CN111958217B - Robot for assembling power connection module and bottom plate of inverter and assembling method - Google Patents
Robot for assembling power connection module and bottom plate of inverter and assembling method Download PDFInfo
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- CN111958217B CN111958217B CN202010822298.XA CN202010822298A CN111958217B CN 111958217 B CN111958217 B CN 111958217B CN 202010822298 A CN202010822298 A CN 202010822298A CN 111958217 B CN111958217 B CN 111958217B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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Abstract
The invention provides a robot for assembling a power connection module and a bottom plate of an inverter, which comprises: a carousel rotatable along a vertical axis; the fixing structures are arranged on the edge of the turntable at equal angles along the axis of the turntable and are used for fixing the power connection module and the circuit board before assembly respectively; the first feeding structure is arranged at the first feeding station and used for feeding the power connection module to the fixed structure at the first feeding station; the second feeding structure is arranged at the second feeding station position and is used for feeding the bottom plate to the second feeding structure at the second feeding station position; the automatic screw twisting machine is positioned at a screw twisting station and is used for connecting the power connection module positioned on the fixed structure with the bottom plate by screws; first material loading station, second material loading station and twist the screw station and be located same circumference for the axis of carousel, and the contained angle of adjacent station for the axis of carousel is the integral multiple of the contained angle of the axis of the relative carousel of adjacent fixed knot structure, the carousel is at rotatory in-process, and fixed knot constructs in proper order through first material loading station, second material loading station, twists the screw station. The robot can realize automatic assembly of the docking electric module and the bottom plate.
Description
Technical Field
The invention relates to the field of automatic assembly of inverters, in particular to a robot for assembling a power connection module and a bottom plate of an inverter and an assembly method
Background
The inverter is a converter which converts direct current electric energy (batteries, storage batteries and photovoltaic modules) into constant-frequency constant-voltage or frequency-modulation voltage-regulation alternating current (generally 220V,50Hz sine wave).
Inverters are widely used in photovoltaic power stations for converting direct current generated by photovoltaic modules into alternating current convenient for transmission; in the field of motor drives, inverters convert dc power output from a battery into three-phase ac power that drives an electric motor.
In the assembling process, in order to pursue the installation speed, workers often use a high-power electric or pneumatic wrench to fix the bolt, and the high-power electric or pneumatic wrench has large torque, so that the conductor inside the inverter is easily driven to twist, and the contact between the conductor and the circuit inside the inverter is poor, and the inverter is damaged.
In order to improve the assembly qualification rate of the inverter, manual assembly which easily causes product damage is changed into automatic mechanical assembly, and at present, equipment for automatically assembling the inverter does not exist.
Disclosure of Invention
The invention aims to provide a robot for assembling a power connection module and a bottom plate of an inverter and an assembling method.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a robot that is used for assembling connecing electric module and bottom plate of dc-to-ac converter, the electric module of dc-to-ac converter include a plurality of electric poles that link into one row through the plastic support, with the circuit board that a plurality of electric poles are connected, the bottom plate sets up the one side that deviates from the circuit board at the plastic support, is provided with a plurality of first through-holes on the bottom plate, and the position department that corresponds first through-hole on the plastic support is provided with the screw hole, is provided with a plurality of second through-holes on the bottom plate, the second through-hole is used for making electric poles pass to the diameter of second through-hole is greater than the diameter of electric pole, and a plurality of first through-holes and a plurality of second through-holes are arranged into one row, the robot includes:
a carousel rotatable along a vertical axis;
the fixing structures are arranged on the edge of the turntable at equal angles along the axis of the turntable and are used for fixing the power connection module and the circuit board before assembly respectively;
the first feeding structure is arranged at the first feeding station and used for feeding the power connection module to the fixed structure at the first feeding station;
the second feeding structure is arranged at the second feeding station position and is used for feeding the bottom plate to the second feeding structure at the second feeding station position;
the automatic screw twisting machine is positioned at a screw twisting station and is used for connecting the power connection module positioned on the fixed structure with the bottom plate by screws;
first material loading station, second material loading station and twist the screw station and be located same circumference for the axis of carousel, and the contained angle of adjacent station for the axis of carousel is the integral multiple of the contained angle of the axis of adjacent fixed knot structure relative carousel 2, the carousel is at rotatory in-process, and fixed knot constructs in proper order through first material loading station, second material loading station, twists the screw station.
Preferably, the first feeding mechanism includes:
the first horizontal moving mechanism is arranged at the first feeding station through the first feeding bracket,
the cylinder body of the first feeding cylinder is arranged on the output end of the first horizontal moving mechanism, and the cylinder rod is arranged downwards;
the U-shaped frame is provided with a downward U-shaped opening and is arranged at the lower end of a cylinder rod of the first feeding cylinder;
and the cylinder bodies of the two clamping jaw cylinders are respectively arranged on the opposite side surfaces of the two sides of the U-shaped frame and used for clamping the power-on module.
