CN111086886B - Air conditioner outdoor unit top cover application robot automated palletizing unit - Google Patents
Air conditioner outdoor unit top cover application robot automated palletizing unitInfo
- Publication number
- CN111086886B CN111086886B CN201911396095.2A CN201911396095A CN111086886B CN 111086886 B CN111086886 B CN 111086886B CN 201911396095 A CN201911396095 A CN 201911396095A CN 111086886 B CN111086886 B CN 111086886B
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- Prior art keywords
- top cover
- air conditioner
- assembly
- guide
- cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
本发明公开一种空调外机顶盖应用机器人自动化码垛单元，包括皮带输送线组件、导向平台装置、升降传动装置、气动滑台装置、机器人及抓手装置和工装料笼定位装置，皮带输送线组件置于地面之上，导向平台装置置于地面之上并靠近皮带输送线组件的输出端，升降传动装置置于地面之上并位于导向平台装置的正下方，气动滑台装置置于地面之上并位于升降传动装置的正下方，机器人及抓手装置置于地面之上，一次抓取位于抓取工位上的堆放的顶盖垛；工装料笼定位装置放在机器人及抓手装置周围的地面之上，收集顶盖垛。优点，本码垛单元，能够自动完成顶盖搬运，适应多种尺寸的顶盖产品，降低工人的劳动强度，在保证生产顶盖综合性能的同时提高生产效率。
The present invention discloses an automatic stacking unit for top covers of air conditioner outdoor units using a robot, comprising a belt conveyor line assembly, a guide platform device, a lifting transmission device, a pneumatic slide device, a robot and a gripper device, and a tooling material cage positioning device. The belt conveyor line assembly is placed on the ground, the guide platform device is placed on the ground and close to the output end of the belt conveyor line assembly, the lifting transmission device is placed on the ground and directly below the guide platform device, the pneumatic slide device is placed on the ground and directly below the lifting transmission device, the robot and the gripper device are placed on the ground to grab the stacks of top covers at a grabbing station at one time; the tooling material cage positioning device is placed on the ground around the robot and the gripper device to collect the top cover stacks. Advantages: This stacking unit can automatically complete the handling of top covers, adapt to top cover products of various sizes, reduce the labor intensity of workers, and improve production efficiency while ensuring the comprehensive performance of the produced top covers.
Description
Technical Field
The invention relates to an automatic stacking unit for an air conditioner outer machine top cover by using a robot, and belongs to the technical field of air conditioner outer machine top cover wire tail stacking.
Background
Along with the accelerated development of the air conditioner industry, the automation level of the production of the whole air conditioner accessories is higher and higher, the stamping of the top cover of the air conditioner external unit is realized by combining a three-dimensional mechanical arm with a press machine, the multi-station stamping is high in production efficiency, but the stacking of the top cover wire tail is realized by adopting manual stacking and automatic temporary vacancy in the air conditioner industry in China at present, so that the stacking of the top cover wire tail at least adopts 4 staff to work on line for 24 hours in turn, the labor intensity of manual operation is high, and the efficiency is low.
Disclosure of Invention
Aiming at the background technology, the invention provides an air conditioner external unit top cover application robot automatic stacking, which has high production efficiency, reduces production cost, can be compatible with the production of large and small top covers, and can relieve workers from heavy physical labor.
An automatic stacking unit of an air conditioner external unit top cover application robot comprises a belt conveying line assembly, a guide platform device, a lifting transmission device, a pneumatic sliding table device, a robot, a gripper device and a tool material cage positioning device, wherein the belt conveying line assembly is arranged on the ground and used for conveying the air conditioner external unit top cover; the device comprises a guide platform device, a lifting transmission device, a pneumatic sliding table device, a robot, a gripper device, a tool material cage positioning device, a gripping station, a tool material cage positioning device and a lifting device, wherein the guide platform device is arranged on the ground and is close to the output end of a belt conveyor line assembly and is used for guiding an air conditioner outer machine top cover to enter the lifting transmission device;
The guide platform device comprises a platform frame, a first guide adjusting device and a guide positioning device, wherein the platform frame is arranged on the ground, the first guide adjusting device is arranged on the platform frame to guide the top cover of the air conditioner external unit to move along the horizontal direction, the guide positioning device is arranged at the outlet end of the platform frame to guide the top cover of the air conditioner external unit to drop onto the lifting transmission device along the vertical direction;
The lifting transmission device comprises a main frame, a first servo motor, a first synchronous belt assembly, a first screw rod assembly and a lifting bracket, wherein the main frame is arranged on the ground, the lifting bracket is connected with the first screw rod assembly, and the first servo motor and the first synchronous belt assembly are matched with the first screw rod assembly to drive the lifting bracket to vertically stretch and retract so as to receive an air conditioner external unit top cover falling down from the guide platform device;
The pneumatic sliding table device comprises a first air cylinder, an adjustable guide rod device and a sliding table frame assembly, the sliding table frame assembly is arranged on the ground, the first air cylinder is horizontally arranged on the sliding table frame assembly, the adjustable guide rod device is arranged on the sliding table frame assembly in a sliding manner and connected with the first air cylinder, and the adjustable guide rod device is positioned under the lifting transmission device;
The robot and the gripper device comprise a six-axis robot and a gripper device which is arranged at the tail end of an actuator of the six-axis robot and used for grabbing the top cover stack at one time.
The automatic stacking unit of the air conditioner external unit top cover is capable of automatically completing top cover carrying, adapting to top cover products with various sizes, reducing labor intensity of workers, guaranteeing comprehensive performance of top covers and improving production efficiency.
