A fan sheet metal shell assembly system and control method thereof

Abstract

The present invention relates to the field of fan production equipment, and specifically to a fan sheet metal shell assembly system, including a mounting platform module, a sheet metal shell supply module, and a manipulator module arranged between the mounting platform module and the sheet metal shell supply module. The mounting platform module includes a slide, a flatbed trolley arranged on the slide and capable of sliding on the slide, and a sheet metal shell fixing submodule is detachably fixed on the flatbed trolley. A control method for a fan sheet metal shell assembly system includes the following steps: S1. Initial setting; S2. Material rack hoisting; S3. Material loading; S4. Material taking; S5. Panel assembly; S6. Installation; S7. Transportation; S8. Repeating S4 to S7; S9. Material replenishment. The present invention saves manpower, reduces production costs, and greatly improves work efficiency by adopting a robot handling method. And working under a fixed path can avoid accident risks and improve the safety production coefficient. And through the precise positioning of the robot, accurate docking during the assembly process can also be guaranteed.

Description

Technical Field

[0001] The invention relates to the field of fan production equipment, and in particular to a fan sheet metal shell assembly system and a control method thereof. Background Art

[0002] A fan is a machine that relies on input mechanical energy to increase gas pressure and discharge gas. It is widely used in ventilation, dust removal and cooling in factories, mines, tunnels, ships and buildings. The fan consists of two parts: the outer shell and the inner tank. The outer shell is mainly assembled from the back plate, left and right side plates.

[0003] At present, fan casings are assembled solely by manual riveting. This assembly method has the following problems: first, it requires dedicated personnel to assemble, which increases labor costs; second, the work efficiency is low, and accidents such as collisions may occur during the assembly process, posing a safety hazard; third, manual alignment is required during the assembly process, the error is high, and there is a quality risk.

[0004] Therefore, in order to solve the above technical problems, the present invention discloses a fan sheet metal casing assembly system and a control method thereof. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a fan sheet metal casing assembly system and a control method thereof.

[0006] The technical solution of the present invention is:

[0007] The present invention provides a fan sheet metal shell assembly system, comprising a mounting platform module, a sheet metal shell supply module, and a manipulator module arranged between the mounting platform module and the sheet metal shell supply module, the mounting platform module comprising a slide, a flatbed trolley arranged on the slide and slidable on the slide, and a sheet metal shell fixing submodule is detachably fixed on the flatbed trolley.

[0008] Furthermore, the sheet metal housing fixing submodule includes a fixing plate, at least two first limiting plates, at least two second limiting plates, and four limiting fixing structures.

[0009] Furthermore, the position limiting and fixing structure includes a base, a connecting frame, a retracting unit, and a U-shaped fixing plate.

[0010] Furthermore, the sheet metal shell supply module includes a plurality of back panel supply submodules, a plurality of left panel supply submodules, a plurality of right panel supply submodules, and a plurality of material racks.

[0011] Furthermore, the back panel supply submodule, the left panel supply submodule, and the right panel supply submodule each include a pair of supply guide rails, a base bracket, a base pulley, and a base motor.

[0012] Furthermore, the back plate material rack, the right plate material rack and the left plate material rack all include a frame, a rear plate and a front plate, and a plurality of card plates are respectively arranged on the front plate and the rear plate.

[0013] Furthermore, the manipulator module includes a manipulator, a fixture bracket, a plurality of suction cups, an infrared ranging sensor, a plurality of gas pressure sensors, and a vacuum generator.

[0014] Furthermore, it also includes a control system, which includes a PLC controller, a liquid crystal LCD, a number of setting buttons, a rhythm button, and a remote controller.

[0015] A control method for a fan sheet metal casing assembly system comprises the following steps:

[0016] S1. Initial setting: the staff inputs the size of the back panel and the left and right side panels, the specific parameters of the three material racks into the control system, and installs the sheet metal shell fixing submodule of appropriate specifications on the flatbed trolley;

[0017] S2. Material rack hoisting: the staff hoists the target material rack to the base bracket of the corresponding supply submodule through the gantry crane;

[0018] S3. Loading, repeat S2 to hoist the back sheet rack, the right sheet rack, and the left sheet rack, and then the back sheet rack, the left and right sheet racks follow the base bracket to move to the end of the feeding guide rail;

[0019] S4. Pick up the material, the manipulator module grabs the target material plate from the rack with the target material plate, and transports the target material plate to the corresponding position of the sheet metal housing fixed submodule;

[0020] S5. Assemble the panels. The U-shaped fixing plate moves outward along the length direction of the bottom plate. Perform S4 to place the back plate. Then, the U-shaped fixing plate is reset. Repeat S4 to place the right side plate and the left side plate in turn. The three plates are assembled into the fan housing.