Preferably, the fixing structure comprises:
the support plate is supported on the turntable, a groove for placing an electric connection module is formed in the support plate, the shape of the groove is matched with that of the circuit board, and a first avoidance hole is formed in the support plate corresponding to each electric connection column;
a boss supported on the support plate for supporting the housing, the boss being closer to the vertical axis than the recess, an upper surface of the boss being aligned with an upper surface of the plastic bracket.
Preferably, the fixed structure further comprises a movable pressing plate movably arranged above the boss, and the movable pressing plate can move back and forth along the direction far away from or close to the upper surface of the boss.
Preferably, the lower surface of the movable pressure plate is provided with a linkage rod, the upper end of the linkage rod is connected with the movable pressure plate, the lower end of the linkage rod penetrates through the lug boss and the supporting plate, a first guide hole and a first spring hole are sequentially arranged at the positions of the lug boss and the supporting plate corresponding to the linkage rod along the direction from top to bottom, the first guide hole and the first spring hole are coaxially arranged, the diameter of the first guide hole is equal to or slightly larger than that of the linkage rod, the diameter of the first spring hole is larger than that of the first guide hole, a stop piece is arranged at the position of the linkage rod close to the lower end, a first spring is sleeved on the linkage rod, the lower extreme of first spring is supported and is leaned on the retainer, and the upper end stretches into first spring hole and supports and lean on the one end that is close to first guiding hole in first spring hole, first spring is in the state of compressed all the time.
Preferably, the device further comprises a release structure for driving the linkage rod to move towards the direction of enabling the movable pressure plate to be far away from the boss, and the release structure comprises:
a first support:
the cylinder body of the first cylinder is arranged on the first support, the cylinder rod of the first cylinder extends towards the direction of the linkage rod, and the cylinder rod of the first cylinder rod and the linkage rod are coaxially arranged.
Preferably, the robot is still including being located the detection mechanism of first detection station, being located the detection mechanism of second detection station and being located the unloading mechanism of unloading station, first material loading station, first detection station, second material loading station, second detection station, twist screw station and unloading station relative to the setting of angles such as vertical axis and the contained angle of adjacent station are the same with adjacent fixed knot structure's contained angle.
Preferably, the detection mechanism of first detection station is the same with the detection mechanism structure of second detection station, all includes:
a detection frame;
the second support is arranged on the detection frame in a vertically movable mode, is of a frame structure and is provided with a bottom frame positioned at the bottom of the frame structure;
a plurality of detection columns which are arranged on the bottom frame in a vertically movable manner and correspond to the threaded holes;
the detection cylinders are arranged on the bottom frame in a vertically movable mode and correspond to the electric poles, and the upper ends of the detection cylinders and the upper ends of the detection poles are at the same height under the normal condition;
and the sensor is used for detecting the relative change of the heights of the upper ends of the detection column and the detection cylinder.
The invention also provides an assembly method, which adopts the robot and specifically comprises the following steps:
step 1: feeding the power connection module to be assembled to a fixed structure at a first feeding station;
step 2: the turntable drives the fixing structure to move to a first detection station, a detection mechanism located at the first detection station detects whether the butt-joint electric module is placed in place or not, and the step 3 is carried out after the butt-joint electric module is determined to be in place;
and step 3: the turntable drives the fixing structure to move to a second feeding station, and the second feeding structure moves the bottom plate to be assembled to the fixing structure;
and 4, step 4: the turntable drives the fixing structure to move to a second detection station, a detection mechanism located at the second detection station detects whether the first through hole is aligned with the threaded hole or not and whether enough clearance exists between the electric connecting post and the corresponding second through hole or not, and the step 5 is carried out under the condition that the first through hole is aligned with the threaded hole and enough clearance exists between the electric connecting post and the corresponding second through hole;
and 5: the turntable drives the fixing structure to move to a screw screwing station, and the automatic screw screwing machine screws the screws into corresponding threaded holes;
step 6: the turntable drives the fixed structure to move to a blanking station for blanking;
the above steps 1-6 can be performed simultaneously.
Compared with the prior art, the invention has the following beneficial effects:
the robot can realize automatic assembly of the power connection module and the bottom plate.
Drawings
FIG. 1 is a front view of a product in an assembled state;
FIG. 2 is a perspective view of the present invention;
FIGS. 3 and 4 are structural views of a second feeding mechanism of the present invention;
FIG. 5 is a front view of the fixation structure of the present invention;
FIG. 6 is a view from B-B of the present invention;
FIG. 7 is an enlarged view at C;
FIGS. 8 and 9 are structural views of a first loading structure of the present invention;
FIG. 10 is a view from A-A;
FIGS. 11-12 are structural views of the detection mechanism of the present invention;
FIG. 13 is a D-D view;
fig. 14 is an enlarged view at E.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the power connection module of the inverter includes a plurality of power connection posts 1a connected in a row through a plastic support 1b and a circuit board 1c connected with the plurality of power connection posts 1a, a bottom plate 1d is arranged on one side of the plastic support 1b, which is far away from the circuit board 1c, a plurality of first through holes are arranged on the bottom plate 1d, threaded holes are arranged at positions corresponding to the first through holes on the plastic support 1b, the fixing of the bottom plate 1d and the plastic support 1b and the fixing of the bottom plate 1d and the power connection module are realized through the matching of bolts 1e and the threaded holes, meanwhile, a second through hole is arranged on the bottom plate 1d and is used for enabling the power connection posts 1a to pass through, and the diameter of the second through hole is larger than that of the power connection posts 1a, so that the side wall of the first through hole is prevented from contacting with the power connection posts 1 a.
