Impeller production line

Abstract

The present invention discloses an impeller production line, comprising: a conveying module extending along the X-axis; at least one turning line extending along the Y-axis, with the unloading side of the turning line positioned above the incoming material side of the conveying module; a first six-axis robot positioned adjacent to the unloading side of the conveying module; a vertical processing device, a broaching machine module, and a cleaning module positioned adjacent to the first six-axis robot in the direction of rotation; a second six-axis robot positioned adjacent to the cleaning module; and a dynamic balancing module and a unloading module positioned adjacent to the second six-axis robot in the direction of rotation. The present invention improves production efficiency and quality, reduces production costs, and enables automated production.

Description

Technical Field

[0001] The invention belongs to the technical field of production equipment, and particularly relates to an impeller production line. Background Art

[0002] Impellers are commonly used in fluid machinery such as pumps, turbines, and compressors. They have complex shapes and are made of a variety of materials, including metal, plastic, and composites. Manufacturing impellers, especially the blades, requires high-precision machining, which can involve processes such as casting and CNC machining. To rapidly manufacture impellers, impeller machining equipment is rapidly evolving toward high precision, intelligent, environmentally friendly, and flexible features.

[0003] Existing impeller processing mainly adopts the production line method. However, in the process of transforming the impeller from the rough processing plant to the finished product, the existing production line still uses manual labor in the processes of loading and unloading, flipping the impeller, moving the impeller, or cleaning. However, manual operation is subject to human errors and cannot produce stably and reliably for a long time. At the same time, the labor cost is relatively high.

[0004] Therefore, in view of the above technical problems, it is necessary to provide an impeller production line.

[0005] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art. Summary of the Invention

[0006] The object of the present invention is to provide an impeller production line, which can improve production efficiency and quality and reduce production costs.

[0007] In order to achieve the above object, a specific embodiment of the present invention provides the following technical solutions:

[0008] An impeller production line, comprising:

[0009] The conveying module is extended along the X-axis direction;

[0010] At least one turning line extending along the Y-axis direction, wherein the unloading side of the turning line is arranged above the incoming side of the conveying module;

[0011] A first six-axis robot is arranged beside the unloading side of the conveying module;

[0012] A vertical processing device, a broaching machine module, and a cleaning module are sequentially arranged beside the first six-axis robot along the rotation direction of the first six-axis robot;

[0013] a second six-axis robot, disposed beside the cleaning module;

[0014] The dynamic balancing module and the blanking module are sequentially arranged beside the second six-axis robot along the rotation direction of the second six-axis robot.

[0015] In one or more embodiments of the present invention, the turning line comprises:

[0016] The truss is provided with a first slide rail extending along the Y-axis direction;

[0017] A loading module is arranged below the truss and opposite to the conveying module;

[0018] an adjustment mechanism, slidably mounted on the truss, and slidably mounted on the truss, the adjustment mechanism comprising an X-axis adjustment module slidably mounted on the first slide rail and a Z-axis adjustment module slidably mounted on the X-axis adjustment module;

[0019] The flip mechanism includes a base fixedly mounted below the Z-axis adjustment module and a first gripper assembly rotatably mounted in the base along the X-axis direction;

[0020] a first lathe and a second lathe, disposed below the truss;

[0021] A material clamping mechanism is fixedly mounted on the truss and is located between the first lathe and the second lathe; wherein,

[0022] The loading module, the first lathe, the second lathe, and the conveying module are all located below the sliding path of the adjustment mechanism.

[0023] In one or more embodiments of the present invention, the loading module includes:

[0024] base;

[0025] A transmission mechanism is provided on the base;

[0026] A material discharge mechanism is provided above the conveying mechanism, the material discharge mechanism comprising a base plate provided on the conveying mechanism, a rotating member rotatably mounted on the base, a support rod fixedly mounted on the rotating member, a first support plate and a second support plate fixedly mounted on the base plate, the first support plate and the second support plate respectively being provided with a first trough body and a second trough body which are different from each other, and the support rod being sequentially inserted into the first trough body and the second trough body;

[0027] The driving mechanism is installed in linkage with the conveying mechanism and is used to drive the conveying mechanism to transport the discharge mechanism.

[0028] In one or more embodiments of the present invention, on the plane where the first trough body is located, the projection of the second trough body partially overlaps with the first trough body, and the outer wall of the support rod abuts against the inner wall of the first trough body and the inner wall of the second trough body respectively; and / or,

[0029] The first slot body and / or the second slot body is a curved slot, a straight slot, or a combination of the two.

[0030] In one or more embodiments of the present invention, the loading module also includes a jacking mechanism, which includes a first driving member, a lifting plate installed in linkage with the first driving member, two lifting rods fixedly installed on the lifting plate, and two jacking blocks fixedly installed on the two lifting rods respectively, the jacking blocks are arranged above the base and below the second support plate, the distance between the two jacking blocks is greater than the width of the base plate and the diameter of the first support plate, and the distance between the two jacking blocks is less than the diameter of the second support plate.

