Automatic Feeding System for Spraying Line Parts

Abstract

An automatic feeding system for parts of a spraying line, comprising: a fixture conveying line, a part conveying line, and a pre-spraying conveying line, which are respectively used for conveying fixtures, parts to be sprayed, and fixtures with parts to be sprayed; a fixture transfer robot, a part transfer robot, and a loading transfer robot. The fixture transfer robot transfers the fixtures, the part transfer robot transfers the parts to be sprayed and can hang the parts to be sprayed on the fixtures, and finally the loading transfer robot transfers the fixtures with parts to be sprayed to the pre-spraying conveying line to complete the automatic hanging operation of the parts to be sprayed. Through the collaborative conveying of fixtures and parts to be sprayed by each conveying line, the present invention can achieve the full-automatic operation of part hanging. The present invention is applied to the hanging operation before the spraying of the air conditioner outdoor unit chassis, and can solve the problem of waste of human resources in the spraying process of the air conditioner outdoor unit chassis.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic loading, and more specifically, to an automatic loading system for parts on a spraying line. Background Art

[0002] The chassis of an outdoor air conditioner is a component used to install the outdoor unit. After the chassis of the outdoor air conditioner is stamped and formed, its appearance needs to be sprayed to make it have high corrosion resistance to meet the requirements for outdoor use.

[0003] For the spraying operation of the chassis of an outdoor air conditioner, currently in the industry, the chassis is manually hung on a dynamic jig, and then the chassis of the outdoor air conditioner follows the jig to run to the spraying chamber for spraying. Since the hanging pins on the dynamic jig are relatively thin (with a diameter of 2 mm), and the hanging holes on the chassis of the outdoor air conditioner are relatively small (with a diameter of 5 mm), the chassis of the outdoor air conditioner is suspended on the hanging pins of the jig. In this way, only the degree of freedom of the chassis of the outdoor air conditioner in the negative Z-axis direction is fixed, while the jig always maintains a moving state along with the suspension chain, and only the degree of freedom in the negative Z-axis direction is fixed. This results in unstable suspension of the chassis of the outdoor air conditioner on the jig. In addition, the structures of the hanging pins and the hanging holes are relatively small, making the suspension operation of the chassis of the outdoor air conditioner difficult, and a large amount of human resources are required for the suspension operation of the chassis of the outdoor air conditioner, which causes a problem of waste of human resources in the spraying process of the chassis of the outdoor air conditioner. Summary of the Invention

[0004] In view of the above problems in the prior art, the present invention provides an automatic loading system for parts on a spraying line. In this automatic loading system for parts on a spraying line, the present invention provides a jig conveyor line, a part conveyor line, and a pre-spray conveyor line, which are respectively used to convey jigs, parts to be sprayed, and jigs with parts to be sprayed suspended thereon. While providing multiple conveyor lines, the present invention also provides a jig transfer robot, a part transfer robot, and an on-line transfer robot. The jig transfer robot transfers the jigs, the part transfer robot transfers the parts to be sprayed and can suspend the parts to be sprayed on the jigs, and finally the on-line transfer robot transfers the jigs with parts to be sprayed suspended thereon to the pre-spray conveyor line to complete the automatic suspension operation of the parts to be sprayed. The present invention details the operation of suspending the parts to be sprayed on the jigs, sets corresponding robots for each action node to complete the operation, and through the cooperation of each conveyor line for conveying, can realize the fully automatic operation of part suspension. The present invention is applied to the suspension operation before spraying the chassis of an outdoor air conditioner, and can solve the problem of waste of human resources in the spraying process of the chassis of the outdoor air conditioner.

[0005] The present invention provides an automatic loading system for parts on a spraying line. The automatic loading system for parts on the spraying line includes: a jig for hanging parts to be sprayed; a jig conveying line for conveying the jig, and the jig can be detachably placed on the jig conveying line; a jig transfer robot for transferring the jig; a part conveying line for conveying parts to be sprayed; a part transfer robot for transferring parts to be sprayed and cooperating with the jig transfer robot to complete the hanging of parts to be sprayed on the jig; a pre-spray conveying line for conveying the jig with parts to be sprayed to the spraying point; an on-line transfer robot for transferring the jig with parts to be sprayed to the pre-spray conveying line; a controller, which is connected to the jig conveying line, the jig transfer robot, the part conveying line, the part transfer robot and the pre-spray conveying line for controlling, and is used to realize the orderly operation of the loading system.

[0006] In an embodiment of the present invention, it further includes: a jig positioning rack for positioning and temporarily placing the jig transferred from the jig conveying line by the jig transfer robot.

[0007] In an embodiment of the present invention, it further includes: a jig positioning device for positioning the jig on the jig positioning rack and capable of acquiring the position information of the jig on the jig positioning rack, and the jig positioning device is signal-connected to the controller; a part positioning device for positioning the part transferred from the part conveying line by the part transfer robot and capable of acquiring the position information of the part to be sprayed, and the part positioning device is signal-connected to the controller.

