CN112978375A - Work station - Google Patents
Work station Download PDFInfo
- Publication number
- CN112978375A CN112978375A CN202110374294.4A CN202110374294A CN112978375A CN 112978375 A CN112978375 A CN 112978375A CN 202110374294 A CN202110374294 A CN 202110374294A CN 112978375 A CN112978375 A CN 112978375A
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- moving part
- connecting rod
- moving shaft
- horizontal direction
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- 230000005540 biological transmission Effects 0.000 claims description 59
- 230000033001 locomotion Effects 0.000 claims description 21
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- 230000000712 assembly Effects 0.000 claims description 15
- 238000000429 assembly Methods 0.000 claims description 15
- 230000001174 ascending effect Effects 0.000 claims description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 230000007306 turnover Effects 0.000 description 13
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
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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
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/88—Separating or stopping elements, e.g. fingers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The invention provides a workstation, comprising; the two groups of positioning mechanisms are arranged at intervals along the second horizontal direction, and each group of positioning mechanisms is used for positioning the tool car loaded with the workpiece; the conveying line and the two groups of positioning mechanisms are arranged at intervals along a first horizontal direction and are used for conveying workpieces; the moving assembly comprises a supporting frame, a first moving part, a second moving part and a third moving part which are sequentially connected, and any two of the moving directions of the first moving part, the second moving part and the third moving part are vertical to each other; the first moving part moves along a first connecting rod of the support frame parallel to the first horizontal direction; the part of the first connecting rod is positioned between the two groups of positioning mechanisms; the third moving part is connected with the taking and placing clamp so as to move the workpiece on the tool car to the conveying line, and the problem that the size of a triaxial module of automatic bottom-mounting equipment of an air conditioner external unit production line in the prior art is large is solved.
Description
Technical Field
The invention relates to the field of air conditioner production lines, in particular to a workstation.
Background
The automatic bottom-mounting equipment of the production line of the air conditioner outdoor unit in the prior art uses a six-axis robot, and although the six-axis robot has higher flexibility when being taken and placed, the beat can also meet the requirements, but the corresponding cost is also higher.
In order to reduce the cost, a triaxial module is provided to move a bottom support on a tooling vehicle at a positioning mechanism to a conveying line, the triaxial module comprises a support frame, the support frame is a rectangular frame body formed by four connecting rods, a support column is respectively arranged below four corners of the rectangular frame body, and the rectangular frame body is arranged around the positioning mechanism and the conveying line; the two ends of a first moving shaft extending along the second horizontal direction are respectively connected with the two first guide rails so as to move along the first horizontal direction; first removal epaxial second that is provided with along the motion of second horizontal direction removes the portion, third removal axle and the second that is on a parallel with vertical direction remove a sliding connection, in order to follow vertical direction motion, the below and the anchor clamps of third removal axle are connected, in order to pass through first mounting bracket, the combined motion of second removal portion and third removal axle drives anchor clamps motion to different positions department, the motion of each direction all realizes through rack and pinion transmission, this volume and the whole quality that will make this triaxial module are all great, the migration distance is longer, thereby it is slower to lead to the motion beat, beat promotion space is less in future production.
Disclosure of Invention
The invention mainly aims to provide a workstation to solve the problem that a triaxial module of an automatic bottom mounting device of an air conditioner external unit production line in the prior art is large in size.
To achieve the above object, according to one aspect of the present invention, there is provided a workstation comprising: the two groups of positioning mechanisms are arranged at intervals along the second horizontal direction, and each group of positioning mechanisms is used for positioning the tool car loaded with the workpiece; the conveying line and the two groups of positioning mechanisms are arranged at intervals along a first horizontal direction and are used for conveying workpieces; the moving assembly comprises a supporting frame, a first moving part, a second moving part and a third moving part which are sequentially connected, and any two of the moving directions of the first moving part, the second moving part and the third moving part are vertical to each other; the first moving part moves along a first connecting rod of the support frame parallel to the first horizontal direction; the part of the first connecting rod is positioned between the two groups of positioning mechanisms; the third moving part is connected with the picking and placing clamp so as to move the workpiece on the tool car to the conveying line.
Further, the second moving portion is movably provided in the vertical direction; the third moving part is connected with the picking and placing clamp and movably arranged along the second horizontal direction.
Furthermore, the support frame comprises a second connecting rod extending along a second horizontal direction, and one end of the first connecting rod is connected with one end of the second connecting rod; the two ends of the first connecting rod are respectively provided with a supporting column used for being connected with a supporting base surface, and one end, away from the first connecting rod, of the second connecting rod is provided with a supporting column used for being connected with the supporting base surface, so that a stable triangular supporting structure is formed through the three supporting columns.