[0031] In one or more embodiments of the present invention, the loading module further includes a sensing mechanism, which includes a first fixed rod and a second fixed rod installed on the base, and a transmitter and a receiver installed on the first fixed rod and the second fixed rod, respectively, and the distance between the first fixed rod and the second fixed rod is greater than the maximum dimension of the base plate in the horizontal direction.

[0032] In one or more embodiments of the present invention, the first gripper assembly includes a first rotatably mounted mounting base, a turntable rotatably arranged along the Y-axis direction, a first mounting plate fixedly mounted on the turntable, and a first gripper mounted on the mounting plate, and the first gripper is provided with at least one.

[0033] In one or more embodiments of the present invention, the clamping mechanism includes a base frame fixedly mounted on the truss, a second slide rail fixedly mounted on the base frame and arranged along the Z-axis direction, a second driving member arranged along the Z-axis direction, and two clamping members, one of the two clamping members is fixedly mounted on the output shaft of the second driving member and slidably mounted on the slide rail, and the other is fixedly mounted on the truss and located below one clamping member, and a clamping space is formed between the two clamping members.

[0034] In one or more embodiments of the present invention, the clamping member includes a connecting arm extending along the X-axis direction and a limit block installed on the connecting arm. The limit blocks of the two clamping members are arranged opposite to each other. The limit blocks include a first surface and a second surface arranged opposite to each other. The first surface is connected to the connecting arm, and a recessed portion is provided on the second surface.

[0035] In one or more embodiments of the present invention, the impeller production line includes six turning lines spaced apart along the X-axis direction.

[0036] In one or more embodiments of the present invention, a second gripper assembly is installed on the end interface of the first six-axis robot and / or the second six-axis robot, and the second gripper assembly includes a second mounting base rotatably mounted on the end interface, a second mounting plate vertically mounted on the second mounting base, and two second grippers relatively arranged on the second mounting plate.

[0037] Compared with the prior art, the impeller production line of the present invention has the following beneficial effects:

[0038] The present invention realizes the automated production of impellers through the impeller production line. Through mechanized production, human errors can be avoided and labor costs can be reduced. The degree of automation is high and no manual operation is required throughout the entire process. The accuracy of the impeller can be improved, the consistency of the impeller leaving the factory can be ensured, and long-term high-speed continuous operation can be achieved. At the same time, multiple devices and multiple turning processing lines can work in parallel, reducing process switching time and improving impeller production capacity. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0040] Figure 1 This is a schematic diagram of the top view of the impeller production line in one embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the three-dimensional structure of a turning processing line in one embodiment of the present invention;

[0042] Figure 3 Schematic diagram of the three-dimensional structure of a loading module in one embodiment of the present invention;

[0043] Figure 4 This is a partial structural diagram of a loading module according to an embodiment of the present invention;

[0044] Figure 5 This is a schematic top view of the structure of the discharge mechanism in one embodiment of the present invention;

[0045] Figure 6 This is a schematic diagram of the explosion structure of the discharge mechanism in one embodiment of the present invention;

[0046] Figure 7This is a schematic top view of the structure of a loading module without a discharge mechanism installed in one embodiment of the present invention;

[0047] Figure 8 It is a schematic diagram of the three-dimensional structure of the discharge mechanism, the lifting mechanism, and the adjustment mechanism in one embodiment of the present invention;

[0048] Figure 9 for Figure 1 A magnified view of the local structure at point A;

[0049] Figure 10 This is a schematic structural diagram of a turning mechanism in one embodiment of the present invention;

[0050] Figure 11 This is a structural diagram of a clamping mechanism in one embodiment of the present invention;

[0051] Figure 12 Schematic diagram of the three-dimensional structure of the first six-axis robot in one embodiment of the present invention.

[0052] Description of main reference numerals:

[0053] 1- conveying module;

[0054] 2-turning line; 21-truss; 211-first slide rail; 22-loading module; 221-base; 222-transmission mechanism; 2221-driving sprocket; 2222-driven sprocket; 2223-chain; 223-unloading mechanism; 2231-bottom plate; 2232-rotating member; 2233-support rod; 2234-first support plate; 22341-first trough; 2235-second support plate; 22351-second trough Body; 224-driving mechanism; 2251-first rolling unit; 2252-second rolling unit; 22501-roller; 22502-bull's eye wheel; 2261-first limit plate; 2262-second limit plate; 227-lifting mechanism; 2271-first driving member; 2272-lifting plate; 2273-lifting rod; 2274-lifting block; 228-adjusting mechanism; 229-sensing mechanism; 2291-first fixing rod ;2292-second fixing rod;2293-transmitter;2294-receiver;23-adjustment mechanism;231-X-axis adjustment module;2311-slider;2312-third driving member;2313-third slide rail;232-Z-axis adjustment module;2321-connecting block;2322-fourth driving member;2323-fourth slide rail;24-flip mechanism;241-base;2411-mounting shaft;242-first gripper Components; 2421 - first mounting base; 2422 - turntable; 2423 - first mounting plate; 2424 - first gripper; 25 - first lathe; 26 - second lathe; 27 - clamping mechanism; 271 - base frame; 272 - second slide rail; 273 - second driving member; 274 - clamping member; 2741 - connecting arm; 2742 - limit block; 27411 - recessed portion; 274111 - first surface; 274112 - second surface;