[0008] In an embodiment of the present invention, the jig positioning device is a photographing positioning system, and the part positioning device is a photographing positioning system.

[0009] In an embodiment of the present invention, it further includes: a pre-jig detection device arranged on the jig conveying line for detecting whether there is a jig conveyed on the jig conveying line, and the pre-jig detection device is signal-connected to the controller.

[0010] In an embodiment of the present invention, it further includes: a part detection device arranged on the part conveying line for detecting whether there is a part conveyed on the part conveying line, and the part detection device is signal-connected to the controller.

[0011] In an embodiment of the present invention, it further includes: a post hanger detection device, which is arranged on the pre-spraying conveyor line and is used to detect whether there is a hanger being conveyed on the pre-spraying conveyor line. The post hanger detection device is signal-connected to the controller.

[0012] In an embodiment of the present invention, the hanger conveyor line includes a conveyor chain that can be controlled to operate. Suspension rods are arranged on the conveyor chain, and the hanger can be suspended on the suspension rods.

[0013] In an embodiment of the present invention, the part conveyor line includes a conveying bottom rail and side guard rails. Two side guard rails are provided and are respectively arranged on both sides of the upper part of the conveying bottom rail.

[0014] In an embodiment of the present invention, the conveying bottom rail is a belt-type conveying track.

[0015] In an embodiment of the present invention, the part conveyor line further includes protective blocks. The protective blocks are arranged at the starting ends of the side guard rails, and the two protective blocks arranged on the two side guard rails form a reduced-opening structure.

[0016] In an embodiment of the present invention, it further includes: a part position adjustment device, which is arranged at the end of the part conveyor line and is used to adjust the position of the parts to be sprayed conveyed on the part conveyor line. The part position adjustment device is controlled and connected to the controller.

[0017] In an embodiment of the present invention, the hanger includes a vertical rod, a hanging ring and a hanging rod. The hanging ring is arranged at the top of the vertical rod. Two hanging rods are provided, one of the hanging rods is arranged in the middle of the vertical rod, and the other hanging rod is arranged at the bottom of the vertical rod. The upper hanging position and the lower hanging position are formed by the two hanging rods.

[0018] In an embodiment of the present invention, the hanger transfer robot and the part transfer robot are arranged in a supporting manner with one part conveyor line and form a set of automatic hanger assemblies; two sets of the automatic hanger assemblies are provided, which are respectively used to hang the parts to be sprayed on the upper hanging position and the lower hanging position of the hanger.

[0019] In an embodiment of the present invention, the hanger transfer robot is a six-axis robot; the part transfer robot is a six-axis robot; the on-line transfer robot is a six-axis robot.

[0020] In an embodiment of the present invention, the hanger positioning frame includes a hanger positioning block, and a positioning slot for positioning the vertical rod of the hanger is arranged on the hanger positioning block.

[0021] In an embodiment of the present invention, the fixture positioning frame includes a mounting cross bar fixed relative to the positioning block, and the fixture positioning device is fixedly arranged on the mounting cross bar.

[0022] In an embodiment of the present invention, it further includes: a gantry frame, and the part positioning device is arranged on the gantry frame.

[0023] The beneficial effects are as follows:

[0024] The present invention discloses an automatic feeding system for parts of a spraying line. In the present invention, the automatic feeding system for parts of the spraying line includes components such as a fixture, a fixture conveying line, a fixture transfer robot, a part conveying line, a part transfer robot, a pre-spraying conveying line, an on-line transfer robot, and a controller. Among them, the fixture conveying line, the part conveying line, and the pre-spraying conveying line are respectively used for conveying the fixture, the parts to be sprayed, and the fixture with the parts to be sprayed suspended thereon. The fixture transfer robot, the part transfer robot, and the on-line transfer robot can respectively transfer the fixture, the parts to be sprayed, and the fixture with the parts to be sprayed suspended thereon by the fixture transfer robot. The present invention refines the operation of suspending the parts to be sprayed onto the fixture, sets corresponding robots for each action node to complete the operation, and through the cooperation of each conveying line for conveying, it can realize the fully automatic operation of part suspension. The present invention is applied to the suspension operation before spraying the chassis of an air conditioner outdoor unit, and can solve the problem of waste of human resources in the spraying process of the chassis of an air conditioner outdoor unit.

[0025] Furthermore, the present invention also provides a fixture positioning device and a part positioning device. The fixture positioning device is used to position the fixture on the fixture positioning device and can obtain the position information of the fixture on the fixture positioning device. The part positioning device is used to position the parts transferred from the part conveying line by the part transfer robot and can obtain the position information of the parts to be sprayed. Through the above two sets of position information, the part transfer robot can perform position adjustment, so that the chassis of the air conditioner outdoor unit can be accurately suspended onto the fixture. The present invention can realize the rapid feeding of four chassis of air conditioner outdoor units suspended on one fixture through the transfer robot (six-axis robot) and the positioning device (vision system), and preferably ensures the production efficiency.