As shown in fig. 2 to 14, a robot for assembling a power connection module and a bottom plate of an inverter includes a rotatable turntable 2, a plurality of fixing structures 3 disposed at an edge of the turntable 2 at equal angles along an axis of the turntable 2 and used for fixing the power connection module and a circuit board 1c before assembly, a first feeding structure 4 disposed at a first feeding station position and used for feeding the power connection module to the fixing structures 3 located at the first feeding station position, a second feeding structure 5 disposed at a second feeding station position and used for feeding the bottom plate 1d to the second feeding station position, and an automatic screwing machine 7 located at a screwing station and connecting the power connection module located on the fixing structure 3 and the bottom plate 1d with screws. First material loading station, second material loading station and twist the screw station and lie in same circumference for the axis of carousel 2, and the contained angle of adjacent station for the axis of carousel 2 is the integral multiple of the contained angle of the axis of adjacent fixed knot structure 3 relative carousel 2, carousel 2 is at rotatory in-process, and under the drive of carousel 2, fixed knot structure 3 passes through first material loading station, second material loading station in proper order, twists the material loading of screw station completion electricity module, bottom plate 1d and connects the electricity module with passing through the screw and be connected bottom plate 1 d. The automatic screwing machine 7 adopts the prior art.
The rotary table 2 is arranged at the output end of the indexing structure, and the angle of each rotation of the rotary table 2 is equal to the included angle of the adjacent fixed structure 3 relative to the axis of the rotary table 2.
The fixing structure 3 comprises a supporting plate 2b supported on the turntable 2 and a boss 3c supported on the supporting plate 2b and used for supporting the shell 1d, a groove 3a used for placing an electric connection module is formed in the supporting plate 2b, and the shape of the groove 3a is matched with that of the circuit board 1c when viewed from top. The position department that corresponds every electric post 1a on backup pad 2b is provided with first dodge hole 3b, when will connect the electric module to place the position department of recess 3a, circuit board 1c is located recess 3a, the one end that is close to circuit board 1c of electric post 1a inserts first dodge hole 3b in order to guarantee that the lower surface of circuit board 1c can contact with the bottom surface of recess 3a and then make to connect the electric module to put into recess 3a steadily. The upper surface of said projection 3c is aligned with the upper surface of the plastic holder 1b of the powered module placed in the recess 3a to ensure that the base plate 1d can be placed horizontally to the upper surface of the plastic holder 1 b. The groove 3a is closer to the outer edge of the turntable 2 than the boss 3 c. The boss 3c may be integrally formed with the support plate 2 b.
A movable pressing plate 3d is movably arranged above the boss 3c, the movable pressing plate 3 can move back and forth along the direction far away from or close to the upper surface of the boss 3c, and when the movable pressing plate 3d is pressed on the upper surface of the boss 3c, the base plate 1d can be clamped between the movable pressing plate 3d and the boss 3c, so that the base plate 1d can be fixed. In order to protect the bottom plate 1d during clamping, a first rubber pad 3c1 is provided on the upper surface of the boss 3c, and a second rubber pad 3d1 is provided on the lower surface of the movable platen 3 d.
Further, a linkage rod 3d2 is arranged on the lower surface of the movable pressing plate 3d, the upper end of the linkage rod 3d2 is connected with the movable pressing plate 3d, the lower end of the linkage rod 3d passes through the boss 3c and the supporting plate 2b, a first guide hole 3c2 and a first spring hole 3c4 are sequentially arranged at the position of the boss 3c and the supporting plate 2b corresponding to the linkage rod 3d2 along the direction from top to bottom, the first guide hole 3c2 and the first spring hole 3c4 are coaxially arranged, the diameter of the first guide hole 3c2 is equal to or slightly larger than that of the linkage rod 3d2, the diameter of the first spring hole 3c4 is larger than that of the first guide hole 3c2, a stop piece 3e1 is arranged at the position of the boss 3c2 close to the lower end, a first spring 3e2 is sleeved on the linkage rod 3d2, the lower end of the first spring 3e2 abuts against a first guide hole 4c 4 and abuts against the first spring hole 2 c4, the first spring 3e2 is always in a compressed state so that the movable platen 3d always has a tendency to move toward the boss 3 c.