[0055] 3-first six-axis robot; 31-second gripper assembly; 311-second mounting base; 312-second mounting plate; 313-second gripper;

[0056] 4-Vertical processing device;

[0057] 5-Broaching machine module;

[0058] 6-Cleaning module;

[0059] 7- Second six-axis robot;

[0060] 8-dynamic balancing module;

[0061] 9-Blanking module. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the technical solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0063] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0064] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0065] It should be noted that the “X-axis direction” in this application text is the Figure 1 The X-axis direction is marked in the figure, and the Y-axis direction is marked in the figure. Figure 1 The direction of the Y axis is marked in the figure, and the direction of the Z axis is marked in the figure. Figure 2 The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0066] The technical solution of the present invention will be described below with reference to the accompanying drawings.

[0067] Reference Figure 1 As shown, an impeller production line according to one embodiment of the present invention includes: a conveying module 1 extending along the X-axis; at least one turning line 2 extending along the Y-axis, with the unloading side of the turning line 2 positioned above the incoming material side of the conveying module 1; a first six-axis robot 3 positioned adjacent to the unloading side of the conveying module 1; a vertical processing device 4, a broaching machine module 5, and a cleaning module 6, positioned adjacent to the first six-axis robot 3 in the direction of rotation; a second six-axis robot 7, positioned adjacent to the cleaning module 6; a dynamic balancing module 8, and an unloading module 9, positioned adjacent to the second six-axis robot 7 in the direction of rotation. The conveying module 1 and the unloading module 9 can employ devices capable of directionally conveying impellers, such as roller conveyors, sprocket conveyors, or plate chain conveyors. The impeller production line can realize the automated production of impellers. Mechanized production can avoid human errors and reduce labor costs. It has a high degree of automation and does not require manual operation throughout the entire process. It can improve the accuracy of the impeller, ensure the consistency of the impeller leaving the factory, and achieve long-term high-speed continuous operation. At the same time, it can enable multiple devices and multiple turning lines to work in parallel, reducing process switching time and increasing impeller production capacity.

[0068] It should be noted that the turning line 2 in this embodiment takes approximately 8 minutes to produce a semi-finished impeller with both sides machined. The impeller processing time in the broaching module 5, cleaning module 6, and dynamic balancing module 8 is approximately 90 seconds. Furthermore, since transporting the semi-finished impeller requires some time, the impeller production line in this embodiment includes six turning lines 2 spaced apart along the X-axis. Based on this design, multiple turning lines 2 can operate in parallel, increasing production capacity. Of course, if time permits, one or more turning lines 2 can be provided, as long as the time required to produce the semi-finished impeller on the turning line 2 matches the time required to produce the finished impeller after processing in the other modules.

[0069] In the process of producing impellers, it is necessary to turn over the impeller that has been processed on one surface by lathe, and then turn over the other surface of the impeller by lathe. The existing turning method is mainly through manual turning, which is time-consuming, low in production efficiency and high in product defect rate. Figure 2 、 Figure 9 、 Figure 10 As shown, the turning processing line 2 in this embodiment includes a truss 21, a loading module 22, an adjustment mechanism 23, a flip mechanism 24, a first lathe 25, a second lathe 26, and a clamping mechanism 27. The truss 21 is provided with a first slide rail 211 extending along the Y-axis direction; the loading module 22 is arranged below the truss 21 and opposite to the conveying module 1; the adjustment mechanism 23 is slidably mounted on the truss 21 and slidably mounted on the truss 21. The adjustment mechanism 23 includes an X-axis adjustment module 231 slidably mounted on the first slide rail 211 and a Z-axis adjustment module 232 slidably mounted on the X-axis adjustment module 231; the flip mechanism 24 includes a base 241 fixedly mounted below the Z-axis adjustment module 232 and a base 241 extending along the X-axis direction. A first gripper assembly 242 is rotatably mounted in a base 241, and a mounting shaft 2411 is provided on the base 241 along the X-axis direction, and the first gripper assembly 242 is rotatably mounted on the mounting shaft 2411; the first lathe 25 and the second lathe 26 are arranged below the truss 21; the clamping mechanism 27 is fixedly mounted on the truss 21 and is located between the first lathe 25 and the second lathe 26; wherein, the loading module 22, the first lathe 25 and the second lathe 26, and the conveying module 1 are all located below the sliding path of the adjustment mechanism 23.

[0070] The turning mechanism 24 slides to the top of the loading module 22 through the adjustment of the adjustment mechanism 23, grabs the impeller raw material through the first gripper assembly 242, and transfers it to the first lathe 25 for processing the upper surface of the impeller raw material; then grabs the impeller semi-finished product with the processed upper surface, slides to the first side of the clamping mechanism 27 through the adjustment of the adjustment mechanism 23, rotates the first gripper assembly 242 to make it opposite to the clamping mechanism 27 and clamps the impeller raw material through the clamping mechanism 27; then adjusts the adjustment mechanism 23 Slide to the second side of the clamping mechanism 27, rotate the first gripper assembly 242 so that it is arranged opposite to the clamping mechanism 27 and grab the impeller semi-finished product through the first gripper assembly 242; then send the grabbed and flipped impeller semi-finished product to the second lathe 26 through the adjusting mechanism 23 to process the lower surface of the impeller; after processing the lower surface of the impeller, finally slide to the top of the conveying module 1 through the adjustment of the adjusting mechanism 23, and put down the impeller semi-finished product with the processed upper and lower surfaces through the first gripper assembly 242.