The belt conveyor line assembly comprises a second guiding and adjusting device and a belt conveyor line, wherein the belt conveyor line is arranged on the ground, and the second guiding and adjusting device is arranged on a rack of the belt conveyor line and used for guiding the top cover of the air conditioner external unit to move along the horizontal direction;
The second guide adjusting device comprises two guide adjusting units symmetrically arranged on the frame of the belt conveying line, wherein each guide adjusting unit comprises a guide bracket, at least two adjusting slide bars and a sliding sleeve which is arranged corresponding to the adjusting slide bars, the sliding sleeve is fixed on the frame of the belt conveying line, the adjusting slide bars are inserted into the sliding sleeve in a sliding manner, and the sliding direction of the adjusting slide bars is vertical to the moving direction of the top cover of the air conditioner external unit;
A compression screw for fixing the sliding sleeve on the adjusting slide rod is vertically arranged on the sliding sleeve, the compression screw is in threaded connection with the sliding sleeve, and the tail end of the compression screw penetrates through the sliding sleeve to prop against the adjusting slide rod;
The first guiding adjusting device and the second guiding adjusting device have the same structure, and two guiding adjusting units in the first guiding adjusting device are symmetrically arranged on two side edges of the platform frame.
In the technical scheme of the invention, the guide bracket in the second guide adjusting device is made of angle steel and comprises an inclined guide section and a linear guide section, wherein the inclined guide section is positioned at the input port end of the belt conveying line and guides the top cover of the air conditioner external unit to enter the linear guide section of the guide bracket;
The guide bracket in the first guide adjusting device is a straight plate.
The guide positioning device comprises two guide positioning units symmetrically arranged on two side edges of the outlet end of the platform frame, the guide positioning units comprise a first vertical baffle and a second vertical baffle, the first vertical baffle is fixed with the side edge of the outlet end of the platform frame, the working face of the first vertical baffle is coplanar with the working face of the guide bracket, the second vertical baffle is connected with the first vertical baffle, the working face of the second vertical baffle is perpendicular to the working face of the first vertical baffle, an air conditioner external unit top cover sliding off the platform frame falls into a guide bin formed by the guide positioning devices, and falls into the lifting transmission device after being guided.
According to the technical scheme, the guide platform device further comprises a blocking device, wherein the blocking device is arranged at the inlet end of the platform frame and used for blocking or releasing the top cover of the air conditioner external unit conveyed by the belt conveying line assembly;
the blocking device comprises a transverse plate, at least two second air cylinders, guide sleeves with the same number as the second air cylinders and blocking pins with the same number as the second air cylinders, wherein two ends of the transverse plate are respectively arranged on two side edges of the platform frame, the second air cylinders are vertically arranged,
The cylinder body of the second cylinder is connected with the back surface of the transverse plate, a piston rod of the second cylinder is vertically upwards arranged and extends out through the transverse plate, the guide sleeve is vertically arranged on the front surface of the transverse plate, the piston rod of the second cylinder penetrates through the guide sleeve, and the stop pin sleeve is arranged on the piston rod of the second cylinder.
The technical proposal of the invention is preferable, the gripper device comprises a gripper main frame, a second servo motor, a second synchronous belt component, a second screw rod component and two cylinder clamping units, the gripper main frame is connected with an end effector of the six-axis robot, the second servo motor, the second synchronous belt component and the second screw rod component are all arranged on the gripper main frame, the two cylinder clamping units are symmetrically arranged, the top cover stacks are filled in and clamped between the two cylinder clamping units, and the two cylinder clamping units adjust positions under the action of the second servo motor, the second synchronous belt assembly and the second screw rod assembly to adapt to the top covers of the air conditioner external units with different sizes;
The second screw rod assembly comprises a bidirectional screw rod, a left-handed nut and a right-handed nut, wherein the left-handed nut and the right-handed nut are respectively in threaded connection with two sections of positive and negative threads of the bidirectional screw rod, and two ends of the bidirectional screw rod are rotatably arranged on the main frame of the gripper through bearing seats;
The two cylinder clamping units comprise a mounting plate, a third cylinder and two vertical clamping rods, wherein the third cylinder is arranged on the mounting plate, and the two vertical clamping rods are arranged at the end part of a piston rod of the third cylinder at intervals through a connecting plate;
The mounting plate in one cylinder clamping unit is connected with the left-handed nut on the second screw rod assembly, and the mounting plate in the other cylinder clamping unit is connected with the right-handed nut on the second screw rod assembly.
In the technical scheme of the invention, the first synchronous belt assembly and the second synchronous belt assembly comprise synchronous belts, a driving belt pulley and a driven belt pulley, and the synchronous belts are wound on the driving belt pulley and the driven belt pulley;
The driving belt pulley key in the second synchronous belt assembly is connected to the motor shaft of the second servo motor, the second servo motor is fixed on the main frame of the gripper, and the driven belt pulley key in the second synchronous belt assembly is connected to one end part of the bidirectional screw rod in the second screw rod assembly;
The driving belt pulley key in the first synchronous belt assembly is connected to the motor shaft of the first servo motor, the first servo motor is fixed on the main frame, and the driven belt pulley key in the first synchronous belt assembly is connected to the first screw rod assembly;
the first screw rod assembly comprises a screw rod, a ball nut, a left screw rod support and a right screw rod support, wherein the ball nut is sleeved on the screw rod, a deep groove ball bearing is sleeved at the left end of the screw rod and limited at the left end of the screw rod through a shaft end retainer ring, the deep groove ball bearing is arranged in the left screw rod support, the left screw rod support is arranged on a main frame, the right end of the screw rod is sleeved with an angular contact ball bearing, the angular contact ball bearing is arranged in the right screw rod support, the right end of the screw rod extends out of the right screw rod support, the right screw rod support is arranged on the main frame, one end of the angular contact ball bearing is limited by an inner ring and an outer ring through a shaft end retainer ring and the right screw rod support, and the other end of the angular contact ball bearing is limited by an outer ring and an inner ring through a pressing plate and a round nut.
The adjustable guide rod device comprises a bottom plate, a plurality of guide rod supports and a plurality of PE high-density boards, wherein the guide rod supports are vertically arranged on the bottom plate and move along a chute on the bottom plate, the guide rod supports enclose a surrounding frame capable of accommodating a top cover of an air conditioner external unit, and the PE high-density boards are arranged on the bottom plate in the surrounding frame in parallel and used for bearing the top cover of the air conditioner external unit.