Furthermore, a first guide rail is arranged on the first connecting rod and is parallel to the first connecting rod, the first moving part comprises a first mounting frame and a first sliding block arranged on the first mounting frame, and the first sliding block is connected with the first guide rail in a sliding manner so as to guide the movement of the first mounting frame; and/or the first moving part comprises a first mounting frame and a second sliding block arranged on the first mounting frame, and the second moving part comprises a second moving shaft and a second guide rail arranged on the second moving shaft; the second moving shaft and the second guide rail extend along the vertical direction, and the second sliding block is connected with the second guide rail in a sliding manner so as to guide the movement of the second moving shaft; and/or the second moving part comprises a second mounting plate and a third sliding block connected with the second mounting plate, and the third moving part comprises a third moving shaft and a third guide rail connected with the third moving shaft; the third moving shaft and the third guide rail extend along the second horizontal direction, and the third sliding block is connected with the third guide rail in a sliding mode so as to guide the movement of the third moving shaft.
Furthermore, a first transmission belt is arranged on the first connecting rod, and the first moving part comprises a first mounting frame and a first belt wheel connected with the first mounting frame; at least part of the first transmission belt is parallel to the first connecting rod, the first belt wheel is in transmission connection with the first transmission belt, and the first belt wheel rotates and drives the first mounting frame to move along the first horizontal direction; and/or the first moving part comprises a first mounting frame and a second belt wheel connected with the first mounting frame, and the second moving part comprises a second moving shaft and a second driving belt connected with the second moving shaft; at least part of the second transmission belt is parallel to the second moving shaft, and the second belt wheel is in transmission connection with the second transmission belt so that the second transmission belt drives the second moving shaft to move in the vertical direction through the rotation of the second belt wheel; and/or the second moving part comprises a second moving shaft and a second mounting plate positioned at the lower end of the second moving shaft, a third belt wheel is arranged on the second mounting plate, and the third moving part comprises a third moving shaft and a third transmission belt connected with the third moving shaft; at least part of the third transmission belt is parallel to the third moving shaft, and the third belt wheel is in transmission connection with the third transmission belt so that the third transmission belt drives the third moving shaft to move along the second horizontal direction through the rotation of the third belt wheel.
Furthermore, two ends of the first connecting rod are respectively provided with a first fixing part for fixing two ends of the first transmission belt; two opposite sides of the first belt wheel are respectively provided with a first idler wheel, the first belt wheel is positioned on one side of the first transmission belt close to the first connecting rod, and the two first idler wheels are positioned on one side of the first transmission belt far away from the first connecting rod so as to increase the wrap angle of the first belt wheel; and/or two ends of the second movable shaft are respectively provided with a second fixing part for fixing two ends of the second transmission belt; two opposite sides of the second belt wheel are respectively provided with a second idle wheel, the second belt wheel is positioned on one side of the second transmission belt close to the second moving shaft, and the two second idle wheels are positioned on one side of the second transmission belt far away from the second moving shaft so as to increase the wrap angle of the second belt wheel; and/or both ends of the third movable shaft are respectively provided with a third fixing part for fixing both ends of a third transmission belt; and the two third idle wheels are positioned on one side of the third transmission belt, which is far away from the third moving shaft, so as to increase the wrap angle of the third belt wheel.
Further, the picking and placing clamp comprises a plurality of clamp assemblies, and the plurality of clamp assemblies are sequentially arranged on the third moving shaft at intervals along the second horizontal direction.
Further, each clamp assembly comprises a mounting plate connected with the third moving shaft and a plurality of sucker assemblies arranged on the mounting plate, the mounting plate extends along the first horizontal direction, and the sucker assemblies are arranged at intervals along the first horizontal direction.
Further, get and put anchor clamps and include: the first detection part is used for detecting the distance between the sucker assembly and the workpiece, and sending a first in-place signal to the controller when the distance between the sucker assembly and the workpiece is detected to reach a preset distance, so that the controller controls the descending speed of the second moving part to be reduced; and/or the second detection part is used for detecting whether the workpiece is sucked by the sucker assembly or not, so that when the sucker assembly is detected to finish sucking the workpiece, a second in-place signal is sent to the controller, and the controller controls the second moving part to stop descending and start ascending.
Furthermore, each group of positioning mechanisms comprises at least one positioning mechanism, each positioning mechanism comprises two guide frames which are oppositely arranged, each guide frame comprises a limiting strip and a guide strip positioned at one end of the limiting strip, the limiting strips of the two guide frames are parallel to each other, the guide strip of each guide frame is obliquely arranged towards the direction far away from the other guide frame so as to form a horn-shaped guide opening through the guide strips of the two guide frames, and the guide opening is gradually increased along the direction far away from the corresponding limiting strip; the conveying line comprises a rack and a plurality of conveying rollers arranged on the rack, the plurality of conveying rollers are sequentially arranged along the second horizontal direction, and the rotating axis of each conveying roller is parallel to the first horizontal direction; and/or the workstation further comprises a turnover mechanism, wherein the turnover mechanism is positioned above the conveying line and below the first connecting rod of the support frame of the moving assembly and is used for enabling the workpiece put down by the moving assembly to arrive on the conveying line after being turned over.