[0026] The above technical features can be combined in various suitable ways or replaced by equivalent technical features as long as the purpose of the present invention can be achieved. Description of the Drawings

[0027] Hereinafter, the present invention will be described in more detail based on the embodiments and with reference to the drawings. Among them:

[0028] Figure 1Shows the structural schematic diagram of the automatic loading system for parts on the spraying line in the embodiment of the present invention;

[0029] Figure 2 Shows the structural schematic diagram of the fixture positioning frame in the embodiment of the present invention;

[0030] Figure 3 Shows the structural schematic diagram of the fixture being transferred to the fixture positioning frame in the embodiment of the present invention;

[0031] Figure 4 Shows the structural schematic diagram of the fixture being transferred to the fixture positioning frame and hanging with parts to be sprayed in the embodiment of the present invention;

[0032] Figure 5 Shows the structural schematic diagram of the part conveyor line in the embodiment of the present invention;

[0033] Figure 6 Shows the structural schematic diagram of the part positioning device arranged on the gantry frame in the embodiment of the present invention.

[0034] List of reference numerals:

[0035] 1 - Fixture conveyor line; 2 - Fixture transfer robot; 3 - Part conveyor line; 4 - Part transfer robot; 5 - Conveyor line before spraying; 6 - Loading transfer robot; 7 - Fixture positioning frame; 8 - Fixture positioning device; 9 - Part positioning device; 10 - Suspension rod; 11 - Conveyor bottom rail; 12 - Side guard rail; 13 - Protection block; 14 - Fixture positioning block; 15 - Installation cross bar; 16 - Gantry frame; 17 - Vertical rod; 18 - Hoop; 19 - Suspension rod.

[0036] In the drawings, the same components are denoted by the same reference numerals. The drawings are not drawn to actual scale. Detailed implementation manners

[0037] The present invention will be further described below with reference to the drawings.

[0038] Please refer to Figures 1 to 6 , wherein, Figure 1 Shows the structural schematic diagram of the automatic loading system for parts on the spraying line in the embodiment of the present invention; Figure 2 Shows the structural schematic diagram of the fixture positioning frame in the embodiment of the present invention; Figure 3 Shows the structural schematic diagram of the fixture being transferred to the fixture positioning frame in the embodiment of the present invention; Figure 4 Shows the structural schematic diagram of the fixture being transferred to the fixture positioning frame and hanging with parts to be sprayed in the embodiment of the present invention; Figure 5 Shows the structural schematic diagram of the part conveyor line in the embodiment of the present invention; Figure 6 Shows the structural schematic diagram of the part positioning device arranged on the gantry frame in the embodiment of the present invention.

[0039] The present invention provides an automatic loading system for parts on a spraying line, which is used for orderly conveying the parts to be sprayed. Further, the present invention is preferably applied to the automatic loading before spraying of the chassis of an air conditioner outdoor unit.

[0040] The automatic loading system for parts on the spraying line provided by the present invention includes the following components:

[0041] The first part: the jig

[0042] The jig is a component for hanging the parts to be sprayed. The jig is mainly designed for the chassis of the air conditioner outdoor unit. The jig includes a vertical rod 17, and a suspension ring 18 is arranged at the top end of the vertical rod 17. Through the suspension ring 18, the jig can be suspended on the jig conveying line 1. A suspension rod 19 is vertically arranged with respect to the vertical rod 17. There are two suspension rods 19 arranged on the vertical rod 17, one is located in the middle or upper middle part of the vertical rod 17 (close to the suspension ring 18), and the other is located at the bottom end of the vertical rod 17. A hook is arranged at each end of the suspension rod 19, and one hook can hang one chassis of the air conditioner outdoor unit. In this way, one jig can hang four chassis of the air conditioner outdoor unit, where two chassis of the air conditioner outdoor unit are hung at both ends of the upper suspension rod 19, and the other two chassis of the air conditioner outdoor unit are hung at both ends of the lower suspension rod 19.

[0043] In the jig, the vertical rod 17, the suspension rod 19 and the suspension ring 18 can be made of plastic or metal materials. No matter which material is used, it should be ensured that the vertical rod 17, the suspension rod 19 and the suspension ring 18 have high structural strength to ensure the reliability of the jig in use.

[0044] Preferably, in the present invention, the vertical rod 17 and the suspension rod 19 are made of stainless steel materials. The suspension rod 19 is welded to the vertical rod 17. The suspension ring 18 is made of plastic. The suspension ring 18 is installed at the top end of the vertical rod 17 by means of threaded connection. The hook arranged at the end of the suspension rod 19 is made of stainless steel, and the suspension rod 19 is welded at the end of the suspension rod 19. Of course, the hook can also be formed directly on the suspension rod 19 by means of bending or the like.