According to the technical scheme, the sliding table frame assembly comprises a base, two linear guide rails, a first cylinder mounting seat, a proximity switch support and four hydraulic buffers, wherein the base is arranged on the ground through a plurality of feet arranged at the edge, the two linear guide rails are arranged on two sides of the base along the length direction of the base, a plurality of sliding blocks are arranged on the two linear guide rails in a matched mode, the sliding blocks are connected with the back face of a bottom plate, the first cylinder mounting seat is arranged on the base and is positioned between the two linear guide rails, a piston rod of the first cylinder mounting seat is connected with the back face of the bottom plate, the four hydraulic buffers are arranged in a group of two pairs, the two hydraulic buffers in the group are respectively arranged at two ends of the edge of the base in the length direction and used for buffering and decelerating to stop after the bottom plate moves to the position, and the proximity switch support is arranged on the edge of the outlet end of the base and defines the end as a grabbing station.
According to the technical scheme, the automatic stacking unit for the top cover of the air conditioner external unit by using the robot further comprises an abnormal conveying line, the abnormal conveying line is arranged on the ground and is arranged above the pneumatic sliding table device in a crossing mode, the abnormal conveying line is arranged below the lifting transmission device, the conveying direction of the abnormal conveying line is perpendicular to the conveying direction of the belt conveying line assembly, and the abnormal conveying line is a belt conveying line. And when any one or more of the lifting transmission device, the pneumatic sliding table device, the robot and the gripper device fail, the abnormal conveying line changes the conveying direction of the top cover, so that the manual stacking function is realized.
Compared with the prior art, the invention has the beneficial effects that:
The automatic stacking unit of the air conditioner external unit top cover is capable of automatically completing top cover carrying, adapting to top cover products with various sizes, reducing labor intensity of workers, guaranteeing comprehensive performance of top covers and improving production efficiency.
Drawings
Fig. 1 is a general diagram of embodiment 1.
Fig. 2 is a schematic structural view of a belt conveyor line assembly.
Fig. 3 is a schematic structural view of the second guide adjusting device.
Fig. 4 is a schematic view of the structure of the guide platform device.
Fig. 5 is a schematic structural view of the blocking device.
Fig. 6 is a schematic structural view of the lifting transmission device.
Fig. 7 is a schematic structural view of a first timing belt assembly.
Fig. 8 is a schematic structural view of the first screw assembly.
Fig. 9 is a schematic structural view of the pneumatic slide table device.
Fig. 10 is a schematic structural view of an adjustable guide bar device.
Fig. 11 is a schematic structural view of the slipway housing assembly.
Fig. 12 is a schematic structural view of the robot and the gripper device.
Fig. 13 is a schematic structural view of the grip device.
Fig. 14 is a schematic structural view of the abnormal conveyance line.
Fig. 15 is a schematic structural view of the tooling cage positioning device.
Detailed Description
The technical scheme of the present invention is described in detail below, but the scope of the present invention is not limited to the embodiments.
In order to make the contents of the present invention more comprehensible, the present invention is further described with reference to fig. 1 to 15 and the detailed description below.
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Example 1
As shown in fig. 1, the automatic stacking unit for the air conditioner external machine top covers comprises a belt conveying line assembly 1, a guide platform device 2, a lifting transmission device 3, a pneumatic sliding table device 4, a robot and gripper device 5 and a tool material cage positioning device 6, wherein the belt conveying line assembly 1 is arranged above the ground and used for conveying the air conditioner external machine top covers, the guide platform device 2 is arranged above the ground and close to the output end of the belt conveying line assembly 1 and used for guiding the air conditioner external machine top covers to enter the lifting transmission device 3, the lifting transmission device 3 is arranged above the ground and is positioned right below the guide platform device 2, the lifting transmission device 3 receives the air conditioner external machine top covers falling from the guide platform device 2, the pneumatic sliding table device 4 is arranged above the ground and is positioned right below the lifting transmission device 3 and used for receiving a top cover stack formed by the air conditioner external machine top covers fed by the lifting transmission device 3 and sending the top cover stack to a grabbing station, the robot and the gripper device 5 is arranged above the ground, the robot and the gripper device 5 grabs the stacked top cover stack on the grabbing station once, the tool material cage positioning device 6 is arranged above the ground around the robot and the gripper device 5, and the top cover stack is collected.
As shown in fig. 2, the belt conveyor line assembly 1 includes a second guide adjusting device 8 and a belt conveyor line 9, the belt conveyor line 9 is disposed above the ground, and the second guide adjusting device 8 is disposed on a frame of the belt conveyor line 9 for guiding the top cover of the air conditioner to move in the horizontal direction.
The belt conveyor line 9 is an outsourcing piece.
As shown in fig. 3, the second guiding and adjusting device 8 comprises two guiding and adjusting units symmetrically arranged on the frame of the belt conveying line 9, the guiding and adjusting units comprise a guiding bracket 31, at least two adjusting slide bars 32 and a sliding sleeve corresponding to the adjusting slide bars 32, the sliding sleeve is fixed on the frame of the belt conveying line 9, the adjusting slide bars 32 are inserted into the sliding sleeve in a sliding manner, the sliding direction of the adjusting slide bars 32 is vertical to the moving direction of the top cover of the air conditioner, one end of the adjusting slide bars 32 is connected with the guiding bracket 31, the other end is a free end and is provided with a limiting plate, a pressing screw for fixing the sliding sleeve on the adjusting slide bars 32 is vertically arranged on the sliding sleeve, and the pressing screw is in threaded connection with the sliding sleeve, and the tail end penetrates through the sliding sleeve to abut against the adjusting slide bars 32.
As shown in fig. 3, the guide bracket 31 in the second guide adjusting device 8 is made of angle steel, and comprises an inclined guide section and a straight guide section, wherein the inclined guide section is positioned at the input end of the belt conveyor line 9 to guide the top cover of the air conditioner external unit into the straight guide section of the guide bracket 31.