Further, a release structure 3f for driving the linkage rod 3d2 to move in a direction that the movable pressing plate 3d is far away from the boss 3c is arranged at the position of the second feeding station. The loosening structure 3f includes a first carriage 3f1 provided at the second loading station position and a first cylinder 3f2 provided on the first carriage 3f1, the cylinder body of the first cylinder 3f2 is fixed on the first bracket 3f1, the cylinder rod of the first cylinder 3f2 is coaxially arranged with the linkage rod 3d2 at the second feeding station and extends towards the direction of the linkage rod 3d2 at the second feeding station, when the fixed structure 3 moves to the second feeding station, the cylinder rod of the first cylinder 3f2 extends out to push the linkage rod 3d2 to move so as to loosen the movable pressing plate 3d, the second feeding structure can move the bottom plate 1d to the boss 3c, then the cylinder rod of the first cylinder 3f2 retracts, and the linkage rod 3d2, driven by the first spring 3e2, moves the movable platen 3d toward the boss 3c and finally presses the base plate 1d against the boss 3 c.
Further, the number of the linkage rods 3d2 is two, the two linkage rods 3d2 are parallel to each other, and the first cylinder 3f2 is a double-rod cylinder and corresponds to the two linkage rods 3d2 respectively.
The first feeding mechanism 4 comprises a first horizontal moving mechanism 4a arranged at the first feeding station through a first feeding support 4f, a first feeding cylinder 4b arranged on the output end of the horizontal moving mechanism 4a, a U-shaped frame 4c arranged at the lower end of the cylinder rod of the first feeding cylinder 4b and provided with a downward opening, and two clamping jaw cylinders 4e arranged on the inner surfaces of two sides of the U-shaped frame 4 c. The two clamping jaw cylinders 4e can clamp the power connection module conveyed by other conveying mechanisms, the cylinder body of the first feeding cylinder 4b is fixed on the output end of the first horizontal moving mechanism 4a, the cylinder rod of the first feeding cylinder 4b extends downwards, the middle part of the U-shaped frame 4c is fixed at the lower end of the cylinder rod of the first feeding cylinder 4b, and the first horizontal moving mechanism 4a can move the power connection module clamped by the clamping jaw cylinders 4e into the groove 3a of the supporting plate 2b of the fixing structure 3 positioned at the first feeding station. The first horizontal moving mechanism 4a may adopt a belt transmission, a screw transmission, etc. in the prior art.
Further, the inner surfaces of the two sides of the U-shaped frame 4c are provided with rotary cylinders 4d at positions corresponding to the clamping jaw cylinders 4e, cylinder bodies of the rotary cylinders 4d are arranged on the corresponding U-shaped frame 4c, and the cylinder bodies of the clamping jaw cylinders 4e are fixed on the output ends of the rotary cylinders 4d, so that the power connection module can be turned over by corresponding angles as required.
The second feeding mechanism 5 comprises a material stacking platform 5a arranged at the second feeding station and used for placing the bottom plate 1d, and a suction cup 5e2 positioned above the material stacking platform 5a, wherein the suction cup 5e2 can move up and down and can move back and forth between the material stacking platform 5a and a boss 3c on the fixed structure 3 at the second feeding station so as to move the bottom plate 1d on the material stacking platform 5a to the boss 3c at the second feeding station.
The second feeding mechanism 5 further comprises a second horizontal moving mechanism 5c arranged at the second feeding station and used for driving the suction cup 5e2 to move between the material stacking table 5a and the boss 3c located at the second feeding station, and the second horizontal moving mechanism 5c can be driven by a belt in the prior art. A second air cylinder 5d is arranged at the output end of the second horizontal moving mechanism 5c, an air cylinder rod of the second air cylinder 5d is arranged downwards, a fourth support 5e1 is arranged at the lower end of the second air cylinder 5d, the suction cup 5e2 is arranged on the lower surface of the fourth support 5e1, the lower surface of the suction cup 5e2 is a working surface, the circuit board 1c is adsorbed on the lower surface of the suction cup 5e2, and the working principle of the suction cup 5e2 adopts the prior art. When the suction cup 5e2 moves to just above the boss 3c or the material stacking table 5a, the cylinder rod of the second cylinder 5d extends to place the bottom plate 1d on the boss 3c or suck up the bottom plate 1d from the material stacking table 5 a.
The suction cups 5e2 are provided in plurality at both ends of the fourth support 5e1 corresponding to the longitudinal direction of the circuit board 1 c.