[0045] The second part: the jig conveying line 1

[0046] The jig conveying line 1 is a device for realizing the conveyance of the jig. The jig conveying line 1 is used for conveying the jig, and the jig can be detachably placed on the jig conveying line 1.

[0047] In the present invention, the jig conveying line 1 includes a conveying chain that operates under control. Suspension rods 10 are arranged on the conveying chain, and the jig can be suspended on the suspension rods 10. The above-mentioned operation under control means that the operation of the conveying chain is controlled to act, so as to realize the precise conveyance of the jig on the conveying chain.

[0048] The conveying chain is a closed loop chain. The suspension rods 10 arranged on the conveying chain can reciprocate with the conveying chain. When the fixture suspends the air conditioner outdoor unit chassis and hoists it onto the suspension rod 10, it can circumferentially move along a certain direction with the conveying chain, so that the air conditioner outdoor unit chassis is conveyed to the spraying point for spraying. The air conditioner outdoor unit chassis that has completed the spraying operation is removed from the fixture, and the fixture moves circumferentially along the opposite direction to the previous one with the conveying chain, and is conveyed back to the fixture transfer robot 2 to continue the next operation of suspending the air conditioner outdoor unit chassis.

[0049] Preferably, the conveying chain adopts a chain conveying system. As a mature conveying method, the chain conveying system can not only achieve precise conveying, but also has the advantages of adjustable conveying speed, simple structure, reliable use, etc.

[0050] Of course, other linear conveying systems can also be used as the fixture conveying line 1 in the present invention. For example, a belt conveying system, a lead screw conveying system, etc.

[0051] As can be seen from the above, the fixture is arranged on the conveying chain in a separable installation manner, so as to facilitate the robot to remove the fixture from the conveying chain or suspend the fixture on the conveying chain. A lifting ring is arranged on the fixture in the present invention. Correspondingly, a suspension bracket is arranged on the conveying chain, and the fixture is hung into the suspension bracket through the lifting ring.

[0052] Specifically, the suspension bracket has an L-shaped structure. One end of the suspension bracket is fixedly arranged on the conveying chain and can move with the conveying chain. The other end of the suspension bracket forms a platform for the lifting ring to be hung into. In order to prevent the fixture from falling off the suspension bracket when moving with the conveying chain, the present invention optimizes the structure of the platform on the suspension bracket, and a groove structure is arranged on the upper side of the platform of the suspension bracket. After the lifting ring is installed on the platform, it can be stuck in the groove structure of the platform, which can not only position the suspension of the fixture on the suspension bracket, but also improve the stability of the fixture suspended on the suspension bracket.

[0053] The suspension brackets are arranged on the conveying chain at equal intervals, which is convenient for the programming of the control program to realize the full-automatic control of the present invention.

[0054] Part III. Part conveying line 3

[0055] The part conveying line 3 is used to convey the parts to be sprayed. In the present invention, the part to be sprayed is the air conditioner outdoor unit chassis. The air conditioner outdoor unit chassis is a flat rectangular plate structure. Therefore, in view of the structural characteristics of the air conditioner outdoor unit chassis, the present invention designs the structure of the part conveying line 3: The part conveying line 3 includes a conveying bottom rail 11 and side guard rails 12. Two side guard rails 12 are arranged on the upper part of the conveying bottom rail 11 and are located on both sides of the conveying bottom rail 11.

[0056] When the chassis of the outdoor unit of the air conditioner is conveyed on the part conveyor line 3, the chassis of the outdoor unit of the air conditioner is placed vertically. Moreover, one end of the wide side of the chassis of the outdoor unit of the air conditioner is placed on the conveying bottom rail 11, and the chassis of the outdoor unit of the air conditioner is clamped between two side guard rails 12. The side guard rails 12 keep the chassis of the outdoor unit of the air conditioner from tilting or overturning on the conveying bottom rail 11.

[0057] Specifically, the conveying bottom rail 11 is a belt conveying system with a width slightly larger than the thickness of the chassis of the outdoor unit of the air conditioner. Mounting posts are arranged on both sides of the conveying bottom rail 11. The side guard rails 12 are bolted to the mounting posts by angle irons or other structural profiles. There are two side guard rails 12, and the two side guard rails 12 are arranged at intervals on the upper side of the conveying bottom rail 11, which can improve the effect of stabilizing the chassis of the outdoor unit of the air conditioner.

[0058] When the chassis of the outdoor unit of the air conditioner is conveyed on the conveying bottom rail 11, it will contact the side guard rails 12. In order to avoid damage to the chassis of the outdoor unit of the air conditioner caused by contact friction with the side guard rails 12 and at the same time protect the side guard rails 12, the present invention can set a protective layer on the inner side surface (the side surface that may contact the chassis of the outdoor unit of the air conditioner) of the side guard rails 12. The protective layer can be a plastic layer or a rubber layer. Or, the present invention can set rollers on the inner side surface of the side guard rails 12, so that the contact between the chassis of the outdoor unit of the air conditioner and the side guard rails 12 is a rolling contact, which can also play a role in reducing friction.