By applying the technical scheme of the invention, the workstation of the invention is provided with the first connecting rods parallel to the first horizontal direction between the two groups of positioning mechanisms arranged at intervals along the second horizontal direction, the second moving part and the third moving part can conveniently reach any positioning mechanism positioned at two sides of the first connecting rod, and a pick-and-place clamp is arranged at the tail end of the moving component so as to move the workpiece on the tooling vehicle at the positioning mechanism to the conveying line, can snatch the work piece in the wider range under the less condition of the original triaxial module of the whole quality of guaranteeing whole removal subassembly, realized adopting littleer area and reaching the purpose of faster production beat, solved the problem that the triaxial module volume of the automatic collet equipment of going up of the outer quick-witted production line of air conditioner among the prior art is great.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
fig. 1 shows a top view of an embodiment of a workstation according to the invention;
FIG. 2 shows a front view of the workstation shown in FIG. 1;
FIG. 3 is a rear view showing a part of the structure of the moving assembly of the workstation shown in FIG. 1;
FIG. 4 illustrates a top view of a portion of the structure of the moving assembly shown in FIG. 3;
FIG. 5 shows a side view of a portion of the structure of the moving assembly shown in FIG. 4;
FIG. 6 is a front view of another portion of the structure of the moving assembly of the workstation shown in FIG. 1 with the pick-and-place jig installed;
FIG. 7 is a top view of another portion of the moving assembly of FIG. 6 with the pick-and-place fixture installed;
FIG. 8 shows a top view of the canting mechanism of the workstation shown in FIG. 1;
FIG. 9 shows a front view of the canting mechanism shown in FIG. 8;
FIG. 10 is a front view showing a part of the structure of a moving assembly of the workstation shown in FIG. 1; and
fig. 11 is a front view showing a part of the structure of the moving assembly of the workstation shown in fig. 10.
Wherein the figures include the following reference numerals:
1. a moving assembly;
11. a support frame; 111. a first connecting rod; 1111. a first fixed part; 112. a second connecting rod; 113. a support pillar; 114. a first guide rail; 115. a first drive belt;
12. a first moving part; 121. a first mounting bracket; 122. a first slider; 123. a second slider; 124. a first pulley; 125. a second pulley; 126. a first idler pulley; 127. a second idler pulley;
13. a second moving part; 131. a second moving axis; 1311. a second fixed part; 132. a second guide rail; 133. a second mounting plate; 134. a third slider; 135. a second belt; 136. a third belt pulley; 137. a third idler pulley;
14. a third moving part; 141. a third moving axis; 1411. a third fixed part; 142. a third guide rail; 143. a third belt;
2. taking and placing the clamp; 21. a clamp assembly; 211. mounting a plate; 212. a sucker component; 22. a first detection member; 23. a second detection part;
3. a turnover mechanism; 31. fixing a bracket; 32. turning over the bracket; 321. a first clamping portion; 322. a second clamping portion; 33. a turnover driving part; 34. a first stopper portion; 35. a second stopper portion;
4. a conveying line; 41. a frame; 42. a conveying roller;
5. a positioning mechanism; 51. a guide frame; 511. a limiting strip; 512. a guide strip; 513. a stop bar;
6. carrying out tool car loading;
7. and (5) a workpiece.
Detailed Description
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 to 11, the present invention provides a workstation comprising: two groups of positioning mechanisms 5 are arranged at intervals along the second horizontal direction, and each group of positioning mechanisms 5 is used for positioning a tooling vehicle 6 loaded with a workpiece 7; the conveying line 4 and the two groups of positioning mechanisms 5 are arranged at intervals along the first horizontal direction and are used for conveying workpieces 7; the device comprises a moving assembly 1 and a picking and placing clamp 2, wherein the moving assembly 1 comprises a supporting frame 11, a first moving part 12, a second moving part 13 and a third moving part 14 which are sequentially connected, and any two of the moving directions of the first moving part 12, the second moving part 13 and the third moving part 14 are mutually vertical; the first moving part 12 moves along a first connecting rod 111 of the supporting frame 11 parallel to the first horizontal direction; part of the first connecting rod 111 is located between the two sets of positioning mechanisms 5; the third moving portion 14 is connected to the pick-and-place jig 2 to move the workpiece 7 on the tooling car 6 onto the transfer line 4.
The workstation of the present invention is configured such that by providing the first connecting rods 111 parallel to the first horizontal direction between the two sets of positioning mechanisms 5 arranged at intervals in the second horizontal direction, for supporting and guiding the movement of the first moving part 12 of the moving assembly 1, so that the second and third moving parts 13 and 14 can conveniently reach any one of the positioning mechanisms 5 located at both sides of the first connecting rod 111, and a pick-and-place clamp 2 is arranged at the tail end of the moving component 1 so as to move the workpiece 7 on the tooling vehicle 6 at the positioning mechanism 5 to the conveying line 4, can snatch work piece 7 in the wider range under the less condition of the whole quality than original triaxial module of guaranteeing whole removal subassembly 1, realized adopting littleer area and reaching the purpose of faster production beat, solve the problem that the triaxial module volume of the automatic collet equipment of going up of the outer quick-witted production line of air conditioner among the prior art is great.