[0021] S6. Installation, the flatbed trolley starts to move until it reaches the end of the slide away from the robot module, and the staff fixes the back plate to the right plate and the left plate with bolts or rivets;

[0022] S7. Transfer, the flatbed trolley returns to the initial position, the U-shaped fixing plate moves outward along the width direction of the bottom plate, and the handling robot of the next process puts the liner into the assembled fan housing; then the U-shaped fixing plate is reset, and then the U-shaped fixing plate moves outward along the length direction of the bottom plate, and finally the two are transported as a whole to the next process;

[0023] S8. Repeat S4 to S7;

[0024] S9. Refilling: When the material plates on a rack are used up, the rack automatically moves to the beginning of the feeding rail following the base bracket. The staff unloads the empty rack through the gantry crane, and hoists the new rack filled with material plates onto the base bracket. The rack moves to the end of the feeding rail following the base bracket.

[0025] Furthermore, the specific control method of taking material includes the following steps:

[0026] S1. Approaching the rack, the control system controls the manipulator to approach a rack and obtain distance information through the infrared ranging sensor. When the suction cup is 0.5 to 1 cm away from the target material plate, the manipulator stops moving;

[0027] S2. Approaching the material plate, the robot gradually approaches the material plate at a distance of 3 mm, and the vacuum generator is activated between two distances for 1 to 2 seconds; when the gas pressure sensor detects the change in air pressure, it can be determined that the suction cup has been attached to the target material plate;

[0028] S3. Grab the sheet, the suction cup moves forward 1 to 3 mm again, and the vacuum generator starts to work. When the gas pressure sensor detects that the air pressure drops to the rated value, the vacuum generator stops working;

[0029] S4. Confirm that the grip is firm, and the robot pauses for 1 to 3 seconds. When the gas pressure sensor does not detect a change in air pressure, it can be determined that the suction cup has been firmly attached to the material plate; if the air pressure changes, proceed to S3;

[0030] S5. To transport the sheet material, the robot first moves vertically upward for a certain distance, and then transports the sheet material to the corresponding position of the sheet metal shell fixed submodule.

[0031] The beneficial effects achieved by the present invention are:

[0032] The present invention saves manpower, reduces production costs, and greatly improves work efficiency by adopting a robot handling method. Working on a fixed path can avoid accident risks and improve the safety factor of production. Moreover, through the precise positioning of the robot, the assembly process can be accurately docked, thereby improving the product qualification rate.

[0033] At the same time, the present invention can be integrated into an assembly production line in conjunction with other processes, which not only improves the overall production efficiency, but also improves the site utilization rate and facilitates overall management.

[0034] In addition, the present invention provides a new working mode for the same type of working conditions, filling a gap in the industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0036] Figure 2 It is a schematic diagram of the module structure of the mounting platform.

[0037] Figure 3 It is a side view of the flatbed trolley.

[0038] Figure 4 yes Figure 3 Middle AA section view.

[0039] Figure 5 yes Figure 4 Middle BB section view.

[0040] Figure 6 This is a top view of the backplane supply submodule.

[0041] Figure 7 It is a three-dimensional diagram of the back panel rack.

[0042] Figure 8 It is a three-dimensional diagram of the fixture bracket.

[0043] Fig. 9 It is a control method diagram of the fan sheet metal casing assembly system.

[0044] Fig.10 This is a diagram of the material taking control method.