In this embodiment, the two second guiding adjustment devices 8 are symmetrically used, so that the top cover can be guided and the gap between two ends during transmission can be reduced.
As shown in fig. 3, a scale 34 is attached to the adjustment slide 32, and the scale 34 is used to check the alignment.
As shown in fig. 4, the guiding platform device 2 comprises a platform frame 10, a first guiding and adjusting device 12 and a guiding and positioning device 13, wherein the platform frame 10 is arranged on the ground, the first guiding and adjusting device 12 is arranged on the platform frame 10 to guide the top cover of the air conditioner outdoor unit to move along the horizontal direction, the guiding and positioning device 13 is arranged at the outlet end of the platform frame 10 to guide the top cover of the air conditioner outdoor unit to drop down onto the lifting and driving device 3 along the vertical direction, the upper working surface of the platform frame 10 is an inclined surface, the top cover of the air conditioner outdoor unit fed by the belt conveyor line assembly 1 enters the inclined surface and enters the lifting and driving device 3 under the action of self weight, the high end of the inclined surface is the inlet end of the platform frame 10, and the low end of the inclined surface is the outlet end of the platform frame 10.
In the guiding platform device 2 of the embodiment, after the top cover of the air conditioner external unit moves on the belt line of the belt conveying line assembly 1 along the horizontal direction, the top cover slides into the guiding and positioning device 13 bin through the platform frame 10 due to dead weight.
As shown in fig. 4, the first guiding adjustment device 12 has the same structure as the second guiding adjustment device 8, and two guiding adjustment units in the first guiding adjustment device 12 are symmetrically installed on two side edges of the platform frame 10. The guide bracket 31 in the first guide adjusting device 12 is a straight plate.
As shown in fig. 4, the guiding and positioning device 13 comprises two guiding and positioning units symmetrically arranged on two sides of the outlet end of the platform frame 10, the guiding and positioning units comprise a first vertical baffle 131 and a second vertical baffle 132, the first vertical baffle 131 is fixed with the side of the outlet end of the platform frame 10, the working surface of the first vertical baffle 131 is coplanar with the working surface of the guiding bracket 31, the second vertical baffle 132 is connected with the first vertical baffle 131, the working surface of the second vertical baffle 132 is perpendicular to the working surface of the first vertical baffle 131, and the top cover of the air conditioner external unit sliding from the platform frame 10 falls into a guiding cabin formed by the guiding and positioning device 13 and falls into the lifting and driving device 3 after being guided.
As shown in fig. 4, the guiding platform device 2 further includes a blocking device 11, where the blocking device 11 is disposed at an inlet end of the platform frame 10 and is used for blocking or releasing the top cover of the air conditioner external unit conveyed by the belt conveyor line assembly 1.
As shown in fig. 5, the blocking device 11 includes a cross plate 36, at least two second cylinders 35, guide sleeves 37 equal to the second cylinders 35 in number, and blocking pins 38 equal to the second cylinders 35 in number, two ends of the cross plate 36 are respectively disposed on two sides of the platform frame 10, the second cylinders 35 are vertically disposed, a cylinder body of each second cylinder 35 is connected with a back surface of the cross plate 36, a piston rod of each second cylinder 35 is vertically disposed upwards and extends through the cross plate 36, the guide sleeves 37 are vertically disposed on a front surface of the cross plate 36, the piston rod of each second cylinder 35 penetrates through the guide sleeves 37, and the blocking pins 38 are sleeved on the piston rod of each second cylinder 35.
As shown in fig. 5, in this embodiment, the blocking device 11 includes two second cylinders 35, the two second cylinders 35 are driven synchronously, and piston rods of the two second cylinders 35 extend out to block the top cover of the air conditioner from being conveyed.
The guiding platform device 2 of the embodiment adopts the guiding adjustable device and the guiding positioning device, so that the guiding platform device can adapt to the top covers of the air conditioner external units with different sizes, the centers of the top covers of the air conditioner external units with different sizes are always overlapped, and the robot is convenient to grasp.
As shown in fig. 6, the lifting transmission device 3 comprises a main frame 18, a first servo motor 14, a first synchronous belt assembly 15, a first screw rod assembly 16 and a lifting bracket 17, wherein the main frame 18 is arranged on the ground, the lifting bracket 17 is connected with the first screw rod assembly 16, and the first servo motor 14 and the first synchronous belt assembly 15 cooperate with the first screw rod assembly 16 to drive the lifting bracket 17 to extend up and down so as to be used for receiving an air conditioner external unit top cover falling down from the guide platform device 2.
As shown in fig. 7, the first timing belt assembly 15 includes a timing belt 40, a driving pulley 39 and a driven pulley 61, the timing belt 40 is wound around the driving pulley 39 and the driven pulley 61, the driving pulley 39 in the first timing belt assembly 15 is keyed to the motor shaft of the first servomotor 14, the first servomotor 14 is fixed to the main frame 18, and the driven pulley 61 in the first timing belt assembly 15 is keyed to the first lead screw assembly 16.
As shown in fig. 8, the first screw assembly 16 includes a screw 41, a ball nut 42, a left screw support 43, and a right screw support 44, the ball nut 42 is sleeved on the screw 41, a deep groove ball bearing 48 is sleeved on the left end of the screw 41, the deep groove ball bearing 48 is limited on the left end of the screw 41 by a shaft end retainer ring 49, the deep groove ball bearing 48 is installed in the left screw support 43, the left screw support 43 is installed on the main frame 18, an angular ball bearing 46 is sleeved on the right end of the screw 41, the angular ball bearing 46 is installed in the right screw support 44, the right end of the screw 41 extends out of the right screw support 44, the right screw support 44 is installed on the main frame 18, one end of the angular ball bearing 46 limits the inner ring and the outer ring by a shaft end retainer ring 49 and the right screw support 44, and the other end of the angular ball bearing 46 limits the outer ring and the inner ring by a pressing plate 45 and a round nut 47.