[0071] According to this design, the impeller can be automatically grasped and turned, and the turning processing line 2 can continue to operate efficiently and stably, eliminating manual adjustment and handling time, shortening the overall processing cycle, and avoiding cumulative errors caused by manual operation; at the same time, since the mechanical clamping force is controllable, the impeller can be avoided from being bumped, thereby reducing the impeller scrap rate and the possibility of workers being hit or scratched; in addition, the reduction of labor can reduce production costs.

[0072] Reference Figures 3 to 6 As shown, the loading module 22 in this embodiment includes: a base 221; a conveying mechanism 222 is arranged on the base 221; a discharge mechanism 223 is arranged above the conveying mechanism 222, and the discharge mechanism 223 includes a bottom plate 2231 arranged on the conveying mechanism 222, a rotating member 2232 rotatably mounted on the base 221, a support rod 2233 fixedly mounted on the rotating member 2232, a first support plate 2234 and a second support plate 2235 fixedly mounted on the bottom plate 2231, the first support plate 2234 and the second support plate 2235 are respectively provided with a first trough body 22341 and a second trough body 22351 which are different from each other, and the support rod 2233 is sequentially inserted into the first trough body 22341 and the second trough body 22351; the driving mechanism 224 is installed in linkage with the conveying mechanism 222, and is used to drive the conveying mechanism 222 to transport the discharge mechanism 223. Specifically, in this embodiment, there are three support rods 2233, which are arranged in an equilateral triangle to form a storage space for the impeller blank. This allows the impeller blank to fall out of the storage space during the conveying process of the discharge mechanism 223. The support rods 2233 in this embodiment can rotate along their axial direction under the action of the rotating member 2232, thereby changing the size of the storage space to accommodate impeller blanks of different sizes, thereby ensuring production efficiency and reducing production costs.

[0073] The specific method for adjusting the position of the support rod 2233 is to rotate the first support plate 2234. Since the support rod 2233 is inserted into the first slot 22341 and the first slot 22341 on the first support plate 2234 is a curved slot, when the first support plate 2234 is rotated, the support rod 2233 can change its position along the extension direction of the first slot 22341, thereby changing the size of the placement space. Of course, the first slot 22341 in this application can also be a straight slot or a combination of a curved slot and a straight slot, and the second slot 22351 can also be a curved slot, a straight slot, or a combination of the two, all of which should be within the scope of protection of this application.

[0074] In order to lock the position of the support rod 2233 by the first groove body 22341 and the second groove body 22351 to ensure that the position of the support rod 2233 does not change, refer to Figure 5 、 Figure 6 As shown, on the plane of the first groove 22341, the projection of the second groove 22351 partially overlaps with the first groove 22341. In this embodiment, the outer wall of the support rod 2233 abuts the inner wall of the first groove 22341 and the inner wall of the second groove 22351. Due to this design, four points on the support rod 2233 are restricted and cannot rotate with the rotating member 2232.

[0075] Preferably, when the first gripper assembly 242 is used to load the material, in order to ensure that the impeller raw material can be automatically loaded without adjusting the parameters of the first gripper assembly 242, refer to Figure 4 、 Figure 7 、 Figure 8 As shown, the loading module 22 in this embodiment also includes an adjustment mechanism 228 mounted on the base 221. The adjustment mechanism 228 is used to adjust the position of the discharge mechanism 223. The adjustment mechanism 228 can be a linear drive structure such as a pneumatic cylinder or hydraulic cylinder. When the discharge mechanism 223 moves onto the adjustment mechanism 228, the position of the discharge mechanism 223 is adjusted to match the gripping path of the first gripper assembly 242.

[0076] In order to facilitate the conveying of the unloading mechanism 223 by the conveying mechanism 222, refer to Figure 4 、 Figure 7As shown, the transmission mechanism 222 in this embodiment includes a driving sprocket 2221 and a driven sprocket 2222, which are installed in conjunction with the driving mechanism 224, and a chain 2223 meshed with the driving sprocket 2221 and the driven sprocket 2222. The unloading mechanism 223 is installed above the chain 2223. When the output shaft of the driving mechanism 224 rotates, the driving sprocket 2221 is driven to rotate, thereby driving the chain 2223 to rotate. Driven by the chain 2223, the driven sprocket 2222 also rotates, so that the chain 2223 can rotate under the action of the driving mechanism 224. Since the unloading mechanism 223 is placed above the chain 2223, the unloading mechanism 223 can move along the movement direction of the chain 2223 under the drive of the chain 2223.

[0077] To facilitate the conveyance of the discharge mechanism 223, the loading module 22 in this embodiment further includes a rolling unit mounted on the base 221. The rolling unit is disposed outside the chain 2223, with the top of the rolling unit flush with the top of the chain 2223. This design ensures that when the discharge mechanism 223 moves driven by the chain 2223, the bottom of the base plate 2231 contacts the rolling unit, ensuring that the discharge mechanism 223 always remains relatively horizontal and free of vibration, thereby preventing the impeller raw material from falling out of the storage space.