Specifically, the second moving portion 13 is provided movably in the vertical direction; the third moving portion 14 is connected to the pick-and-place jig 2 and is movably disposed along the second horizontal direction. In this way, the third moving portion 14 can drive the pick-and-place clamp 2 to move along the second horizontal direction to the position above any one of the positioning mechanisms 5 located at two sides of the first connecting rod 111, so as to clamp the workpieces located at two sides of the first connecting rod 111.
Specifically, the first horizontal direction is an X direction in the drawing, the second horizontal direction is a Y direction in the drawing, and the vertical direction is a Z direction in the drawing.
Preferably, the supporting bracket 11 includes a second connecting rod 112 extending in the second horizontal direction, and one end of the first connecting rod 111 is connected with one end of the second connecting rod 112; two ends of the first connecting rod 111 are respectively provided with a supporting column 113 for connecting with a supporting base, and one end of the second connecting rod 112 away from the first connecting rod 111 is provided with a supporting column 113 for connecting with the supporting base, so that a stable triangular supporting structure is formed by the three supporting columns 113.
Like this, the support frame 11 of removal subassembly 1 comprises mutually perpendicular's head rod 111 and second connecting rod 112 and three support column 113 that is used for supporting head rod 111 and second connecting rod 112 to form a simple structure, take up an area of the space little, weight is lighter and stable durable triangular support structure, simplified the structure setting of the support frame of former triaxial module, be favorable to promoting the takt.
As shown in fig. 3 to 7, a first guide rail 114 is disposed on the first connecting rod 111, the first guide rail 114 is parallel to the first connecting rod 111, the first moving part 12 includes a first mounting bracket 121 and a first slider 122 disposed on the first mounting bracket 121, and the first slider 122 is slidably connected to the first guide rail 114 to guide the movement of the first mounting bracket 121; and/or the first moving part 12 includes a first mounting frame 121 and a second slider 123 disposed on the first mounting frame 121, and the second moving part 13 includes a second moving shaft 131 and a second guide rail 132 disposed on the second moving shaft 131; the second moving shaft 131 and the second guide rail 132 both extend in the vertical direction, and the second slider 123 is slidably connected to the second guide rail 132 to guide the movement of the second moving shaft 131; and/or the second moving part 13 includes a second mounting plate 133 and a third slider 134 connected to the second mounting plate 133, and the third moving part 14 includes a third moving shaft 141 and a third guide rail 142 connected to the third moving shaft 141; the third moving shaft 141 and the third guide rail 142 both extend in the second horizontal direction, and the third slider 134 is slidably connected to the third guide rail 142 to guide the movement of the third moving shaft 141.
Specifically, the first connecting rod 111, the second moving shaft 131, and the third moving shaft 141 are all made of an aluminum profile 3060.
Preferably, the first rail 114, the second rail 132 and the third rail 142 are provided with a stopper at both ends in the extending direction for providing a physical limit to prevent the corresponding slider from slipping off.
As shown in fig. 3 to 7, the first connecting rod 111 is provided with a first driving belt 115, and the first moving part 12 includes a first mounting bracket 121 and a first pulley 124 connected to the first mounting bracket 121; at least part of the first driving belt 115 is parallel to the first connecting rod 111, the first pulley 124 is in driving connection with the first driving belt 115, and the first pulley 124 rotates and drives the first mounting frame 121 to move along the first horizontal direction; and/or the first moving part 12 includes a first mounting bracket 121 and a second pulley 125 connected to the first mounting bracket 121, and the second moving part 13 includes a second moving shaft 131 and a second driving belt 135 connected to the second moving shaft 131; at least a part of the second belt 135 is parallel to the second moving shaft 131, and the second belt pulley 125 is in transmission connection with the second belt 135 so that the second belt 135 drives the second moving shaft 131 to move in the vertical direction through the rotation of the second belt pulley 125; and/or the second moving part 13 comprises a second moving shaft 131 and a second mounting plate 133 positioned at the lower end of the second moving shaft 131, a third pulley 136 is arranged on the second mounting plate 133, and the third moving part 14 comprises a third moving shaft 141 and a third transmission belt 143 connected with the third moving shaft 141; at least a portion of the third belt 143 is parallel to the third moving shaft 141, and the third pulley 136 and the third belt 143 are in transmission connection, so that the third belt 143 drives the third moving shaft 141 to move along the second horizontal direction by the rotation of the third pulley 136.
Specifically, a first driving component is mounted on the first mounting frame 121, the first driving component is in driving connection with the first pulley 124, the first driving component includes a servo motor and a speed reducer, the servo motor is used for providing power for rotation of the first pulley 124, and the speed reducer is used for reducing the rotation speed of the first pulley 124 and increasing the torque of the first pulley 124.
Specifically, the first mounting bracket 121 is further provided with a second driving component, the second driving component is in driving connection with the second belt pulley 125, the second driving component includes a servo motor and a speed reducer, the servo motor is used for providing power for rotation of the second belt pulley 125, and the speed reducer is used for reducing the rotation speed of the second belt pulley 125 and increasing the torque of the second belt pulley 125.
