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a fan part robot equipment of getting on line, includes transfer chain (1), its characterized in that: technology board (2) have been placed to transfer chain (1) upper surface, fan unit (3) have been placed to technology board (2) upper surface, transfer chain (1) body one end is fixed with RFID and reads ware (4), fan part material detects on-line device (5) is installed to transfer chain (1) one side, four-jaw anchor clamps (6) that have locate function are installed to fan part material detects on-line device (5) one end.

2. The blower component robot threading device of claim 1, wherein: fan part material detects on-line device (5) includes robot seat frame (51), industrial robot (52), fan part frock car (53) and fan subassembly (54), robot seat frame (51) are installed to transfer chain (1) body one side, robot seat frame (51) top is fixed with industrial robot (52), and industrial robot (52) one end and four-jaw anchor clamps (6) fixed connection, robot seat frame (51) bilateral symmetry is equipped with fan part frock car (53), fan subassembly (54) have been placed to fan part frock car (53) upper surface.

3. The blower component robot threading device of claim 2, wherein: the four-jaw clamp (6) comprises a mounting plate (61), a profile frame (62), a first linear sliding rail (63), a mounting frame (64), a double-reverse ball screw (65), a screw driving motor (66), a rack (67), a gear driving motor (68), a driving gear (69), a clamping clamp plate (610) and a CCD industrial camera (611), wherein the mounting plate (61) is fixed at one end of the industrial robot (52), the profile frame (62) is fixed at the bottom of the mounting plate (61), the mounting frame (64) is symmetrically and slidably connected to the inner wall of the profile frame (62) through the first linear sliding rail (63), the double-reverse ball screw (65) is installed inside the mounting frame (64), the screw driving motor (66) is fixed at one end of the mounting frame (64), and the output end of the screw driving motor (66) is fixedly connected with the double-reverse ball screw (65), mounting panel (61) inner wall symmetry is fixed with rack (67), mounting bracket (64) middle part is fixed with gear drive motor (68), the output of gear drive motor (68) is fixed with drive gear (69), and drive gear (69) are connected with rack (67) meshing, two outputs of two reverse ball screw (65) all are fixed with and embrace clamp plate (610), section bar frame (62) middle part is fixed with CCD industry camera (611).

4. The blower component robot threading device of claim 2, wherein: and tool car positioning devices (7) are symmetrically arranged on two sides of the fan component tool car (53).

5. The blower component robot threading device of claim 3, wherein: the screw driving motor (66) and the gear driving motor (68) are both speed reducing motors.

6. The blower component robot threading device of claim 3, wherein: one side of the clamping holding clamp plate (610) is connected with the inner wall of the profile frame (62) in a sliding mode through a second linear sliding rail (8).