[0078] In order to ensure that the unloading mechanism 223 can be placed on the rolling unit during the conveying process, so that the rolling unit can provide a stable support for it without causing too much impact on the conveying of the unloading mechanism 223, refer to Figure 7 As shown, the rolling unit in this embodiment includes a first rolling unit 2251 and a second rolling unit 2252. The first rolling unit 2251 and the second rolling unit 2252 are arranged in an oblong shape, and the distance between the first rolling unit 2251 and the second rolling unit 2252 is less than or equal to the length of the bottom plate 2231. According to this design, when the unloading mechanism 223 operates on the rolling unit, the base 221 can be located on the first rolling unit 2251 and the second rolling unit 2252.

[0079] Specifically, in order to facilitate the rolling of the roller 22501 unit on the lower surface of the base 221 to ensure smooth and stable transmission of the discharge mechanism 223, refer to Figure 7 As shown, the rolling unit in this embodiment includes a roller 22501 and a bull's eye wheel 22502. The axis of the roller 22501 is set in the horizontal direction, the rollers 22501 are arranged in a straight line, and the bull's eye wheels 22502 are arranged in at least a partial semicircular arc.

[0080] Preferably, refer to Figure 7As shown, the loading module 22 in this embodiment further includes a first limiting plate 2261 mounted above the chain 2223 and two second limiting plates 2262 symmetrically mounted on the outside of the rolling unit. The gap between the two second limiting plates 2262 and the first limiting plate 2261 is less than the length of the bottom plate 2231. Based on this design, the first limiting plates 2261 and the second limiting plates 2262 can limit the bottom plate 2231, thereby limiting the position of the unloading mechanism 223, to prevent it from shifting on the rolling unit or even falling off the rolling unit.

[0081] Optional, see Figure 5 、 Figure 8 As shown, the loading module 22 in this embodiment further includes a lifting mechanism 227, which includes a first driving member 2271, a lifting plate 2272 installed in linkage with the first driving member 2271, two lifting rods 2273 fixedly installed on the lifting plate 2272, and two lifting blocks 2274 fixedly installed on the two lifting rods 2273. The lifting blocks 2274 are arranged above the base 221 and below the second support plate 2235. Because the distance between the two lifting blocks 2274 is greater than the width of the bottom plate 2231 and the diameter of the first support plate 2234, and the distance between the two lifting blocks 2274 is smaller than the diameter of the second support plate 2235, when the lifting blocks 2274 move upward under the drive of the lifting rods 2273, they can drive the second support plate 2235 to move upward, thereby ejecting the impeller raw material upward. The first drive member 2271 can be a linear drive mechanism 224 with a linear drive function, such as a Z-axis servo, stepper, or cylinder, magnetic drive, or hydraulic drive, which can be connected and accepted by those skilled in the art. According to this design, when a sufficient amount of impeller stock is placed on the discharge mechanism 223, the impeller stock can be transported to the next process via the first gripper assembly 242. The impeller stock can then be lifted upward by the lifting mechanism 227 to adapt to the gripping path of the first gripper assembly 242, thereby reducing the loading time.

[0082] Preferably, in order to facilitate automatic sensing, impeller wool is placed in the placement space, referring to Figure 4 As shown, the loading module 22 in this embodiment also includes a sensing mechanism 229. The sensing mechanism 229 includes a first fixing rod 2291 and a second fixing rod 2292 mounted on the base 221, and a transmitter 2293 and a receiver 2294 mounted on the first fixing rod 2291 and the second fixing rod 2292, respectively. The distance between the first fixing rod 2291 and the second fixing rod 2292 is greater than the maximum horizontal dimension of the base plate 2231. According to this design, the transmitter 2293 emits light to determine whether the receiver 2294 receives the light. If the light is received, the discharge mechanism 223 has not yet placed a sufficient amount of impeller stock. If the light is not received, the discharge mechanism 223 has placed a sufficient amount of impeller stock.

[0083] In order to cooperate with the lifting mechanism 227 so as to lift the impeller raw material into place, refer to Figure 4 、 Figure 8 As shown, in this embodiment, the transmitter 2293 and the receiver 2294 are at the same height. There are two sets of transmitters 2293 and receivers 2294. The height of the uppermost transmitter 2293 and receiver 2294 is less than or equal to the height of the support rod 2233, and the height of the lowermost transmitter 2293 and receiver 2294 is greater than the height of the second support plate 2235. When the uppermost receiver 2294 receives the light emitted by the transmitter 2293, the lifting mechanism 227 does not lift the impeller blank into place. When the uppermost receiver 2294 receives the light emitted by the transmitter 2293, the lifting mechanism 227 lifts the impeller blank into place.