[0045] In the figure, 100, slide; 101, slide rail; 110, vehicle frame; 111, pulley; 112, servo motor; 120, bottom plate; 121, first limit plate; 122, second limit plate; 130, base; 131, connecting frame; 132, U-shaped fixing plate; 133, first slide groove; 140, horizontal cylinder; 141, horizontal connecting block; 142, first slide block; 143, second slide groove; 144, longitudinal cylinder; 145, longitudinal connecting block; 1 46. ​​Second slider; 200. Back plate supply submodule; 210. Feed guide rail; 211. Starting end; 212. End; 220. Base bracket; 221. Angle steel; 300. Left plate supply submodule; 400. Right plate supply submodule; 500. Frame; 510. Back plate; 520. Front plate; 530. Card plate; 600. Robot; 610. Fixture bracket; 611. Suction cup; 700. Bottom plate; 701. Left plate; 702. Right plate. DETAILED DESCRIPTION

[0046] To facilitate those skilled in the art to understand the present invention, specific implementations of the present invention are described below with reference to the accompanying drawings.

[0047] like Figures 1 to 10As shown, the present invention provides a fan sheet metal shell assembly system, including a mounting platform module, a sheet metal shell supply module, and a manipulator module arranged between the mounting platform module and the sheet metal shell supply module. The mounting platform module includes a slide 100, a flat trolley arranged on the slide 100 and slidable on the slide 100, and a sheet metal shell fixing submodule is detachably fixed on the flat trolley.

[0048] Two slide rails 101 are arranged in parallel on the slide table 100, and the flatbed trolley includes a body frame 110, a pulley 111 arranged on the body frame 110 and matched with the slide rails 101, and a servo motor 112 connected to the pulley 111. The flatbed trolley can move freely along the slide rails 101 driven by the servo motor 112. The specifications of the sheet metal shell fixing submodule are determined according to the sizes of the back plate, left and right side plates, and the sheet metal shell fixing submodule includes a bottom plate 120, at least two first limit plates 121, at least two second limit plates 122, and four limit fixing structures.

[0049] The bottom plate 120 is detachably fixed to the vehicle frame 110 by bolts, the first limiting plates 121 are parallel to each other and to the short side of the bottom plate 120, and the distance between the first limiting plates 121 is equal to the length of the back plate. The second limiting plates 122 are parallel to each other and to the long side of the bottom plate 120, and the distance between the second limiting plates 122 is equal to the sum of the width of the back plate, the thickness of the left side plate, and the thickness of the right side plate. The number of the second limiting plates 122 is determined according to the position of the mounting holes of the side plates, so as to prevent the second limiting plates 122 from blocking the mounting holes and causing the back plate and the side plates to be unable to be installed.

[0050] The position-limiting and fixing structures are arranged in pairs to fix the two ends of the right plate and the left plate. The position-limiting and fixing structures include a base 130 detachably arranged on the bottom plate 120, a connecting frame 131, a retracting unit, and a U-shaped fixing plate 132 detachably connected to the connecting frame 131. The base 130 is provided with a first slide groove 133. The retracting unit includes a transverse cylinder 140 arranged in the first slide groove 133, a transverse connecting block 141 arranged on the base 130 and having a second slide groove 143 on the top, a longitudinal cylinder 144 arranged in the second slide groove 143, and a longitudinal connecting block 145 arranged on the transverse connecting block 141. The connecting frame 131 is arranged on the longitudinal connecting block 145. A first slider 142 matching the first slide groove 133 is arranged at the bottom of the transverse connecting block 141. The first slider 142 is connected to the piston rod of the transverse cylinder 140. A second sliding block 146 matching the second sliding groove 143 is disposed at the bottom of the longitudinal connecting block 145 , and the second sliding block 146 is connected to the piston rod of the longitudinal cylinder 144 .

[0051] In the initial state, the piston rods of the transverse cylinder 140 and the longitudinal cylinder 144 are in a retracted state. When the bottom plate is to be placed, the piston rod of the longitudinal cylinder 144 extends, and the U-shaped fixing plate 132 follows the longitudinal connecting block 145 to move outward along the length direction of the bottom plate 120 to avoid the bottom plate and prevent it from being blocked during the downward placement. When the bottom plate is placed, the piston rod of the longitudinal cylinder 144 shrinks, and the U-shaped fixing plate 132 is reset to facilitate the clamping of the side plate. When the inner tank is placed, the piston rod of the transverse cylinder 140 extends, and the U-shaped fixing plate 132 and the longitudinal connecting block 145 follow the transverse connecting block 141 to move outward along the width direction of the bottom plate 120. At this time, the side plate is stretched outward to prevent the side plate from blocking the inner tank. Before the fan housing and the inner plate are transported as a whole to the next process, the piston rod of the longitudinal cylinder 144 extends, and the U-shaped fixing plate 132 follows the longitudinal connecting block 145 to move outward along the length direction of the bottom plate 120 to avoid the bottom plate.