[0059] The distance between the two side guard rails 12 is slightly larger than the thickness of the chassis of the outdoor unit of the air conditioner. If the distance between the two side guard rails 12 is small, when the chassis of the outdoor unit of the air conditioner is placed on the conveying bottom rail 11, it will inevitably hit the end of the side guard rail 12. In order to more conveniently load the chassis of the outdoor unit of the air conditioner onto the conveying bottom rail 11, the present invention sets a protective block 13 at the end of the side guard rail 12. The protective block 13 is a rubber profile, which adopts a wedge-shaped structure and is fixed to the end of the side guard rail 12 by bolts. Further, the protective block 13 is arranged at the starting end of the side guard rail 12, and the two protective blocks 13 arranged on the two side guard rails 12 form a reduced-opening structure. After the protective block 13 is set on the side guard rail 12, the opening structure at the end of the side guard rail 12 is enlarged, thus facilitating the loading of the chassis of the outdoor unit of the air conditioner.

[0060] In an embodiment of the present invention, the conveying bottom rail 11 is a belt-type conveying track.

[0061] In another embodiment of the present invention, the conveying bottom rail 11 is a roller conveying track.

[0062] Part Four, Conveyor Line 5 before Spraying

[0063] The pre - spraying conveyor line 5 is used to convey the jig hanging the parts to be sprayed (the chassis of the outdoor unit of the air conditioner) to the spraying point. In the present invention, the structure of the pre - spraying conveyor line 5 is the same as that of the jig conveyor line 1, and its specific structure will not be described here.

[0064] In the present invention, the pre - spraying conveyor line 5 can be an extension of the jig conveyor line 1, that is, the length of the jig conveyor line 1 is extended, and the extended part serves as the pre - spraying conveyor line 5. Or, the jig conveyor line 1 is set in two sections, one section is the jig conveyor line 1, and the other section is the pre - spraying conveyor line 5.

[0065] Part Five: Jig positioning frame 7

[0066] As can be seen from the above, in the present invention, the parts to be sprayed are suspended on the jig. For the suspension operation of the parts to be sprayed, it is necessary to remove the jig and the parts to be sprayed from the conveyor line. After completing the suspension operation, the jig hanging the parts to be sprayed is then placed back on the pre - spraying conveyor line 5.

[0067] In the present invention, the picking and placing of the jig and the parts to be sprayed are realized by robots (jig transfer robot 2 and part transfer robot 4). If the parts to be sprayed are to be suspended on the jig, the robot needs to be able to accurately position. The realization of this accurate positioning can be to fix the jig and then adjust the parts to be sprayed, or to fix the parts to be sprayed and then adjust the jig. In the present invention, the method of fixing the jig and then adjusting the parts to be sprayed is adopted.

[0068] In order to be able to fix the jig, the present invention provides a jig positioning frame 7. The jig positioning frame 7 is used to position and temporarily place the jig transferred from the jig conveyor line 1 by the jig transfer robot 2. The position of the jig positioning frame 7 remains unchanged. In this way, through motion programming, after the jig transfer robot 2 picks up the jig from the jig conveyor line 1, the jig can be transferred to the jig positioning frame 7. Since the position of the jig positioning frame 7 remains unchanged, the position of the jig on the jig positioning frame 7 also remains unchanged. Then, by calculating the position deviation of the jig on the jig positioning frame 7 relative to the standard position, a reference for the position adjustment of the parts to be sprayed can be provided.

[0069] Specifically, the jig positioning frame 7 includes a jig positioning block 14, and a positioning slot for positioning the vertical rod of the jig is provided on the jig positioning block 14. This can improve the accuracy of the jig installation on the jig positioning frame 7 and reduce its position deviation relative to the standard position.

[0070] It should be noted that the above-mentioned standard position means that after the fixture positioning frame 7 is fixedly installed, its position can be used as the origin. After placing a fixture on the fixture positioning frame 7 and clamping it in the positioning slot, the position information of the fixture is measured. At this time, the obtained fixture position information is the standard position. During the subsequent operation process, after the fixture transfer robot 2 transfers the fixture to the fixture positioning frame 7, there will inevitably be a slight deviation in its position relative to the standard position. This slight deviation can be used as a parameter for adjusting the position of the part to be sprayed, so that the part to be sprayed can be accurately hung on the fixture.

[0071] The fixture positioning frame 7 adopts an I-shaped structure, including a central rod. At both ends of the central rod, mounting crossbars 15 are vertically arranged, and the mounting crossbars 15 are bolted to the central rod.