[0084] Reference Figure 10 As shown, the first gripper assembly 242 in this embodiment includes a rotatably mounted first mounting base 2421, a turntable 2422 arranged along the Y-axis, a first mounting plate 2423 fixedly mounted on the turntable 2422, and a first gripper 2424 mounted on the first mounting plate 2423. There is at least one first gripper 2424. Specifically, the length of the first mounting plate 2423 in this embodiment is arranged along the X-axis. Two first grippers 2424 are provided, parallel to each other at the ends of the first mounting plate 2423. To prevent collision between the first gripper assembly 242 and the base 241, a gap is provided between the first mounting plate 2423 and the lower end of the base 241 when the first gripper assembly 242 is rotated toward the loading module 22 or the conveying module 1. Of course, multiple first grippers 2424 may be provided. The first grippers 2424 may be pneumatic grippers.

[0085] Optionally, the lower end of the base 241 in this embodiment is configured in an arc shape so that the first gripping assembly 242 collides with the base 241 when rotating.

[0086] In order to ensure that the first gripper assembly 242 can be positioned toward the material clamping mechanism 27 when the flip mechanism 24 slides to both sides of the material clamping mechanism 27, the rotation angle of the first gripper assembly 242 in this embodiment is equal to 180 degrees. Of course, the same technical effect can be achieved when the rotation angle of the first gripper assembly 242 is greater than 180 degrees, which is also within the scope of protection of this application.

[0087] Reference Figure 11As shown, the clamping mechanism 27 in this embodiment includes a base frame 271 fixedly mounted on the truss 21, a second slide rail 272 fixedly mounted on the base frame 271 and arranged along the Z-axis direction, a second driving member 273 arranged along the Z-axis direction, and two clamping members 274, one of the two clamping members 274 is fixedly mounted on the output shaft of the second driving member 273 and slidably mounted on the second slide rail 272, and the other clamping member 274 is fixedly mounted on the truss 21 and located below the one clamping member 274, forming a clamping space between the two clamping members 274. According to this design, through the adjustment of the second driving member 273, the clamping member 274 installed on the second driving member 273 can move downward, thereby gradually approaching the other clamping member 274, so that the distance between the two is slightly larger than the size of the impeller clamping position, so as to firmly and tightly clamp the impeller. Among them, the second driving member 273 can be a linear driving mechanism 224 with linear driving function such as Z-axis servo, stepping or cylinder, magnetic drive, hydraulic drive, etc., which can be connected and accepted by those skilled in the art.

[0088] Since the impeller semi-finished products that have been lathe-machined on one side are often clamped, the side surfaces of these impeller semi-finished products are cylindrical. Therefore, in order to facilitate the secure clamping of the impeller by the two clamping members 274, Figure 11 As shown, the clamping member 274 in this embodiment includes a connecting arm 2741 extending along the X-axis direction and a stopper 2742 mounted on the connecting arm 2741. The stoppers 2742 of the two clamping members 274 are arranged opposite each other. The stoppers 2742 include a first surface and a second surface that are arranged opposite each other. The first surface is connected to the connecting arm 2741, and the second surface is provided with a recessed portion 27411. According to this design, the side of the impeller is in close contact with the recessed portion 27411, so that the impeller can be clamped by the two clamping members 274.

[0089] Furthermore, the recessed portion 27411 in this embodiment includes a first surface 274111 and a second surface 274112, both of which are planar. Of course, if one of the first surface 274111 and the second surface 274112 is planar and the other is curved, or both are curved, or one or both are a combination of a planar and a curved surface, all fall within the scope of protection of this application.

[0090] Specifically, refer to Figure 9As shown, the X-axis adjustment module 231 in this embodiment includes a slider 2311 slidably mounted on the first slide rail 211, a third driving member 2312 fixedly mounted on the slider 2311, and a third slide rail 2313 slidably mounted in the slider 2311. The third slide rail 2313 extends along the X-axis, and the Z-axis adjustment module 232 is fixedly mounted at the end of the third slide rail 2313. A first rack extending along the X-axis is provided on the third slide rail 2313, and a first gear is provided on the output shaft of the third driving member 2312. The first gear meshes with the first rack to enable the third slide rail 2313 to slide along the X-axis. The Z-axis adjustment module 232 in this embodiment includes a connecting block 2321 fixedly mounted on the X-axis adjustment module 231, a fourth driving member 2322 fixedly mounted on the connecting block 2321, a fourth slide rail 2323 slidably mounted in the connecting block 2321, and the fourth slide rail 2323 extending along the Z-axis. The flip mechanism 24 is fixedly mounted at the lower end of the fourth slide rail 2323. The fourth slide rail 2323 is provided with a second rack extending along the Z-axis. The output shaft of the fourth driving member 2322 is provided with a second gear, which meshes with the second rack to enable the fourth slide rail 2323 to slide along the Z-axis. With this design, the overall position of the X-axis adjustment module 231 along the Y-axis can be adjusted by sliding the slider 2311; the overall position of the Z-axis adjustment module 232 along the X-axis can be adjusted by sliding the third slide rail 2313; and the overall position of the flip mechanism 24 along the Z-axis can be adjusted by sliding the fourth slide rail 2323.

[0091] The third driving member 2312 can be a rotary drive mechanism 224 having a rotational drive function, such as a DC motor, an AC asynchronous motor, or an AC synchronous motor, which can be connected and accepted by those skilled in the art. The fourth driving member 2322 can be a rotary drive mechanism 224 having a rotational drive function, such as a DC motor, an AC asynchronous motor, or an AC synchronous motor, which can be connected and accepted by those skilled in the art.