The second feeding mechanism 5 further comprises a material lifting structure 5b for driving the bottom plate 1d in the material stacking table 5a to move upwards, the material lifting structure 5b comprises a through motor 5b1 and a lifting plate 5b2 arranged at one end of an output shaft of the through motor 5b1, the output shaft of the through motor 5b1 is arranged up and down, the lifting plate 5b2 is arranged at the upper end of the output shaft of the through motor 5b1, and the output shaft of the through motor 5b1 is rotatable relative to the lifting plate 5b2, so that the through motor 5b1 can drive the lifting plate 5b2 to move up and down. The lifting plate 5b2 can abut against the material stacking table 5a to drive the material stacking table 5a to move up and down, or the lifting plate 5b2 penetrates through the material stacking table 5a to abut against the bottom plate 1d on the material stacking table 5 a. Through material lifting structure 5b, can realize that the bottom plate 1d of the top in the material stack platform 5a keeps at fixed height, and the same length is stretched out every time to second cylinder 5d, makes sucking disc 5e2 just can catch circuit board 1 c.
The material stacking table 5a comprises a third support 5a1, a storage plate 5a2 supported on the third support 5a1, and a plurality of positioning columns 5a3 positioned on the storage plate 5a2 and used for limiting the position of the bottom plate 1d, wherein the positioning columns 5a3 are arranged at the positions of the storage plate 5a2 corresponding to the four corners of the bottom plate 1d, each corner needs two positioning columns 5a3, and the two positioning columns 5a3 correspond to the two side faces of the corner. With the positioning posts 5a3, the contact area with the bottom plate 1d can be reduced compared to a plate, and the bottom plate 1d can be sucked up more easily.
The gangbar 3d2 sets up in the slope, and the upper end is compared in the axis that the lower extreme is closer to carousel 2, like this when the activity clamp plate 3d rebound, moves towards the axis direction of carousel 2, can make activity clamp plate 3d shift out directly over boss 3c like this for second feed mechanism 5 can place bottom plate 1d on boss 3c directly over boss 3c when the material loading.
Further, the robot further comprises a detection mechanism 6 located at the first detection station and a detection mechanism 6 located at the second detection station, and the detection mechanism 6 of the first detection station and the detection mechanism 6 of the second detection station are identical in structure. The detection mechanism 6 of the first detection station is used for detecting whether the power connection module is placed well, and the detection mechanism 6 of the second detection station is used for detecting whether the first through hole in the bottom plate 1d is aligned with the threaded hole in the plastic support 1 b. The robot is also provided with a blanking station, blanking is carried out at the blanking station, a blanking mechanism is arranged at the position of the blanking station, the blanking mechanism can adopt a mechanical arm in the prior art, and the position of the blanking station is also provided with the loosening structure 3f for loosening the bottom plate 1 d.
The first feeding station, the first detection station, the second feeding station, the second detection station, the screw screwing station and the discharging station are sequentially arranged along the rotating direction of the turntable 2, and the number of the stations is equal to that of the fixed structures, so that the feeding of the butt-joint electric module, the detection of whether the electric module is placed, the feeding of the bottom plate 1d, the detection of whether the first through hole in the bottom plate is aligned with the threaded hole in the plastic support 1b, the screw screwing and the discharging can be simultaneously realized.
The detecting mechanism 6 comprises a detecting frame 61, a second bracket 6b which is arranged on the detecting frame 61 in a vertically movable manner, a plurality of detecting columns 6d and a plurality of detecting cylinders 6e which are arranged on the second bracket 6b in a vertically movable manner relative to the second bracket 6b, and a plurality of sensors 6f which are arranged on the second bracket 6b, wherein the second bracket 6b is positioned right above the electric connecting columns 1a at the corresponding detecting stations, the detecting columns 6d correspond to the screw holes on the corresponding electric connecting columns 1a, the detecting cylinders 6e correspond to the corresponding electric connecting columns 1a, when the second bracket 6b drives the detecting columns 6d and the detecting cylinders 6e to move downwards for a certain distance, if the sensors 6e do not detect that the detecting columns 6d and the detecting cylinders 6e move relative to the second bracket 6b, the detecting columns 6d are inserted into the corresponding screw holes, the detecting cylinders 6e are inserted into the gaps between the electric connecting columns 1a and the corresponding second through holes, at this time, it is considered that the power connection module is placed in place, or the first through hole is aligned with the threaded hole, and the side wall of the second through hole has a sufficient gap with the power connection post 1a, if the power connection module is not placed in place, or the first through hole is not aligned with the threaded hole, or the side wall of the second through hole has no sufficient gap with the power connection post 1a, at least part of the detection post 6d is blocked in the downward movement process, or part of the detection barrel 6e is blocked in the downward movement process, and the blocked detection post 6d or 6e moves upward relative to the second bracket 6b, and at this time, data of the sensor 6e changes. The sensor 6e is a photoelectric correlation sensor, the emitting end and the receiving end of the photoelectric correlation sensor are respectively arranged at two sides of the second bracket 6b along the arrangement direction of the detection column 6d or the detection cylinder 6e, and under normal conditions, the upper ends of all the detection columns 6d and the upper ends of all the detection cylinders 6e are at the same height, the height of the sensor 6f is slightly higher than that of the detection columns 6d or the upper ends of the detection cylinders 6e, and when the height of one of the detection columns 6d or the detection cylinders 6e changes, the sensor 6f can immediately detect the change.