[0072] The mounting crossbars 15 are arranged on the central rod and are fixed relative to the positioning block. The fixture positioning device 8 (camera) is fixedly arranged on the mounting crossbars 15. A fixture positioning block 14 is arranged on the central rod. The central rod and the mounting crossbars 15 are preferably made of stainless steel profiles or aluminum profiles, and the fixture positioning block 14 is preferably made of a rubber block. In this way, when the fixture abuts against the fixture positioning block 14 through the fixture transfer robot 2, the contact between the fixture and the fixture positioning block 14 is flexible, which can avoid component damage caused by hard collision or the problem of large fixture positioning deviation. Further, in order to improve the accuracy of the fixture position on the fixture positioning frame 7, two positioning blocks are arranged on the central rod in the present invention.

[0073] Part VI. Positioning Device

[0074] The positioning device includes a fixture positioning device 8 for obtaining the position information of the fixture, and a part positioning device 9 for obtaining the position information of the part to be sprayed.

[0075] The fixture positioning device 8 is used to position the fixture on the fixture positioning frame 7 and can obtain the position information of the fixture on the fixture positioning frame 7. The fixture positioning device 8 is signal-connected to the controller. The part positioning device 9 is used to position the part transferred from the part conveyor line 3 by the part transfer robot 4 and can obtain the position information of the part to be sprayed. The part positioning device 9 is signal-connected to the controller.

[0076] Specifically, the fixture positioning device 8 is a photographing and positioning system, and the part positioning device 9 is a photographing and positioning system. The present invention can obtain the position information of the fixture and the part to be sprayed through image analysis, and then the controller adjusts the position of the part to be sprayed, so as to accurately suspend the part to be sprayed on the fixture.

[0077] For the fixture positioning device 8, it is installed on the installation cross bar 15. A frame structure is provided on the installation cross bar 15, and the fixture positioning device 8 is arranged on the frame structure. Through the structural design of the frame structure, the fixture positioning device 8 can be installed on the fixture positioning rack 7 with adjustable position and attitude through the frame structure.

[0078] For the part positioning device 9, the present invention particularly provides a gantry frame 16. A frame structure is provided on the gantry frame 16. Through the structural design of the frame structure, the part positioning device 9 can be installed on the gantry frame 16 with adjustable position and attitude through the frame structure.

[0079] Seventh component, detection device

[0080] The present invention is an automated operating system, which inevitably needs to be provided with a variety of sensors to ensure that the controller can accurately issue control instructions.

[0081] Specifically, the detection device includes: a. The pre-fixture detection device is arranged on the fixture conveying line 1 and is used to detect whether there is a fixture conveyed on the fixture conveying line 1. The pre-fixture detection device is signal-connected to the controller; b. The part detection device is arranged on the part conveying line 3 and is used to detect whether there is a part conveyed on the part conveying line 3. The part detection device is signal-connected to the controller; c. The post-fixture detection device is arranged on the pre-spraying conveying line 5 and is used to detect whether there is a fixture conveyed on the pre-spraying conveying line 5. The post-fixture detection device is signal-connected to the controller.

[0082] The above detection devices are all used to detect whether there is a certain component at a certain measurement point. Therefore, these detection devices can be pressure sensors. The placement or removal of the component at the measurement point will cause a change in the pressure at the measurement point. The detection device can also be an infrared sensor. The placement or removal of the component at the measurement point will cause a change in whether there is an obstacle at the measurement point.

[0083] Eighth part, robot

[0084] The robot specifically includes a fixture transfer robot 2, a part transfer robot 4, and an on-line transfer robot 6. Specifically, the fixture transfer robot 2 is used to transfer the fixture; the part transfer robot 4 is used to transfer the parts to be sprayed and cooperate with the fixture transfer robot 2 to complete the suspension of the parts to be sprayed on the fixture; the on-line transfer robot 6 is used to transfer the fixture with the parts to be sprayed to the pre-spraying conveying line 5.

[0085] Specifically, the fixture transfer robot 2 is a six-axis robot, the part transfer robot 4 is a six-axis robot, and the on-line transfer robot 6 is a six-axis robot.

[0086] The fixture transfer robot 2 and the part transfer robot 4 are configured in coordination with a part conveyor line 3 and form an automatic fixture assembly. There are two sets of the automatic fixture assembly, which are respectively used to hang the parts to be sprayed on the upper and lower hanging positions of the fixture.

[0087] Part IX. Part Position Adjusting Device

[0088] The part position adjusting device is arranged at the end of the part conveyor line 3 and is used to adjust the position of the parts to be sprayed conveyed on the part conveyor line 3. The part position adjusting device is controlled and connected to the controller. The part position adjusting device is a cylinder or a hydraulic cylinder, and a positioning plate is arranged on the shaft of the cylinder or the hydraulic cylinder. The parts to be sprayed can be pushed through the positioning plate, so as to improve the position accuracy of the parts to be sprayed when starting to transfer.