[0052] When in use, the back panel is placed between the rectangular frame formed by the first limiting plate 121 and the second limiting plate 122, and the two short sides of the back panel fit in with the first limiting plate 121. The two short sides of the left and right side panels are inserted into the grooves of the U-shaped fixing plate 132, and one long side of the left and right side panels is clamped between the first limiting plate 121 and the back panel. After assembly, the left and right side panels are perpendicular to the back panel, waiting for workers to fix the three with bolts or rivets.

[0053] The sheet metal shell supply module includes a plurality of back panel supply submodules 200, a plurality of left panel supply submodules 300, a plurality of right panel supply submodules 400, a plurality of back panel material racks, a plurality of right panel material racks, and a plurality of left panel material racks. Preferably, the number of the back panel supply submodules 200, the left panel supply submodules 300, and the right panel supply submodules 400 is two, which are divided into two groups, each of which has a back panel supply submodule 200, a left panel supply submodule 300, and a right panel supply submodule 400. The number of the back panel material racks, the right panel material racks, and the left panel material racks is far greater than the number of the back panel supply submodules 200, the left panel supply submodules 300, and the right panel supply submodules 400, so as to ensure that there are enough material racks to enable the present invention to maintain uninterrupted production operation. The material racks in the material racks are filled by the workers of the previous process, and then transported to the vicinity of the present invention by the workers with forklifts, and the empty material racks are transported back to the previous process to form a cycle to ensure the supply of material racks.

[0054] Furthermore, the back plate supply submodule 200, the left plate supply submodule 300, and the right plate supply submodule 400 all include a pair of feed rails 210, a base bracket 220, a base pulley, and a base motor arranged parallel to the ground. The end of the feed rail 210 away from the robot module is the starting end 211, and the other end is the end 212. The base motor and the base pulley are arranged on the base bracket 220, the base motor is connected to the base pulley, and the base pulley matches the feed rail 210. A material rack limiting structure is arranged on the top of the base bracket 220, and the material rack limiting structure includes four angle steels 221. The size of the angle steels 221 and the distance between them are determined according to the size of the material rack. The angle steels 221 are arranged at the four corners of the material rack to clamp the material rack. When in use, the base bracket 220 moves back and forth along the feed rail 210 driven by the base motor.

[0055] Furthermore, the back plate material rack, the right plate material rack, and the left plate material rack all include a frame 500, a rear plate 510, and a front plate 520. The rear plate 510 is fixed to the frame 500. One short side of the front plate 520 is movably connected to the frame 500 through a hinge, and the other short side is detachably fixed to the frame 500 through a buckle. A plurality of card plates 530 are respectively provided on the front plate 520 and the rear plate 510, and a card slot is formed between two adjacent card plates 530. The position of the card plates 530 on the front plate 520 corresponds to the position of the card plates 530 on the rear plate 510. The spacing between the card plates 530 is determined according to the thickness of the material plate. When in use, the material plates are respectively inserted into the card slots of the front plate 520 and the rear plate 510, so that the material plates are fixed and the distance between two adjacent material plates is the same, which is for the convenience of the robot module to grasp.

[0056] The manipulator module includes a manipulator 600, a fixture bracket 610, a plurality of suction cups 611, an infrared distance sensor, a plurality of gas pressure sensors, and a vacuum generator. The manipulator 600 is arranged between the back panel supply submodule 200, the left panel supply submodule 300, and the right panel supply submodule 400, and the fixture bracket 610 is detachably arranged at the end of the manipulator 600 by bolts. The suction cup 611 and the infrared distance sensor are arranged at the bottom of the fixture bracket 610, and the gas pressure sensor is arranged in the suction cup 611, and the suction cup 611 is connected to the vacuum generator.