The second support 6b is a frame structure, and includes a bottom frame 6c1 at the bottom of the frame structure, and the detecting column 6d and the detecting cylinder 6e are arranged on the bottom frame 6c1 in a manner of moving up and down. Specifically, a second spring hole 6c2 and a second guide hole 6c5 are sequentially formed in the bottom frame 6c1 at a position corresponding to the inspection column 6d, the second spring hole 6c2 is coaxially formed with the second guide hole 6c5, the diameter of the second guide hole 6c5 is equal to or slightly larger than the diameter of the inspection column 6d, a first annular flange 6d2 is formed on the inspection column 6d, the diameter of the first annular flange 6d2 is larger than the diameter of the second guide hole 6c5 and smaller than the diameter of the second spring hole 6c2, the first annular flange 6d2 is located in the second spring hole 6c2, the lower end of the inspection column 6d passes through the lower end of the second guide hole 6c5, the upper end passes through the upper end of the second spring hole 6c 38, a cover plate 6g1 is formed on the upper surface of the bottom frame 1, and a first through hole 4 of the cover plate 6g 6d is formed at a position corresponding to the inspection column 1, the diameter of the first through hole 6g4 is smaller than the diameter of the second spring hole 6c2 and is equal to or slightly larger than the diameter of the detection column 6d, the second spring 6g2 is sleeved on the detection column 6d, the lower end of the second spring 6g2 abuts against the first annular flange 6d2, the upper end of the second spring 6g2 abuts against the cover plate 6g1, and the second spring 6g2 is always in a compressed state, so that the first annular flange 6d2 always abuts against the bottom of the second spring hole 6c2 under normal conditions, and the lower ends of all the detection columns 6d are at the same height under normal conditions. When the detecting post 6d cannot enter the threaded hole smoothly, the detecting post 6d moves upward relative to the bottom frame 6c1, and the sensor 6e can detect the movement of the moving detecting post 6 d.
A third spring hole 6c4 and a third guide hole 6c6 are sequentially formed in the bottom frame 6c1 from top to bottom at a position corresponding to the detection cylinder 6e, the third spring hole 6c4 is coaxially formed with the third guide hole 6c6, the diameter of the third spring hole 6c4 is larger than that of the third guide hole 6c6, a second annular flange 6e2 is formed on the detection cylinder 6e, the diameter of the second annular flange 6e2 is larger than that of the third guide hole 6c6 and smaller than or equal to that of the third spring hole 6c4, the second annular flange 6e2 is formed in the third spring hole 6c4, and the outer diameter of the portion of the detection cylinder 6e below the second annular flange 6e2 is equal to or slightly smaller than that of the third guide hole 6c 6. A second through hole 6e3 is provided at a position of the cover plate 6g1 corresponding to the detection cylinder 6e, the diameter of the second through hole 6e3 is smaller than the diameter of the third spring hole 6c4 and is equal to or slightly larger than the outer diameter of the portion of the detection cylinder 6e above the second annular flange 6e2, a third spring 6g3 is sleeved on the detection cylinder 6e, the lower end of the third spring 6g3 abuts against the second annular flange 6e2, the upper end abuts against the cover plate 6g1, and the third spring 6g3 is always in a compressed state, so that the second annular flange 6e2 can abut against the bottom of the third spring hole 6c4 under normal conditions, which can ensure that the lower ends of all the detection cylinders 6e are at the same height under normal conditions, and the upper end of the detection cylinder 6e is at the same height as the upper end of the detection column 6d under normal conditions, thus, if one of the detection cylinder 6e or the detection post 6d changes in diameter with respect to the base frame 6c1, the sensor 6f can detect the change. Further, the diameter of the portion of the detection cylinder 6e below the second annular flange 6e2 is larger than the diameter of the electric contact 1a and smaller than the diameter of the second through hole, so that under normal conditions, the detection cylinder 6e can be sleeved on the electric contact 1a and can be inserted into the second through hole, and when the detection cylinder 6e moves relatively to the bottom frame 6c1, it means that there is not enough clearance between the bottom plate 1d and the electric contact 1 a. Of course, it is not necessary to detect the gap between the bottom plate 1d and the electric contact 1a at the first detection station.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a robot that is used for assembling connecing electric module and bottom plate of dc-to-ac converter, the electric module of dc-to-ac converter include a plurality of electric poles that link into one row through the plastic support, with the circuit board that a plurality of electric poles are connected, the bottom plate sets up the one side that deviates from the circuit board at the plastic support, is provided with a plurality of first through-holes on the bottom plate, and the position department that corresponds first through-hole on the plastic support is provided with the screw hole, is provided with a plurality of second through-holes on the bottom plate, the second through-hole is used for making electric poles pass to the diameter of second through-hole is greater than the diameter of electric pole, and a plurality of first through-holes and a plurality of second through-holes are arranged into one row, the robot includes:
a carousel rotatable along a vertical axis;
the fixing structures are arranged on the edge of the turntable at equal angles along the axis of the turntable and are used for fixing the power connection module and the circuit board before assembly respectively;