The lifting transmission device 3 of the embodiment adopts a structure of a servo motor and screw rod transmission to realize the automatic material receiving function at different positions, thereby realizing the rapid material piling function.
As shown in fig. 9, the pneumatic sliding table device 4 includes a first cylinder 60, an adjustable guide rod device 19 and a sliding table frame assembly 20, the sliding table frame assembly 20 is placed on the ground, the first cylinder 60 is horizontally arranged on the sliding table frame assembly 20, the adjustable guide rod device 19 is slidably arranged on the sliding table frame assembly 20 and connected with the first cylinder 60, and the adjustable guide rod device 19 is located under the lifting transmission device 3.
As shown in fig. 10, the adjustable guide rod device 19 includes a bottom plate 50, a plurality of guide rod supports 51 and a plurality of PE high-density boards 52, wherein the plurality of guide rod supports 51 are vertically arranged on the bottom plate 50 and move along a chute on the bottom plate 50, the plurality of guide rod supports 51 enclose a frame capable of accommodating a top cover of an air conditioner external unit, and the plurality of PE high-density boards 52 are arranged on the bottom plate 50 in the frame in parallel and are used for carrying the top cover of the air conditioner external unit.
In this embodiment, the top cover of the air conditioner external unit slides into the lifting support 17 along the guiding and positioning device 13, the lifting support 17 descends by a certain height every time the top cover of the air conditioner external unit is lifted, after the top covers of the air conditioner external unit on the lifting support 17 are collected to a certain number to form a top cover stack (20 top covers of the air conditioner external unit), the lifting support 17 places the top cover stack on the plurality of PE high-density boards 52 in the enclosure frame.
As shown in FIG. 11, the slipway frame assembly 20 comprises a base 58, two linear guide rails 53, a first cylinder mounting seat 59, a proximity switch bracket 57 and four hydraulic buffers 56, wherein the base 58 is installed on the ground through a plurality of feet 54 installed at the edge, the two linear guide rails 53 are arranged on two sides of the base 58 along the length direction of the base 58, a plurality of sliding blocks are cooperatively arranged on the two linear guide rails 53 and are connected with the back surface of the bottom plate 50, the first cylinder mounting seat 59 is arranged on the base 58 and is positioned between the two linear guide rails 53, a first cylinder 60 is arranged on the first cylinder mounting seat 59, a piston rod of the first cylinder mounting seat 59 is connected with the back surface of the bottom plate 50, the four hydraulic buffers 56 are arranged in pairs, two hydraulic buffers 56 in a group are respectively installed on two ends of the edge of the base 58 in the length direction for buffering and decelerating to stopping after the bottom plate 50 moves to the position, and the proximity switch bracket 57 is installed on the edge of the outlet end of the base 58 and defines the end as a grabbing station.
In this embodiment, the sliding table frame assembly 20, the blocking mechanism 11 works to block the top cover of the air conditioner external unit conveyed by the belt conveying line assembly 1, and the first cylinder 60 acts to drag the bottom plate 50 to the grabbing station.
The pneumatic sliding table device 4 of the embodiment adopts a sliding table rack component and a blocking device which are pushed, so that a rapid material grabbing function is realized, and the incoming material problem is not influenced.
As shown in fig. 12, the robot and gripper 5 includes a six-axis robot 21 and a gripper 22 for gripping the roof stack at a time mounted at the end of the actuator of the six-axis robot 21.
As shown in fig. 12, the six-axis robot 21 is a known technology, and software components related to the six-axis robot 21 are also known technologies. The six-axis robot 21 is placed above the ground by a robot base 23.
As shown in fig. 13, the gripper device 22 includes a gripper main frame 28, a second servo motor 24, a second synchronous belt assembly 25, a second screw rod assembly 26 and two cylinder clamping units, the gripper main frame 28 is connected with an end effector of the six-axis robot 21, the second servo motor 24, the second synchronous belt assembly 25 and the second screw rod assembly 26 are all installed on the gripper main frame 28, the two cylinder clamping units are symmetrically arranged, a top cover stack is installed between the two cylinder clamping units and clamped, and the two cylinder clamping units are adjusted in position under the action of the second servo motor 24, the second synchronous belt assembly 25 and the second screw rod assembly 26 to adapt to the top covers of air conditioner external units with different sizes.
As shown in fig. 13, the second screw assembly 26 includes a bidirectional screw, a left-hand nut and a right-hand nut, which are respectively screwed on two sections of positive and negative threads of the bidirectional screw, and both ends of the bidirectional screw are rotatably disposed on the gripper main frame 28 through bearing seats, and the left-hand nut and the right-hand nut are respectively connected to two cylinder clamping units.
As shown in fig. 13, the two cylinder clamping units comprise a mounting plate, a third cylinder 27 and two vertical clamping rods 62, wherein the third cylinder 27 is arranged on the mounting plate, the two vertical clamping rods 62 are arranged at the end part of a piston rod of the third cylinder 27 at intervals through a connecting plate, the connecting plate is fixed with the end part of the piston rod of the third cylinder 27, a linear guide pair is arranged between the top of a cylinder body of the third cylinder 27 and the back of the main gripper frame 28, a linear guide of the linear guide pair is arranged on the back of the main gripper frame 28, and the top of the cylinder body of the third cylinder 27 is connected with a sliding block of the linear guide pair.
The mounting plate in one cylinder clamping unit is connected with the left-hand nut on the second screw rod assembly 26, and the mounting plate in the other cylinder clamping unit is connected with the right-hand nut on the second screw rod assembly 26.
As shown in fig. 7, the second synchronous belt assembly 25 comprises a synchronous belt 40, a driving pulley 39 and a driven pulley 61, wherein the synchronous belt 40 is wound on the driving pulley 39 and the driven pulley 61, the driving pulley 39 in the second synchronous belt assembly 25 is connected on a motor shaft of the second servo motor 24 in a key way, the second servo motor 24 is fixed on the main gripper frame 28, and the driven pulley 61 in the second synchronous belt assembly 25 is connected on one end part of a bidirectional screw rod in the second screw rod assembly 26 in a key way.