Specifically, the second mounting plate 133 is mounted with a third driving component, the third driving component is drivingly connected with the third belt pulley 136, the third driving component includes a servo motor and a speed reducer, the servo motor is used for providing power for the rotation of the third belt pulley 136, and the speed reducer is used for reducing the rotation speed of the second belt pulley 125 and increasing the torque of the third belt pulley 136.
As shown in fig. 3 to 7, two ends of the first connecting rod 111 are respectively provided with a first fixing portion 1111 for fixing two ends of the first driving belt 115; two opposite sides of the first pulley 124 are respectively provided with a first idle pulley 126, the first pulley 124 is positioned on one side of the first transmission belt 115 close to the first connecting rod 111, and the two first idle pulleys 126 are positioned on one side of the first transmission belt 115 far away from the first connecting rod 111 to increase the wrap angle of the first pulley 124; and/or both ends of the second moving shaft 131 are respectively provided with a second fixing portion 1311 for fixing both ends of the second belt 135; two opposite sides of the second pulley 125 are respectively provided with a second idle pulley 127, the second pulley 125 is positioned on one side of the second transmission belt 135 close to the second moving shaft 131, and the two second idle pulleys 127 are positioned on one side of the second transmission belt 135 far away from the second moving shaft 131 to increase the wrap angle of the second pulley 125; and/or both ends of the third moving shaft 141 are respectively provided with a third fixing portion 1411 for respectively fixing both ends of the third driving belt 143; a third idle pulley 137 is respectively arranged at two opposite sides of the third pulley 136, the third pulley 136 is positioned at one side of the third transmission belt 143 close to the third moving shaft 141, and two third idle pulleys 137 are positioned at one side of the third transmission belt 143 far away from the third moving shaft 141 to increase the wrap angle of the third pulley 136.
Specifically, of the two first fixing portions 1111, the two second fixing portions 1311, and the two third fixing portions 1411, one fixing portion is a fixing portion, and the other fixing portion is a tensioning portion to fix both ends of the corresponding belt, respectively, the fixing portions are fixed, and the tensioning portion is adjustably disposed to adjust the relative positions of both ends of the corresponding belt to tension the corresponding belt.
Specifically, the tensioning end includes a tensioning end fixing block, a tensioning screw and a tensioning block, the tensioning end fixing block is used for being connected with one end of the corresponding transmission belt, the tensioning block is fixed on the third moving shaft 141, one end of the tensioning screw is connected with the tensioning end fixing block, the other end of the tensioning screw is connected with the tensioning block, and the tensioning screw is adjustably arranged to tension the corresponding transmission belt.
Specifically, the first idler pulley 126, the second idler pulley 127, and the third idler pulley 137 are located on opposite sides of the respective pulley to increase a wrap angle of the respective pulley, thereby increasing a transmission capacity of the belt transmission and improving transmission efficiency.
Specifically, the first drive belt 115, the second drive belt 135, and the third drive belt 143 are all synchronous belts.
As shown in fig. 6 and 7, the pick-and-place jig 2 includes a plurality of jig assemblies 21, and the plurality of jig assemblies 21 are sequentially arranged on the third moving shaft 141 at intervals along the second horizontal direction.
Specifically, each of the chuck assemblies 21 includes a mounting plate 211 for connection with the third moving shaft 141 and a plurality of chuck assemblies 212 provided on the mounting plate 211, the mounting plate 211 extending in the first horizontal direction, the plurality of chuck assemblies 212 being arranged at intervals in the first horizontal direction. In this way, the plurality of chuck assemblies 212 of each clamp assembly 21 together form a suction surface to stably pick and place the workpiece 7, so that any one chuck assembly 212 does not bear too much force.
Specifically, the suction cup assembly 212 includes a suction portion, a buffer member and a buffer rod, the buffer member is located at one end of the suction portion away from the workpiece 7, and is used for buffering the movement of the suction portion, and the buffer rod is arranged on the buffer member in a penetrating manner and is used for supporting the buffer member.
Specifically, the pick-and-place jig 2 includes: the first detection part 22 is used for detecting the distance between the sucker assembly 212 and the workpiece 7, so that when the distance between the sucker assembly 212 and the workpiece 7 is detected to reach a preset distance, a first in-place signal is sent to the controller, and the controller controls the descending speed of the second moving part 13 to be reduced; and/or a second detection part 23 for detecting whether the suction cup assembly 212 sucks the workpiece 7, so as to send a second in-place signal to the controller when detecting that the suction cup assembly 212 sucks the workpiece 7 completely, so that the controller controls the second moving part 13 to stop descending and start ascending.
The invention changes the material taking logic by adding a detection part and improves the production rhythm, the first detection part 22 is a photoelectric switch, the detection distance is about 200mm, and when the first detection part detects that the distance between the sucker assembly 212 and the workpiece 7 reaches the preset distance, a first in-place signal is sent to the controller; the first detection part 22 is also a photoelectric switch, the detection distance is about 20mm, and when the suction part of the sucker assembly 212 is detected to suck the workpiece 7 and the buffer stroke of the buffer part is over half, a second in-place signal is sent to the controller.