[0057] The present invention also includes a control system, which includes a PLC controller, a liquid crystal LCD connected to the PLC controller, several setting buttons, a rhythm button, and a remote controller. The PLC controller is also connected to the servo motor 112, the base motor, the manipulator 600, the infrared distance sensor, the gas pressure sensor, and the vacuum generator. The setting button is used to set some initial settings of the present invention, and the liquid crystal LCD displays these initial settings. The rhythm button is set at the end of the slide 100 away from the manipulator module, and is used to control the production rhythm of the present invention. When the flatbed trolley moves to the end of the slide 100 away from the manipulator module, the present invention suspends work. Only when the staff completes the installation of the fan housing and presses the rhythm button, the present invention will further operate. The remote controller is used for another staff member to use. The remote controller can control the base motor of the present invention and the gantry crane. The staff controls the gantry crane to complete the hoisting of the material rack through the remote controller. When the hoisting is completed, the base motor is started by the remote controller to move the base bracket 220 to the end 212 of the feeding guide rail 210.

[0058] Furthermore, the model of the PLC controller is: Siemens PLC1200; the model of the LCD is: JLX19264G-933-P; the model of the infrared ranging sensor is: SDS1A015; the model of the gas pressure sensor is: 1151 / 3351HP3051; and the model of the manipulator 600 is: IRB7600-150 / 3.2.

[0059] A control method for a fan sheet metal casing assembly system comprises the following steps:

[0060] S1. Initial setting: the staff inputs the size of the back panel and the left and right side panels, the specific parameters of the three material racks into the control system through the setting button, and installs the sheet metal shell fixing submodule of appropriate specifications on the flatbed trolley;

[0061] S2. Material rack hoisting, the staff hoists the target material rack to the base bracket 220 of the corresponding supply submodule through the gantry crane;

[0062] S3 loading, repeat S2 hoisting back sheet rack, right sheet rack, left sheet rack, and then the back sheet rack, left and right sheet racks follow the base bracket 220 under the control of the staff to move to the end 212 of the feed rail 210;

[0063] S4. Pick up the material, the manipulator module grabs the target material plate from the rack with the target material plate, and transports the target material plate to the corresponding position of the sheet metal housing fixed submodule;

[0064] S5. The U-shaped fixing plate moves outward along the length direction of the bottom plate 120, and S4 is performed to place the back plate, and then the U-shaped fixing plate is reset, and S4 is repeated to place the right side plate and the left side plate in turn, so that the three are assembled into the fan housing;

[0065] S6. Installation, the flatbed trolley starts to move until it reaches the end of the slide 100 away from the manipulator module. The staff fixes the back plate to the right plate and the left plate with bolts or rivets, and presses the rhythm button after fixing;

[0066] S7. Transfer, the flatbed trolley returns to the initial position, the U-shaped fixing plate moves outward along the width direction of the bottom plate 120, and the handling robot of the next process puts the liner into the assembled fan housing; then the U-shaped fixing plate is reset, and then the U-shaped fixing plate moves outward along the length direction of the bottom plate 120, and finally the two are transported as a whole to the next process;

[0067] S8. Repeat S4 to S7;

[0068] S9. Refilling. When the material plates on a certain rack are used up, the rack automatically moves to the starting end 211 of the feeding guide rail 210 following the base bracket 220; the staff unloads the empty rack through the gantry crane, and hoists the new rack filled with material plates onto the base bracket 220, and the rack moves to the end 212 of the feeding guide rail 210 following the base bracket 220.

[0069] Furthermore, the specific control method of taking material includes the following steps:

[0070] S1. Approaching the rack, the control system controls the manipulator 600 to approach a rack and obtains distance information through the infrared ranging sensor. When the suction cup 611 is 0.5 to 1 cm away from the target material plate, the manipulator 600 stops moving;

[0071] S2. Approaching the material plate, the manipulator 600 gradually approaches the material plate at a distance of 3 mm, that is, the manipulator 600 pauses every time it advances 3 mm, and the vacuum generator is activated for 1 to 2 seconds between the two distances; when the gas pressure sensor detects a significant change in air pressure, it can be determined that the suction cup 611 has been attached to the target material plate;

[0072] S3. Grab the sheet, the suction cup 611 moves forward 1 to 3 mm again, and the vacuum generator starts to work. When the gas pressure sensor detects that the air pressure drops to the rated value, the vacuum generator stops working;

[0073] S4. Confirm that the grip is firm, the robot 600 pauses for 1 to 3 seconds. When the gas pressure sensor does not detect a change in air pressure, it can be determined that the suction cup 611 has been firmly attached to the material plate; if the air pressure changes, proceed to S3;

[0074] S5. To transport the sheet material, the robot 600 first moves vertically upward for a certain distance, and then transports the sheet material to a corresponding position of the sheet metal housing fixed submodule.