The robot and the gripper device 5 of the embodiment adopt the structures of a servo motor, a screw rod transmission, a clamping cylinder and the robot to realize automatic adjustment of products with different specifications and automatically clamp, grab and carry. The second screw assembly 26 is used for product adjustment of different specifications, and the clamping cylinder is used for clamping the product.
As shown in fig. 1 and 14, the robot automatic stacking unit for the top cover of the air conditioner external unit further comprises an abnormal conveying line 7, wherein the abnormal conveying line 7 is arranged above the ground and straddling the upper part of the pneumatic sliding table device 4, the abnormal conveying line 7 is positioned below the lifting transmission device 3, the conveying direction of the abnormal conveying line 7 is perpendicular to the conveying direction of the belt conveying line assembly 1, and the abnormal conveying line 7 is a belt conveying line. The abnormal conveying line is arranged, when any one or more of the lifting transmission device 3, the pneumatic sliding table device 4 and the robot and gripper device 5 fails, the abnormal conveying line 7 changes the conveying direction of the top cover, and the manual stacking function is realized.
As shown in fig. 15, the tooling cage positioning device 6 comprises a left side positioning bracket 63, a right side positioning bracket 29 and a plurality of tooling cages 30 respectively arranged in the left side positioning bracket 63 and the right side positioning bracket 29. The worker's loading cage 30 is placed in appointed left side locating support 63, right side locating support 29 through manual fork truck, fixes a position, accomplishes left side positioner 63 pile up neatly, carries out the pile up neatly in the right side positioner 29, reduces robot latency.
The working procedure of the automatic stacking unit of the air conditioner external unit top cover application robot of this embodiment is as follows:
1. The air conditioner outer machine top cover is placed in the belt conveyor line assembly 1 for conveying, conveyed along the second guide adjusting device 8, and conveyed along the first guide adjusting device 12, and slides into the bin of the guide positioning device 13 under the action of self weight, and falls to the lifting support 17 in the lifting transmission device 3, the lifting support 17 descends to a certain height every time the material is conveyed, the air conditioner outer machine top covers on the lifting support 17 are collected to a certain number, and after a top cover stack (20 air conditioner outer machine top covers) is formed, the lifting support 17 places the top cover stack on the PE high-density plates 52 in the surrounding frame.
2. The sliding table frame assembly 20 acts, at this time, the blocking mechanism 11 works to block the top cover of the air conditioner external unit conveyed by the belt conveying line assembly 1, the first air cylinder 60 acts to drag the bottom plate 50 to the grabbing station, and the robot and the gripper device 5 perform grabbing actions. (the aggregate enclosure on the bottom plate 50 requires manual adjustment of length and width each time a top cover is produced).
3. After the robot receives the signals, the top cover stack positioned on the grabbing station is grabbed and placed on the empty work loading cage 30 in the work loading cage positioning device 6. After the stacking of a stack of materials is completed on the left positioning support 63, the robot starts the right stacking. And after the stacking is completed, the forklift forks the tooling material cage 30 with the completed top cover stack, and after the empty tooling pallet is placed in place by the forklift, a detected signal is fed back to the robot, and the robot is allowed to stack.
The automatic pile up neatly unit of outer quick-witted top cap application robot of air conditioner of this embodiment can accomplish the top cap transport voluntarily, adapts to the top cap product of multiple size, reduces workman's intensity of labour, improves production efficiency when guaranteeing to produce top cap comprehensive properties.
As described above, although the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limiting the invention itself. Various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. The automatic stacking unit for the air conditioner external unit top cover application robot is characterized by comprising a belt conveying line assembly (1), a guide platform device (2), a lifting transmission device (3), a pneumatic sliding table device (4), a robot and gripper device (5) and a tool material cage positioning device (6), wherein the belt conveying line assembly (1) is arranged above the ground and used for conveying the air conditioner external unit top cover; the device comprises a guide platform device (2), a lifting transmission device (3), a pneumatic sliding table device (4), a robot and a gripper device (5), wherein the guide platform device is arranged on the ground and is close to the output end of a belt conveyor line assembly (1) and used for guiding an air conditioner outer machine top cover to enter the lifting transmission device (3), the lifting transmission device (3) is arranged on the ground and is positioned right below the guide platform device (2), the lifting transmission device (3) receives the air conditioner outer machine top cover dropped by the guide platform device (2), the pneumatic sliding table device (4) is arranged on the ground and is positioned right below the lifting transmission device (3) and receives a top cover stack formed by the air conditioner outer machine top covers sent by the lifting transmission device (3) and sends the top cover stack to a grabbing station, the robot and the gripper device (5) are arranged on the ground, the robot and the gripper device (5) grabs the stacked top cover stack positioned on the grabbing station at one time, and a tool material cage positioning device (6) is arranged on the ground around the robot and the gripper device (5) and collects the top cover stack;
The guiding platform device (2) comprises a platform frame (10), a first guiding and adjusting device (12) and a guiding and positioning device (13), wherein the platform frame (10) is arranged on the ground, the first guiding and adjusting device (12) is arranged on the platform frame (10) to guide an air conditioner outdoor unit top cover to move along the horizontal direction, the guiding and positioning device (13) is arranged at the outlet end of the platform frame (10) to guide the air conditioner outdoor unit top cover to drop onto the lifting transmission device (3) along the vertical direction, the upper working surface of the platform frame (10) is an inclined surface, the air conditioner outdoor unit top cover fed by the belt conveyor line assembly (1) enters the inclined surface and enters the lifting transmission device (3) under the action of self weight, the high end of the inclined surface is the inlet end of the platform frame (10), and the low end of the inclined surface is the outlet end of the platform frame (10);
The lifting transmission device (3) comprises a main frame (18), a first servo motor (14), a first synchronous belt assembly (15), a first screw rod assembly (16) and a lifting bracket (17), wherein the main frame (18) is arranged on the ground, the lifting bracket (17) is connected with the first screw rod assembly (16), and the first servo motor (14) and the first synchronous belt assembly (15) are matched with the first screw rod assembly (16) to drive the lifting bracket (17) to extend up and down so as to be used for receiving an air conditioner outdoor unit top cover falling down from the guide platform device (2);
The pneumatic sliding table device (4) comprises a first air cylinder (60), an adjustable guide rod device (19) and a sliding table frame assembly (20), the sliding table frame assembly (20) is arranged on the ground, the first air cylinder (60) is horizontally arranged on the sliding table frame assembly (20), the adjustable guide rod device (19) is slidably arranged on the sliding table frame assembly (20) and is connected with the first air cylinder (60), and the adjustable guide rod device (19) is positioned under the lifting transmission device (3);
the robot and gripper device (5) comprises a six-axis robot (21) and a gripper device (22) which is arranged at the tail end of an actuator of the six-axis robot (21) and used for grabbing the top cover stack once;
The automatic stacking unit for the top cover of the air conditioner external unit further comprises an abnormal conveying line (7), wherein the abnormal conveying line (7) is arranged on the ground and is arranged above the pneumatic sliding table device (4) in a crossing mode, the abnormal conveying line (7) is located below the lifting transmission device (3), the conveying direction of the abnormal conveying line (7) is perpendicular to the conveying direction of the belt conveying line assembly (1), and the abnormal conveying line (7) is a belt conveying line.