As shown in fig. 1, 2, and 8 to 11, each group of positioning mechanisms 5 includes at least one positioning mechanism 5, each positioning mechanism 5 includes two oppositely disposed guide frames 51, each guide frame 51 includes a limiting strip 511 and a guide strip 512 located at one end of the limiting strip 511, the limiting strips 511 of the two guide frames 51 are parallel to each other, the guide strip 512 of each guide frame 51 is obliquely disposed toward a direction away from the other guide frame 51 to form a trumpet-shaped guide opening through the guide strips 512 of the two guide frames 51, and the guide opening gradually increases along the direction away from the corresponding limiting strip 511; and/or the conveyor line 4 includes a frame 41 and a plurality of conveyor rollers 42 provided on the frame 41, the plurality of conveyor rollers 42 being arranged in order in the second horizontal direction, the rotational axis of each conveyor roller 42 being parallel to the first horizontal direction; and/or the workstation further comprises a turnover mechanism 3, wherein the turnover mechanism 3 is positioned above the conveying line 4 and below the first connecting rod 111 of the support frame 11 of the moving assembly 1, and is used for enabling the workpiece 7 placed by the moving assembly 1 to arrive on the conveying line 4 after being turned over.
As shown in fig. 10 and 11, the two oppositely disposed guide frames 51 together enclose a positioning space for positioning the tooling cart 6, and the tooling cart 6 enters the corresponding positioning space from the guide openings formed by the guide bars 512 of the two guide frames 51 for positioning. The guide frame 51 further comprises a stop strip 513, the stop strip 513 is perpendicular to the limit strips 511, the stop strip 513 is located at one end of the corresponding limit strip 511 far away from the corresponding guide strip 512 and is located at one side of the corresponding limit strip 511 far away from the other limit strip 511 opposite to the corresponding limit strip, so as to stop the movement of the tooling vehicle 6; the stop bar 513 is provided with a third detection component for detecting whether the tool car 6 moves in place and transmitting a detection signal to the controller.
Specifically, the stopper bar 511 extends in a first horizontal direction, and the stopper bar 513 extends in a second horizontal direction.
As shown in fig. 8 and 9, the turnover mechanism 3 is positioned on the conveyor line 4 and directly below the first connecting rod 111, the turnover mechanism 3 includes a fixed bracket 31 and a turnover bracket 32, the fixed bracket 31 is used for connecting with the frame 41 of the conveyor line 4, the turnover bracket 32 is rotatably arranged on the fixed bracket 31 around a predetermined axis, and the predetermined axis is parallel to the first horizontal direction; the turning bracket 32 includes a first clamping portion 321 and a second clamping portion 322 for clamping the workpiece 7 together, and the turning mechanism 3 further includes a turning driving portion 33 for driving the turning bracket 32 to move and a first stopping portion 34 and a second stopping portion 35 respectively disposed at opposite sides of the turning bracket 32 for stopping the turning bracket 32.
Specifically, the first clamping portion 321 and the second clamping portion 322 are arranged at intervals in the first horizontal direction to clamp the workpiece 7; the first stopping portion 34 and the second stopping portion 35 are disposed at an interval along the second horizontal direction and are located at two opposite sides of the turning bracket 32 to stop the turning bracket 32 and prevent the turning bracket 32 from rotating excessively.
The working process of the workstation of the invention is as follows:
when the tooling vehicle 6 carrying the workpiece 7 reaches the positioning mechanism 5 corresponding to the position and positioning is completed, a third detection part of the positioning mechanism 5 outputs a tooling vehicle 6 in-place signal to the controller; the controller controls the first moving part 12 and the third moving part 14 of the moving assembly 1 to move so as to drive the pick-and-place clamp 2 to move right above the corresponding workpiece 7 on the tooling vehicle 6, and then the second moving part 13 moves so as to drive the pick-and-place clamp 2 to rapidly vertically move downwards; when the first detection part 22 detects that the distance between the suction cup of the suction cup assembly 212 and the workpiece 7 reaches a preset distance, the first in-place signal is transmitted to the controller, and the controller controls the second moving part 13 to slow down; when the suction part of the suction cup assembly 212 of the second detection part 23 contacts with the upper surface of the workpiece 7 and the buffer stroke of the buffer member of the suction cup assembly 212 is over half, the second in-position signal is transmitted to the controller, and the controller controls the second moving part 13 to stop descending and start ascending.