the first feeding structure is arranged at the first feeding station and used for feeding the power connection module to the fixed structure at the first feeding station;
the second feeding structure is arranged at the second feeding station position and is used for feeding the bottom plate to the second feeding structure at the second feeding station position;
the automatic screw twisting machine is positioned at a screw twisting station and is used for connecting the power connection module positioned on the fixed structure with the bottom plate by screws;
first material loading station, second material loading station and twist the screw station and be located same circumference for the axis of carousel, and the contained angle of adjacent station for the axis of carousel is the integral multiple of the contained angle of the axis of the relative carousel of adjacent fixed knot structure, the carousel is at rotatory in-process, and fixed knot constructs in proper order through first material loading station, second material loading station, twists the screw station, first feed mechanism includes:
the first horizontal moving mechanism is arranged at the first feeding station through the first feeding bracket,
the cylinder body of the first feeding cylinder is arranged on the output end of the first horizontal moving mechanism, and the cylinder rod is arranged downwards;
the U-shaped frame is provided with a downward U-shaped opening and is arranged at the lower end of a cylinder rod of the first feeding cylinder;
two clamping jaw cylinders, its cylinder body sets up respectively on the relative side surface of the both sides of U type frame for to the clamping electricity module that connects, fixed knot constructs and includes:
the support plate is supported on the turntable, a groove for placing an electric connection module is formed in the support plate, the shape of the groove is matched with that of the circuit board, and a first avoidance hole is formed in the support plate corresponding to each electric connection column;
the boss is supported on the supporting plate and used for supporting the shell, the boss is closer to the vertical axis than the groove, the upper surface of the boss is aligned with the upper surface of the plastic support, the fixing structure further comprises a movable pressing plate movably arranged above the boss, the movable pressing plate can move back and forth along the direction far away from or close to the upper surface of the boss, a linkage rod is arranged on the lower surface of the movable pressing plate, the upper end of the linkage rod is connected with the movable pressing plate, the lower end of the linkage rod penetrates through the boss and the supporting plate, a first guide hole and a first spring hole are sequentially arranged at the position, corresponding to the linkage rod, of the boss and the supporting plate along the direction from top to bottom, the first guide hole and the first spring hole are coaxially arranged, the diameter of the first guide hole is equal to or slightly larger than the diameter of the linkage rod, and the diameter of the first spring hole is larger than the diameter of the first guide hole, the linkage rod is provided with a stop piece at a position close to the lower end, the linkage rod is sleeved with a first spring, the lower end of the first spring is abutted against the stop piece, the upper end of the first spring extends into a first spring hole and is abutted against one end, close to a first guide hole, of the first spring hole, the first spring is always in a compressed state, the linkage rod is arranged in an inclined mode, and the upper end of the linkage rod is compared with the axis, close to the turntable, of the lower end of the linkage rod.
2. The robot for assembling the power module and the base plate of the inverter according to claim 1, further comprising a release structure for driving the linkage rod to move in a direction to move the movable platen away from the boss, the release structure comprising:
a first support:
the cylinder body of the first cylinder is arranged on the first support, the cylinder rod of the first cylinder extends towards the direction of the linkage rod, and the cylinder rod of the first cylinder rod and the linkage rod are coaxially arranged.
3. The robot for assembling the power connection module and the base plate of the inverter according to claim 1, further comprising a detection mechanism located at a first detection station, a detection mechanism located at a second detection station, and a blanking mechanism located at a blanking station, wherein the first feeding station, the first detection station, the second feeding station, the second detection station, the screw screwing station, and the blanking station are arranged at equal angles with respect to the vertical axis, and the included angle between the adjacent stations is the same as that between the adjacent fixed structures.
4. The robot for assembling the power connection module and the bottom plate of the inverter according to claim 3, wherein the detection mechanism of the first detection station and the detection mechanism of the second detection station have the same structure, and each of the detection mechanisms comprises:
a detection frame;
the second support is arranged on the detection frame in a vertically movable mode, is of a frame structure and is provided with a bottom frame positioned at the bottom of the frame structure;
a plurality of detection columns which are arranged on the bottom frame in a vertically movable manner and correspond to the threaded holes;
the detection cylinders are arranged on the bottom frame in a vertically movable mode and correspond to the electric poles, and the upper ends of the detection cylinders and the upper ends of the detection poles are at the same height under the normal condition;
and the sensor is used for detecting the relative change of the heights of the upper ends of the detection column and the detection cylinder.