[0092] In order to grab the impeller semi-finished product or the impeller finished product by the first six-axis robot 3 and the second six-axis robot 7, refer to Figure 12 As shown, in this embodiment, a second gripper assembly 31 is mounted on the end interfaces of the first six-axis robot 3 and the second six-axis robot 7. This second gripper assembly 31 comprises a second mounting base 311 rotatably mounted on the end interfaces, a second mounting plate 312 vertically mounted on the second mounting base 311, and two second grippers 313 oppositely positioned on the second mounting plate 312. The second grippers 313 may be pneumatic grippers. The second six-axis robot 7 has the same structure as the first six-axis robot 3 and will not be further described here.

[0093] It should be noted that in order to achieve fast, efficient and stable automated production, the impeller production line needs to be started and run for a period of time so that the first lathe 25 has a first semi-finished product, the second lathe 26 has a second semi-finished product, the vertical processing device 4 has a third semi-finished product, the broaching machine module 5 has a fourth semi-finished product, the cleaning module 6 has a fifth semi-finished product, and the dynamic balancing module 8 has a finished product. During this period, the first gripper 2424 and the second gripper 313 will have no load. In summary, the workflow of the impeller production line in the present invention is as follows:

[0094] S1. The turning mechanism 24 is transported to the top of the loading module 22 through the adjusting mechanism 23, so that the rough material is placed on the first gripper 2424. The rough material is transported to the top of the first lathe 25, so that the other first gripper 2424 grabs the first semi-finished product, and then the rough material on the first gripper 2424 is placed down.

[0095] S2. The first semi-finished product is transported to the side of the clamping mechanism 27 by the adjusting mechanism 23. After the first semi-finished product is turned over, a first gripper 2424 grabs the turned-over first semi-finished product.

[0096] S3. The turned-over first semi-finished product is transported to the top of the second lathe 26 through the adjusting mechanism 23, so that the other first gripper 2424 grabs the second semi-finished product, and then the turned-over first semi-finished product is placed on the first gripper 2424;

[0097] S4. The second semi-finished product is transported to the transport module 1 through the adjustment mechanism 23 (the six turning processing lines 2 transport the second semi-finished product to the transport module 1 at the same time);

[0098] S5. Transport the second semi-finished product to the gripping area of ​​the first six-axis robot 3 through the conveying module 1;

[0099] S6. Using the first six-axis robot 3, the second gripper 312 of the first six-axis robot 3 grasps the second semi-finished product, moves the second semi-finished product to the vertical processing device 4, grasps the third semi-finished product therein, and then places the second semi-finished product.

[0100] S7. Move the third semi-finished product to the broaching machine module 5 via the first six-axis robot 3, grab the fourth semi-finished product therein, and then place the third semi-finished product down;

[0101] S8. Move the fourth semi-finished product to the cleaning module 6 by the first six-axis robot 3, grab the fifth semi-finished product therein, and then put down the fourth semi-finished product;

[0102] S9. Using the second six-axis robot 7, the second gripper 312 of the first six-axis robot 3 grabs the fifth semi-finished product, moves the fifth semi-finished product to the dynamic balancing module 8, grabs the finished product therein, and then puts the fifth semi-finished product down;

[0103] S10 , transporting the finished product to the unloading module 9 via the second six-axis robot 7 .

[0104] It should be noted that the structures and working principles not elaborated in detail in the present application, such as the vertical processing device 4, the broaching machine module 5, the cleaning module 6, the dynamic balancing module 8, and the unloading module, can adopt existing solutions in the prior art, which can be understood and accepted by those skilled in the art, so they will not be elaborated on.

[0105] In the description of the embodiments of the present invention, it should be understood that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, or are the orientation or position relationship in which the product of the application is conventionally placed when in use, or are the orientation or position relationship conventionally understood by those skilled in the art. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0106] In the description of the embodiments of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections, indirect connections through an intermediate medium, or internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0107] In the description of the embodiments of the present invention, it should be noted that the terms "first", "second", etc. used herein do not specifically refer to order or sequence, nor are they used to limit the present case. They are only used to distinguish components or operations described with the same technical terms.