After the second moving portion 13 is lifted to the right position, the third moving portion 14 moves along the second horizontal direction to place the workpiece 7 at the middle position (i.e. to place the workpiece 7 under the first connecting rod 111), then the first moving portion 12 moves along the first horizontal direction to place the workpiece 7 over the turnover mechanism 3, the second moving portion 13 drives the workpiece 7 to move vertically downwards to make the workpiece 7 contact with the turnover mechanism 3, then the suction cup assembly 212 acts to place the workpiece 7 down, and finally the turnover mechanism 3 turns the workpiece 7 180 degrees and places the workpiece 7 on the conveying line 4, so that the workpiece 7 is conveyed to the next station through the conveying line 4.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the workstation of the present invention is configured such that by providing the first connecting rods 111 parallel to the first horizontal direction between the two sets of positioning mechanisms 5 arranged at intervals in the second horizontal direction, for supporting and guiding the movement of the first moving part 12 of the moving assembly 1, so that the second and third moving parts 13 and 14 can conveniently reach any one of the positioning mechanisms 5 located at both sides of the first connecting rod 111, and a pick-and-place clamp 2 is arranged at the tail end of the moving component 1 so as to move the workpiece 7 on the tooling vehicle 6 at the positioning mechanism 5 to the conveying line 4, can snatch work piece 7 in the wider range under the less condition of the whole quality than original triaxial module of guaranteeing whole removal subassembly 1, realized adopting littleer area and reaching the purpose of faster production beat, solve the problem that the triaxial module volume of the automatic collet equipment of going up of the outer quick-witted production line of air conditioner among the prior art is great.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A workstation, comprising:
the two groups of positioning mechanisms (5) are arranged at intervals along the second horizontal direction, and each group of positioning mechanisms (5) is used for positioning a tooling vehicle (6) carrying a workpiece (7);
the conveying line (4) and the two groups of positioning mechanisms (5) are arranged at intervals along a first horizontal direction and are used for conveying workpieces (7);
the device comprises a moving assembly (1) and a picking and placing clamp (2), wherein the moving assembly (1) comprises a supporting frame (11), a first moving part (12), a second moving part (13) and a third moving part (14) which are sequentially connected, and any two of the moving directions of the first moving part (12), the second moving part (13) and the third moving part (14) are mutually vertical;
the first moving part (12) moves along a first connecting rod (111) of the support frame (11) parallel to a first horizontal direction; part of the first connecting rod (111) is positioned between two groups of the positioning mechanisms (5); the third moving part (14) is connected with the pick-and-place clamp (2) to move the workpiece (7) on the tool car (6) to the conveying line (4).
2. The workstation according to claim 1, characterized in that said second moving portion (13) is movably arranged in a vertical direction; the third moving part (14) is connected with the picking and placing clamp (2) and is movably arranged along a second horizontal direction.
3. The workstation according to claim 1,
the supporting frame (11) comprises a second connecting rod (112) extending along a second horizontal direction, and one end of the first connecting rod (111) is connected with one end of the second connecting rod (112);
the both ends of first connecting rod (111) are provided with one respectively and are used for supporting pillar (113) be connected with the support base face, second connecting rod (112) are kept away from the one end of first connecting rod (111) is provided with one and is used for supporting pillar (113) be connected with the support base face to through three support pillar (113) form stable triangle bearing structure.
4. The workstation according to claim 2,
a first guide rail (114) is arranged on the first connecting rod (111), the first guide rail (114) is parallel to the first connecting rod (111), the first moving part (12) comprises a first mounting frame (121) and a first sliding block (122) arranged on the first mounting frame (121), and the first sliding block (122) is slidably connected with the first guide rail (114) to guide the movement of the first mounting frame (121); and/or
The first moving part (12) comprises a first mounting bracket (121) and a second slider (123) arranged on the first mounting bracket (121), and the second moving part (13) comprises a second moving shaft (131) and a second guide rail (132) arranged on the second moving shaft (131); the second moving shaft (131) and the second guide rail (132) both extend in the vertical direction, and the second slider (123) is connected with the second guide rail (132) in a sliding manner so as to guide the movement of the second moving shaft (131); and/or
The second moving part (13) comprises a second mounting plate (133) and a third slider (134) connected with the second mounting plate (133), and the third moving part (14) comprises a third moving shaft (141) and a third guide rail (142) connected with the third moving shaft (141); the third moving shaft (141) and the third guide rail (142) both extend in a second horizontal direction, and the third slider (134) is connected with the third guide rail (142) in a sliding manner so as to guide the movement of the third moving shaft (141).
5. The workstation according to claim 2 or 4,
a first transmission belt (115) is arranged on the first connecting rod (111), and the first moving part (12) comprises a first mounting frame (121) and a first belt wheel (124) connected with the first mounting frame (121); at least part of the first transmission belt (115) is parallel to the first connecting rod (111), the first belt pulley (124) is in transmission connection with the first transmission belt (115), and the first belt pulley (124) rotates and drives the first mounting frame (121) to move along a first horizontal direction; and/or
The first moving part (12) comprises a first mounting frame (121) and a second belt wheel (125) connected with the first mounting frame (121), and the second moving part (13) comprises a second moving shaft (131) and a second transmission belt (135) connected with the second moving shaft (131); at least part of the second transmission belt (135) is parallel to the second moving shaft (131), the second belt pulley (125) and the second transmission belt (135) are in transmission connection, so that the second transmission belt (135) drives the second moving shaft (131) to move along the vertical direction through the rotation of the second belt pulley (125); and/or
The second moving part (13) comprises a second moving shaft (131) and a second mounting plate (133) positioned at the lower end of the second moving shaft (131), a third belt wheel (136) is arranged on the second mounting plate (133), and the third moving part (14) comprises a third moving shaft (141) and a third transmission belt (143) connected with the third moving shaft (141); at least part of the third transmission belt (143) is parallel to the third moving shaft (141), and the third pulley (136) is in transmission connection with the third transmission belt (143) so that the third transmission belt (143) drives the third moving shaft (141) to move along the second horizontal direction through the rotation of the third pulley (136).