2. The automatic stacking unit for the top cover of the air conditioner external unit by using the robot is characterized in that the belt conveyor line assembly (1) comprises a second guiding and adjusting device (8) and a belt conveyor line (9), the belt conveyor line (9) is arranged above the ground, and the second guiding and adjusting device (8) is arranged on a rack of the belt conveyor line (9) and used for guiding the top cover of the air conditioner external unit to move along the horizontal direction;
The second guide adjusting device (8) comprises two guide adjusting units symmetrically arranged on a frame of the belt conveying line (9), wherein each guide adjusting unit comprises a guide bracket (31), at least two adjusting slide bars (32) and a sliding sleeve which is arranged corresponding to the adjusting slide bars (32), the sliding sleeve is fixed on the frame of the belt conveying line (9), the adjusting slide bars (32) are inserted into the sliding sleeve in a sliding manner, and the sliding direction of the adjusting slide bars (32) is vertical to the moving direction of the top cover of the air conditioner;
A compression screw for fixing the sliding sleeve on the adjusting slide rod (32) is vertically arranged on the sliding sleeve, the compression screw is in threaded connection with the sliding sleeve, and the tail end of the compression screw penetrates through the sliding sleeve to prop against the adjusting slide rod (32);
The first guiding adjusting device (12) and the second guiding adjusting device (8) have the same structure, and two guiding adjusting units in the first guiding adjusting device (12) are symmetrically arranged on two side edges of the platform frame (10).
3. The automated stacking unit for the top cover of the air conditioner external unit using the robot according to claim 2, wherein the guide bracket (31) in the second guide adjusting device (8) is made of angle steel and comprises an inclined guide section and a linear guide section, and the inclined guide section is positioned at the input end of the belt conveying line (9) and guides the top cover of the air conditioner external unit to enter the linear guide section of the guide bracket (31);
The guide bracket (31) in the first guide adjusting device (12) is a straight plate.
4. The automatic stacking unit for the top cover of the air conditioner external unit, which is applied to the robot, is characterized in that the guiding and positioning device (13) comprises two guiding and positioning units symmetrically arranged on two sides of the outlet end of the platform frame (10), the guiding and positioning units comprise a first vertical baffle plate (131) and a second vertical baffle plate (132), the first vertical baffle plate (131) is fixed with the side edge of the outlet end of the platform frame (10), the working surface of the first vertical baffle plate (131) is coplanar with the working surface of the guiding support (31), the second vertical baffle plate (132) is connected with the first vertical baffle plate (131), the working surface of the second vertical baffle plate (132) is perpendicular to the working surface of the first vertical baffle plate (131), and the top cover of the air conditioner external unit, which falls into a guiding bin formed by the guiding and positioning device (13) of the sliding of the platform frame (10), falls into the lifting transmission device (3) after being guided.
5. The automated stacking unit for the top cover of the air conditioner external unit using the robot according to claim 1, wherein the guiding platform device (2) further comprises a blocking device (11), and the blocking device (11) is arranged at the inlet end of the platform frame (10) and used for blocking or releasing the top cover of the air conditioner external unit conveyed by the belt conveying line assembly (1);
the blocking device (11) comprises a transverse plate (36), at least two second air cylinders (35), guide sleeves (37) with the same number as the second air cylinders (35) and blocking pins (38) with the same number as the second air cylinders (35), two ends of the transverse plate (36) are respectively arranged on two side edges of the platform frame (10), the second air cylinders (35) are vertically arranged,
The cylinder body of the second cylinder (35) is connected with the back of the transverse plate (36), a piston rod of the second cylinder (35) is vertically upwards arranged and extends out through the transverse plate (36), a guide sleeve (37) is vertically arranged on the front of the transverse plate (36), the piston rod of the second cylinder (35) penetrates through the guide sleeve (37), and a stop pin (38) is sleeved on the piston rod of the second cylinder (35).