[0108] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0109] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An impeller production line, characterized in that: The impeller production line includes: The conveying module (1) is extended along the X-axis direction; At least one turning processing line (2) is extended along the Y-axis direction, and the unloading side of the turning processing line (2) is arranged above the incoming side of the conveying module (1); A first six-axis robot (3) is arranged beside the unloading side of the conveying module (1); A vertical processing device (4), a broaching machine module (5), and a cleaning module (6) are sequentially arranged beside the first six-axis robot (3) along the rotation direction of the first six-axis robot (3); a second six-axis robot (7), arranged beside the cleaning module (6); A dynamic balancing module (8) and a blanking module (9) are sequentially arranged beside the second six-axis robot (7) along the rotation direction of the second six-axis robot (7); the turning processing line (2) includes: The truss (21) is provided with a first slide rail (211) extending along the Y-axis direction; A loading module (22) is arranged below the truss (21) and opposite to the conveying module (1); An adjusting mechanism (23) is slidably mounted on the truss (21), and is slidably mounted on the truss (21), wherein the adjusting mechanism (23) comprises an X-axis adjusting module (231) slidably mounted on the first slide rail (211) and a Z-axis adjusting module (232) slidably mounted on the X-axis adjusting module (231); A turning mechanism (24) comprises a base (241) fixedly mounted below the Z-axis adjustment module (232), and a first gripper assembly (242) rotatably mounted in the base (241) along the X-axis direction; A first lathe (25) and a second lathe (26) are arranged below the truss (21); A material clamping mechanism (27) is fixedly mounted on the truss (21) and is located between the first lathe (25) and the second lathe (26); wherein, The loading module (22), the first lathe (25), the second lathe (26), and the conveying module (1) are all located below the sliding path of the adjustment mechanism (23); The first gripper assembly (242) comprises a rotatably mounted first mounting seat (2421), a turntable (2422) rotatably arranged along the Y-axis direction, a first mounting plate (2423) fixedly mounted on the turntable (2422), and a first gripper (2424) mounted on the mounting plate, wherein the first gripper (2424) is provided with at least one; The clamping mechanism (27) includes a base frame (271) fixedly mounted on the truss (21), a second slide rail (272) fixedly mounted on the base frame (271) and arranged along the Z-axis direction, a second driving member (273) arranged along the Z-axis direction, and two clamping members (274), one of the two clamping members (274) is fixedly mounted on the output shaft of the second driving member (273) and slidably mounted on the second slide rail (272), and the other clamping member (274) is fixedly mounted on the truss (21) and located below one clamping member (274), and a clamping space is formed between the two clamping members (274).

2. The impeller production line according to claim 1, characterized in that: The loading module (22) comprises: Base (221); A transmission mechanism (222) is provided on the base (221); A material discharge mechanism (223) is arranged above the conveying mechanism (222), and the material discharge mechanism (223) includes a base plate (2231) arranged on the conveying mechanism (222), a rotating member (2232) rotatably mounted on the base (221), a support rod (2233) fixedly mounted on the rotating member (2232), a first support plate (2234) and a second support plate (2235) fixedly mounted on the base plate (2231), wherein the first support plate (2234) and the second support plate (2235) are respectively provided with a first trough body (22341) and a second trough body (22351) different from each other, and the support rod (2233) is sequentially inserted into the first trough body (22341) and the second trough body (22351); The driving mechanism (224) is installed in linkage with the conveying mechanism (222) and is used to drive the conveying mechanism (222) to transport the discharge mechanism (223).

3. The impeller production line according to claim 2, characterized in that: On the plane where the first trough body (22341) is located, the projection of the second trough body (22351) partially overlaps with the first trough body (22341), and the outer wall of the support rod (2233) abuts against the inner wall of the first trough body (22341) and the inner wall of the second trough body (22351); and / or, The first groove body (22341) and / or the second groove body (22351) is a curved groove, a straight groove, or a combination of the two.

4. The impeller production line according to claim 2, characterized in that: The loading module (22) also includes a lifting mechanism (227), the lifting mechanism (227) includes a first driving member (2271), a lifting plate (2272) installed in linkage with the first driving member (2271), two lifting rods (2273) fixedly installed on the lifting plate (2272), and two lifting blocks (2274) fixedly installed on the two lifting rods (2273), respectively. The lifting blocks (2274) are arranged above the base (221) and below the second support plate (2235). The distance between the two lifting blocks (2274) is greater than the width of the bottom plate (2231) and the diameter of the first support plate (2234), and the distance between the two lifting blocks (2274) is less than the diameter of the second support plate (2235).

5. The impeller production line according to claim 2, characterized in that: The loading module (22) further includes a sensing mechanism (229), the sensing mechanism (229) including a first fixed rod (2291) and a second fixed rod (2292) mounted on the base (221), and a transmitter (2293) and a receiver (2294) mounted on the first fixed rod (2291) and the second fixed rod (2292), respectively, wherein the distance between the first fixed rod (2291) and the second fixed rod (2292) is greater than the maximum dimension of the bottom plate (2231) in the horizontal direction.

6. The impeller production line according to claim 1, characterized in that: The clamping member (274) includes a connecting arm (2741) extending along the X-axis direction and a limit block (2742) installed on the connecting arm (2741). The limit blocks (2742) of the two clamping members (274) are arranged opposite to each other. The limit blocks (2742) include a first surface and a second surface arranged opposite to each other. The first surface is connected to the connecting arm (2741), and a recessed portion (27411) is provided on the second surface.

7. The impeller production line according to claim 1, characterized in that: The impeller production line comprises six turning processing lines (2) arranged at intervals along the X-axis direction.

8. The impeller production line according to claim 1, characterized in that: A second gripper assembly (31) is installed on the end interface of the first six-axis robot (3) and / or the second six-axis robot (7), and the second gripper assembly (31) includes a second mounting seat (311) rotatably mounted on the end interface, a second mounting plate (312) vertically mounted on the second mounting seat (311), and two second grippers (313) arranged opposite to each other on the second mounting plate (312).

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