6. The workstation according to claim 5,
two ends of the first connecting rod (111) are respectively provided with a first fixing part (1111) for fixing two ends of the first transmission belt (115); two opposite sides of the first belt wheel (124) are respectively provided with a first idle wheel (126), the first belt wheel (124) is positioned on one side of the first transmission belt (115) close to the first connecting rod (111), and the two first idle wheels (126) are positioned on one side of the first transmission belt (115) far away from the first connecting rod (111) to increase the wrap angle of the first belt wheel (124); and/or
Two ends of the second moving shaft (131) are respectively provided with a second fixing part (1311) for fixing two ends of the second transmission belt (135); two opposite sides of the second belt wheel (125) are respectively provided with a second idle wheel (127), the second belt wheel (125) is positioned on one side of the second transmission belt (135) close to the second moving shaft (131), and the two second idle wheels (127) are positioned on one side of the second transmission belt (135) far away from the second moving shaft (131) so as to increase the wrap angle of the second belt wheel (125); and/or
Two ends of the third moving shaft (141) are respectively provided with a third fixing part (1411) for respectively fixing two ends of the third transmission belt (143); and the two opposite sides of the third belt wheel (136) are respectively provided with a third idle wheel (137), the third belt wheel (136) is positioned on one side of the third transmission belt (143) close to the third moving shaft (141), and the two third idle wheels (137) are positioned on one side of the third transmission belt (143) far away from the third moving shaft (141) so as to increase the wrap angle of the third belt wheel (136).
7. The workstation according to claim 5, characterized in that said pick-and-place gripper (2) comprises a plurality of gripper assemblies (21), said plurality of gripper assemblies (21) being arranged in succession spaced apart along a second horizontal direction on said third movement axis (141).
8. The workstation according to claim 7, wherein each of said gripper assemblies (21) comprises a mounting plate (211) for connection with said third axis of movement (141) and a plurality of suction cup assemblies (212) provided on said mounting plate (211), said mounting plate (211) extending in a first horizontal direction, said plurality of suction cup assemblies (212) being spaced apart in said first horizontal direction.
9. The workstation according to claim 8, wherein the pick-and-place gripper (2) comprises:
a first detection part (22) for detecting the distance between the sucker assembly (212) and the workpiece (7) so as to send a first in-position signal to a controller when the distance between the sucker assembly (212) and the workpiece (7) is detected to reach a preset distance, so that the controller controls the descending speed of the second moving part (13) to be reduced; and/or
And the second detection part (23) is used for detecting whether the sucker assembly (212) sucks the workpiece (7) or not, so that when the sucker assembly (212) is detected to completely suck the workpiece (7), a second in-place signal is sent to the controller, and the controller controls the second moving part (13) to stop descending and start ascending.
10. The workstation according to claim 1,
each group of positioning mechanisms (5) comprises at least one positioning mechanism (5), each positioning mechanism (5) comprises two guide frames (51) which are oppositely arranged, each guide frame (51) comprises a limiting strip (511) and a guide strip (512) positioned at one end of the limiting strip (511), the limiting strips (511) of the two guide frames (51) are parallel to each other, the guide strips (512) of each guide frame (51) are obliquely arranged towards the direction far away from the other guide frame (51) so as to form a horn-shaped guide opening through the guide strips (512) of the two guide frames (51), and the guide opening is gradually increased along the direction far away from the corresponding limiting strip (511); and/or
The conveying line (4) comprises a rack (41) and a plurality of conveying rollers (42) arranged on the rack (41), the plurality of conveying rollers (42) are sequentially arranged along a second horizontal direction, and the rotating axis of each conveying roller (42) is parallel to the first horizontal direction; and/or;
the workstation still includes tilting mechanism (3), tilting mechanism (3) are located the top of transfer chain (4) and are located the below of head rod (111) of support frame (11) of removal subassembly (1) is used for making work piece (7) that removal subassembly (1) put down arrive after the upset on transfer chain (4).
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| CN202110374294.4A CN112978375A (en) | 2021-04-07 | 2021-04-07 | Work station |
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| CN202110374294.4A CN112978375A (en) | 2021-04-07 | 2021-04-07 | Work station |
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| CN113369724A (en) * | 2021-06-23 | 2021-09-10 | 珠海格力智能装备有限公司 | Conveying system |
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