[0089] Part X. Controller

[0090] The controller is the control core of the present invention. Specifically, the controller is controlled and connected to the fixture conveyor line 1, the fixture transfer robot 2, the part conveyor line 3, the part transfer robot 4 and the pre-spray conveyor line 5, and is used to realize the orderly operation of the feeding system.

[0091] In the present invention, a part detection device is installed at the end of the part conveyor line 3. After the part detection device senses that a part (the air conditioner outdoor unit chassis to be sprayed) is conveyed on the part conveyor line 3, the part conveyor line 3 automatically stops. At this time, the part transfer robot 4 receives an instruction from the controller to grab the material. A part position adjusting device is installed at the end of the part conveyor line 3 to automatically adjust and position the air conditioner outdoor unit chassis. In the present invention, the part position adjusting device is a blocking cylinder. After the air conditioner outdoor unit chassis is conveyed in place, the part position adjusting device acts to realize the position adjustment of the air conditioner outdoor unit chassis and limit the four degrees of freedom of the air conditioner outdoor unit chassis on the part conveyor line 3 (the vertical upward direction and the reverse direction of the transmission chain operation are not restricted). By manually operating the part transfer robot 4 in advance to perform point adjustment programming on the air conditioner outdoor unit chassis (the only material grabbing point) on the part conveyor line 3, the unique motion form of the part transfer robot 4 can be determined, and the automatic material grabbing of the part transfer robot 4 can be realized.

[0092] Both the fixture positioning device 8 and the part positioning device 9 adopt vision systems, and respectively perform quick photographing and analysis on the hanging pins of the fixture through the fixture positioning device 8 and on the hanging holes of the air conditioner outdoor unit chassis through the part positioning device 9.

[0093] Among them, the photographing positions are divided into two parts: The first part is that the fixture transfer robot 2 picks up and places the fixture on the fixture positioning rack 7. At this time, the photographing camera takes a picture of the hanging pins of the fixture (the position of the hanging pins has been input and saved by the vision system in advance). After taking the picture, it is analyzed and compared with the previously saved position, and the accurate coordinates of the hanging pins are obtained according to the coordinate difference between the two. The other part is that after the part transfer robot 4 grabs the air conditioner outdoor unit chassis, it runs into the shooting range of another photographing camera and takes a picture of the hanging holes on the air conditioner outdoor unit chassis. Similarly, by comparing the coordinates obtained at this time with the previously recorded coordinates, the coordinate position of the hanging holes is obtained. The vision processing system indicates the part transfer robot 4 to accurately load the material by analyzing the coordinate difference between the hanging pins and the hanging holes, and completes the suspension of the air conditioner outdoor unit chassis on the fixture.

[0094] The fixture is provided with a total of four hooks, two in the upper part and two in the lower part. Then, two sets of cooperating fixture positioning devices 8 and part positioning devices 9 are installed to realize the upper-layer and lower-layer material hanging on the fixture, which can improve the production efficiency.

[0095] The present invention is provided with a total of three types of robots for completing different operations, namely the fixture transfer robot 2, the part transfer robot 4, and the on-line transfer robot 6. The above three types of robots are all six-axis robots. The fixture transfer robot 2 is accompanied by the fixture positioning device 8. Fixture detection devices are installed at both the front end and the rear end of the fixture conveying line 1. The fixture detection device communicates with the fixture transfer robot 2 and the on-line transfer robot 6 through the controller. After the front fixture detection device detects the fixture, it gives a signal to the fixture transfer robot 2, and the fixture transfer robot 2 grabs the fixture. When the rear fixture detection device detects that there is no fixture on the pre-spraying conveying line 5, it gives a signal to the on-line transfer robot 6. After receiving the signal, the on-line transfer robot 6 hangs the fixture with the parts to be sprayed back onto the pre-spraying conveying line 5, realizing the picking and hanging of the fixture.

[0096] The present invention combines a six-axis robot with a vision system, combines fixture detection and fixture positioning, and can complete automatic feeding. After the fixture detection device detects the fixture, the fixture transfer robot 2 removes the fixture and places it on the fixture positioning rack 7. The vision system quickly takes pictures and analyzes to obtain the position coordinates of the hanging pins. After the part transfer robot 4 clamps the air conditioner outdoor unit chassis, through vision comparison and calculation, it can hang the air conditioner outdoor unit chassis on the hanging pins. Then, the on-line transfer robot 6 grabs the fixture with the chassis hung and places it on the pre-spraying conveying line 5 to complete automatic feeding. The present invention can realize the rapid feeding of four air conditioner outdoor unit chassis suspended on one fixture through two sets of six-axis robots and a vision system, which better guarantees the production efficiency. It has changed from six people in two shifts to two people in two shifts, improving the economic benefits of the enterprise.