5. A method for assembling the power module and the backplane of the inverter, which employs the robot for assembling the power module and the backplane of the inverter of claim 4, the method comprising the following steps:
step 1: feeding the power connection module to be assembled to a fixed structure at a first feeding station;
step 2: the turntable drives the fixing structure to move to a first detection station, a detection mechanism located at the first detection station detects whether the butt-joint electric module is placed in place or not, and the step 3 is carried out after the butt-joint electric module is determined to be in place;
and step 3: the turntable drives the fixing structure to move to a second feeding station, and the second feeding structure moves the bottom plate to be assembled to the fixing structure;
and 4, step 4: the turntable drives the fixing structure to move to a second detection station, a detection mechanism located at the second detection station detects whether the first through hole is aligned with the threaded hole or not and whether enough clearance exists between the electric connecting post and the corresponding second through hole or not, and the step 5 is carried out under the condition that the first through hole is aligned with the threaded hole and enough clearance exists between the electric connecting post and the corresponding second through hole;
and 5: the turntable drives the fixing structure to move to a screw screwing station, and the automatic screw screwing machine screws the screws into corresponding threaded holes;
step 6: the turntable drives the fixed structure to move to a blanking station for blanking;
the above steps 1-6 can be performed simultaneously.
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| CN202010822298.XA CN111958217B (en) | 2020-08-16 | 2020-08-16 | Robot for assembling power connection module and bottom plate of inverter and assembling method |
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| CN202010822298.XA CN111958217B (en) | 2020-08-16 | 2020-08-16 | Robot for assembling power connection module and bottom plate of inverter and assembling method |
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| CN117340597B (en) * | 2023-12-05 | 2024-03-12 | 深圳久和工业自动化设备有限公司 | Assembling device for solar inverter production and operation method thereof |
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| JP5313759B2 (en) * | 2009-04-28 | 2013-10-09 | 平田機工株式会社 | Parts assembly device |
| CN105478304B (en) * | 2014-09-15 | 2018-09-14 | 江苏锐升新材料有限公司 | A kind of alignment means of PVC floor gluing veneer |
| CN204248286U (en) * | 2014-10-28 | 2015-04-08 | 浙江吉利罗佑发动机有限公司 | Oilstone welding tooling |
| CN205030416U (en) * | 2015-09-28 | 2016-02-17 | 浙江海洋学院 | Deep -fried twisted dough sticks automatic processing machine's fried material mechanism |
| CN105583609A (en) * | 2015-12-18 | 2016-05-18 | 陈建 | Installing and locking assembly applicable to circuit board and flexible to move |
| US10807147B2 (en) * | 2017-01-06 | 2020-10-20 | Korvis Asia Private Limited | Platform for constraining a workpiece on an x-y stage |
| CN107225383A (en) * | 2017-07-25 | 2017-10-03 | 广州市欧伊若科技有限公司 | A kind of automated assembly machine |
| CN108637663A (en) * | 2018-06-26 | 2018-10-12 | 成都尚智恒达科技有限公司 | A kind of rod aperture aligning gear of automatic assembling |
| CN209578405U (en) * | 2018-12-29 | 2019-11-05 | 宁波中亿自动化装备有限公司 | For the equipment for being installed to pcb board will to be switched |
| CN209754449U (en) * | 2019-03-13 | 2019-12-10 | 景宁畲族自治县保承机械配件厂 | Automatic assembling equipment for screwdriver |
| CN110181269B (en) * | 2019-05-13 | 2021-01-26 | 乐清市宏业电子元件有限公司 | Assembly equipment of wiper motor housing |
| CN110449892B (en) * | 2019-09-18 | 2024-05-17 | 浙江忠华消防器材有限公司 | Automatic assembly line for cart type fire extinguisher heads |
| CN110779413A (en) * | 2019-10-14 | 2020-02-11 | 合肥常青机械股份有限公司 | Automobile punching part detection device |
| CN110773982B (en) * | 2019-10-23 | 2021-05-11 | 深圳华海达科技有限公司 | Small module assembling machine |
| CN210886289U (en) * | 2019-11-06 | 2020-06-30 | 陈岗 | Electroplating jig for inverter radiating fins |
| CN111246672B (en) * | 2020-02-10 | 2022-10-11 | 上海电机学院 | Automatic processing and assembling system and method for circuit board products |
| CN111215908B (en) * | 2020-02-24 | 2021-02-26 | 浙江淅川减振器有限公司 | Automatic cutting and end face polishing integrated equipment for inner tube of automobile shock absorber |
| CN111266863B (en) * | 2020-04-13 | 2021-07-20 | 虞结全 | Automatic assembling equipment for inner hexagonal motor spindle of garbage disposer |
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Effective date of registration: 20211117 Address after: 251400 Zheng'an Road East and Yellow River Road North, Jiyang County Jibei Development Zone, Jinan City, Shandong Province (Yellow River Bridge Toll Station to 200 meters west north) Applicant after: JINAN OPRS INTELLIGENT EQUIPMENT CO.,LTD. Address before: No. 2693, Kaichuang Avenue, Huangpu District, Guangzhou, Guangdong 510000 Applicant before: Peng Lanfen |
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