6. The automatic stacking unit for the air conditioner external machine top cover application robot is characterized in that the gripper device (22) comprises a gripper main frame (28), a second servo motor (24), a second synchronous belt assembly (25), a second screw rod assembly (26) and two cylinder clamping units, the gripper main frame (28) is connected with an end effector of the six-axis robot (21), the second servo motor (24), the second synchronous belt assembly (25) and the second screw rod assembly (26) are all arranged on the gripper main frame (28), the two cylinder clamping units are symmetrically arranged, the two cylinder clamping units are used for being filled in a top cover stack and clamped, and the two cylinder clamping units are adjusted in position under the action of the second servo motor (24), the second synchronous belt assembly (25) and the second screw rod assembly (26) to adapt to the air conditioner external machine top covers with different sizes;
The second screw rod assembly (26) comprises a bidirectional screw rod, a left-handed nut and a right-handed nut, wherein the left-handed nut and the right-handed nut are respectively in threaded connection with two sections of positive and negative threads of the bidirectional screw rod, and two ends of the bidirectional screw rod are respectively and rotatably arranged on the main handle frame (28) through bearing seats;
The two cylinder clamping units comprise a mounting plate, a third cylinder (27) and two vertical clamping rods (62), wherein the third cylinder (27) is arranged on the mounting plate, the two vertical clamping rods (62) are arranged at the end part of a piston rod of the third cylinder (27) at intervals through a connecting plate, the connecting plate is fixed with the end part of the piston rod of the third cylinder (27), a linear guide rail pair is arranged between the top of a cylinder body of the third cylinder (27) and the back of a gripper main frame (28), a linear guide rail of the linear guide rail pair is arranged on the back of the gripper main frame (28), and the top of the cylinder body of the third cylinder (27) is connected with a sliding block of the linear guide rail pair;
The mounting plate in one cylinder clamping unit is connected with the left-handed nut on the second screw rod assembly (26), and the mounting plate in the other cylinder clamping unit is connected with the right-handed nut on the second screw rod assembly (26).
7. The automated stacking unit for air conditioner external machine top covers according to claim 6, wherein the first synchronous belt assembly (15) and the second synchronous belt assembly (25) comprise a synchronous belt (40), a driving belt wheel (39) and a driven belt wheel (61), and the synchronous belt (40) is wound on the driving belt wheel (39) and the driven belt wheel (61);
A driving belt wheel (39) in the second synchronous belt assembly (25) is connected to a motor shaft of a second servo motor (24) in a key way, the second servo motor (24) is fixed on a main gripper frame (28), and a driven belt wheel (61) in the second synchronous belt assembly (25) is connected to one end part of a bidirectional screw rod in the second screw rod assembly (26) in a key way;
A driving belt wheel (39) in the first synchronous belt assembly (15) is connected to a motor shaft of the first servo motor (14) in a key way, the first servo motor (14) is fixed on the main frame (18), and a driven belt wheel (61) in the first synchronous belt assembly (15) is connected to the first screw rod assembly (16) in a key way;
The first screw assembly (16) comprises a screw (41), a ball nut (42), a left screw support (43) and a right screw support (44), wherein the ball nut (42) is sleeved on the screw (41), a deep groove ball bearing (48) is sleeved at the left end of the screw (41), the deep groove ball bearing (48) is limited at the left end of the screw (41) through a shaft end retainer ring (49), the deep groove ball bearing (48) is installed in the left screw support (43), the left screw support (43) is installed on the main frame (18), an angular contact ball bearing (46) is sleeved at the right end of the screw (41), the angular contact ball bearing (46) is installed in the right screw support (44) and the right end of the screw (41) extends out of the right screw support (44), the right screw support (44) is installed on the main frame (18), one end of the angular contact ball bearing (46) is limited by a shaft end retainer ring (49) and the right screw support (44) through a pressing plate (45) and an outer ring and an inner ring, and the other end of the angular contact ball bearing (46) is limited by the pressing plate (47).
8. The automatic stacking unit for the top cover of the air conditioner external unit, which is applied to the robot, according to claim 1, is characterized in that the adjustable guide rod device (19) comprises a bottom plate (50), a plurality of guide rod supports (51) and a plurality of PE high-density boards (52), the guide rod supports (51) are vertically arranged on the bottom plate (50) and move along sliding grooves on the bottom plate (50), the guide rod supports (51) enclose a surrounding frame capable of containing the top cover of the air conditioner external unit, and the PE high-density boards (52) are arranged on the bottom plate (50) in the surrounding frame in parallel and used for bearing the top cover of the air conditioner external unit.
9. The automated stacking unit for an air conditioner outdoor unit top cover application robot according to claim 8, wherein the sliding table frame assembly (20) comprises a base (58), two linear guide rails (53), a first cylinder mounting seat (59), a proximity switch bracket (57) and four hydraulic buffers (56), the base (58) is mounted on the ground through a plurality of feet (54) mounted at edges, the two linear guide rails (53) are arranged on two sides of the base (58) along the length direction of the base (58), the two linear guide rails (53) are matched with a plurality of sliding blocks, the sliding blocks are connected with the back surface of a bottom plate (50), the first cylinder mounting seat (59) is arranged on the base (58) and is positioned between the two linear guide rails (53), a piston rod of the first cylinder mounting seat (59) is connected with the back surface of the bottom plate (50), the four hydraulic buffers (56) are arranged in a group by two groups, the two hydraulic buffers (56) in the group are respectively mounted on two sides of the length direction of the base (58), are used for stopping at the two ends of the edge of the bottom plate (58) in a position, and are used for stopping at the positions of the position close to the position of the base (58), and are defined to be close to the station positions.
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| CN201911396095.2A CN111086886B (en) | 2019-12-30 | 2019-12-30 | Air conditioner outdoor unit top cover application robot automated palletizing unit |
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| CN111532863B (en) * | 2020-06-11 | 2024-09-24 | 广东恒泰立华智能装备制造有限公司 | Circuit board plugboard device |
| CN111805241B (en) * | 2020-06-24 | 2022-03-01 | 哈尔滨工业大学 | An inner and outer ring processing device for cable drum production |
| CN112061768A (en) * | 2020-09-12 | 2020-12-11 | 郑荣 | Steel positioning and placing device convenient to move and used for bridge building |
| CN114435967A (en) * | 2022-02-23 | 2022-05-06 | 合肥赛睿坦自动化科技有限公司 | Stacking gripper capable of unloading goods in friction-free mode |
| CN116534550B (en) * | 2023-06-15 | 2025-10-10 | 格力电器（武汉）有限公司 | A cover flipping device and production line using the same |
| CN118953993B (en) * | 2024-08-21 | 2026-01-20 | 珠海格力智能装备有限公司 | An automated loading device and its control method |
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