[0097] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "bottom", "top", "front", "rear", "inner", "outer", "left", "right", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0098] Although the present invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed, as long as they do not depart from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein can be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with a single embodiment can be used in other described embodiments.

Claims

1. An automatic feeding system for parts of a spraying line, characterized in that, Comprising: A fixture for suspending parts to be sprayed by a hook; A fixture conveying line for conveying the fixture, and the fixture can be detachably placed on the fixture conveying line; A fixture transfer robot for transferring the fixture; A part conveying line for conveying parts to be sprayed; A part transfer robot for transferring parts to be sprayed and cooperating with the fixture transfer robot to complete the suspension of the parts to be sprayed on the fixture; A pre-spray conveying line for conveying the fixture with the parts to be sprayed suspended thereon to the spraying point; An on-line transfer robot for transferring the fixture with the parts to be sprayed suspended thereon to the pre-spray conveying line; A controller, which is control-connected to the fixture conveying line, the fixture transfer robot, the part conveying line, the part transfer robot and the pre-spray conveying line, and is used to realize the orderly operation of the feeding system; A fixture positioning rack for positioning and temporarily placing the fixture transferred from the fixture conveying line by the fixture transfer robot. The fixture positioning rack includes a fixture positioning block and a mounting cross bar fixed relative to the fixture positioning block. A positioning slot for positioning the vertical rod of the fixture is provided on the fixture positioning block; A fixture positioning device, which is fixedly arranged on the mounting cross bar, is used to position the fixture on the fixture positioning rack and can acquire the position information of the fixture on the fixture positioning rack. The fixture positioning device is signal-connected to the controller; A part positioning device for positioning the parts transferred from the part conveying line by the part transfer robot and can acquire the position information of the parts to be sprayed. The part positioning device is signal-connected to the controller.

2. The automatic feeding system for spraying line parts according to claim 1, wherein, The fixture positioning device is a photographing positioning system, and the part positioning device is a photographing positioning system.

3. The automatic feeding system for spray line parts according to claim 1, wherein Further comprising: A pre-fixture detection device, which is arranged on the fixture conveying line and is used to detect whether there is a fixture conveyed on the fixture conveying line. The pre-fixture detection device is signal-connected to the controller.

4. The automatic feeding system for spraying line parts according to claim 1, wherein, Further comprising: A part detection device, which is arranged on the part conveying line and is used to detect whether there is a part conveyed on the part conveying line. The part detection device is signal-connected to the controller.

5. The automatic feeding system for spraying line parts according to claim 3, characterized in that, Further comprising: A post-fixture detection device, which is arranged on the pre-spray conveying line and is used to detect whether there is a fixture conveyed on the pre-spray conveying line. The post-fixture detection device is signal-connected to the controller.

6. The automatic feeding system for spraying line parts according to claim 1, characterized in that, The fixture conveying line includes a conveyer chain that can be controlled to operate. Suspension rods are arranged on the conveyer chain, and the fixture can be suspended on the suspension rods.

7. The automatic feeding system for spraying line parts according to claim 1, characterized in that, The part conveying line includes a conveying bottom rail and side guard rails. Two side guard rails are arranged on the upper part of the conveying bottom rail and are respectively arranged on both sides of the conveying bottom rail.

8. The automatic feeding system for spraying line parts according to claim 7, characterized in that, The conveying bottom rail is a belt-type conveying track.

9. The automatic loading system for spray line parts according to claim 7, wherein The part conveying line further includes a protective block, which is arranged at the starting end of the side guard rail, and two protective blocks arranged on the two side guard rails form a reduced opening structure.

10. The automatic feeding system for spraying line parts according to claim 1, characterized in that, Further included is: A part position adjusting device, which is arranged at the end of the part conveying line and is used to adjust the position of the parts to be sprayed conveyed on the part conveying line. The part position adjusting device is connected to the controller for control.

11. The automatic feeding system for spraying line parts according to claim 1, characterized in that, The hanger includes a vertical rod, a hanging ring and a hanging rod. The hanging ring is arranged at the top of the vertical rod. There are two hanging rods, one of which is arranged in the middle of the vertical rod, and the other is arranged at the bottom of the vertical rod. The upper hanging position and the lower hanging position are formed by the two hanging rods.

12. The automatic feeding system for spraying line parts according to claim 11, wherein, The hanger transfer robot and the part transfer robot are arranged in a supporting manner with one part conveying line and form a set of automatic hanger assemblies; there are two sets of the automatic hanger assemblies, which are respectively used to hang the parts to be sprayed on the upper hanging position and the lower hanging position of the hanger.

13. The automatic loading system for spray line parts according to any one of claims 1 to 12, characterized in that, The hanger transfer robot is a six-axis robot; the part transfer robot is a six-axis robot; the on-line transfer robot is a six-axis robot.

14. The automatic feeding system for spray line parts according to claim 3, characterized in that, Further included is: A gantry frame, on which the part positioning device is arranged.

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