[0075] Infrared distance sensors are easily affected by dust, humidity, temperature, etc., which can lead to inaccurate distance measurement. If only infrared distance sensors are used for distance measurement, the manipulator module is likely to collide directly with the sheet. This method can effectively avoid the above problems by grabbing the sheet.

[0076] The above-described embodiments of the present invention do not constitute a limitation on the protection scope of the present invention. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the claims of the present invention.

Claims

1. A fan sheet metal housing assembly system, characterized in that: It includes a mounting platform module, a sheet metal shell supply module, and a manipulator module arranged between the mounting platform module and the sheet metal shell supply module. The mounting platform module includes a slide, a flatbed trolley arranged on the slide and slidable on the slide, and a sheet metal shell fixing submodule is detachably fixed on the flatbed trolley; The sheet metal housing fixing submodule comprises a bottom plate, at least two first limiting plates, at least two second limiting plates, and four limiting fixing structures; The position limiting and fixing structure includes a base, a connecting frame, a retracting unit, and a U-shaped fixing plate; The sheet metal shell supply module includes a plurality of back plate supply submodules, a plurality of left plate supply submodules, a plurality of right plate supply submodules, a plurality of back plate material racks, a plurality of right plate material racks, and a plurality of left plate material racks; The back plate material rack, the right plate material rack, and the left plate material rack all include a frame, a back plate, and a front plate. The front plate and the back plate are respectively provided with a plurality of card plates. The front plate and the back plate are respectively provided with a plurality of card plates, and a card slot is formed between two adjacent card plates. The number of the back plate material rack, the right plate material rack, and the left plate material rack is more than the number of the back plate supply submodule, the left plate supply submodule, and the right plate supply submodule; The limiting fixing structures are arranged in pairs to fix the two ends of the right plate and the left plate. The limiting fixing structure includes a base detachably arranged on the bottom plate, a connecting frame, a retraction unit, and a U-shaped fixing plate detachably connected to the connecting frame; a first slide groove is arranged on the base, and the retraction unit includes a transverse cylinder arranged in the first slide groove, a transverse connecting block arranged on the base and with a second slide groove on the top, a longitudinal cylinder arranged in the second slide groove, and a longitudinal connecting block arranged on the transverse connecting block, and the connecting frame is arranged on the longitudinal connecting block; a first sliding block matching the first slide groove is arranged at the bottom of the transverse connecting block, and the first sliding block is connected to the piston rod of the transverse cylinder; a second sliding block matching the second slide groove is arranged at the bottom of the longitudinal connecting block, and the second sliding block is connected to the piston rod of the longitudinal cylinder.

2. A fan sheet metal housing assembly system according to claim 1, characterized in that: The back plate supply submodule, the left plate supply submodule and the right plate supply submodule each include a pair of supply guide rails, a base bracket, a base pulley and a base motor.

3. A fan sheet metal housing assembly system according to claim 1, characterized in that: The manipulator module includes a manipulator, a fixture bracket, a plurality of suction cups, an infrared distance measuring sensor, a plurality of gas pressure sensors, and a vacuum generator.

4. A fan sheet metal housing assembly system according to claim 1, characterized in that: The utility model also comprises a control system, which comprises a PLC controller, a liquid crystal LCD, a plurality of setting buttons, a rhythm button, and a remote controller.

5. A control method for a fan sheet metal housing assembly system according to any one of claims 1 to 4, comprising the following steps: S1. Initial setting: the staff inputs the size of the back panel and the left and right side panels, the specific parameters of the three material racks into the control system, and installs the sheet metal shell fixing submodule of appropriate specifications on the flatbed trolley; S2. Material rack hoisting: the staff hoists the target material rack to the base bracket of the corresponding supply submodule through the gantry crane; S3. Loading, repeat S2 to hoist the back sheet rack, the right sheet rack, and the left sheet rack, and then the back sheet rack, the left and right sheet racks follow the base bracket to move to the end of the feeding guide rail; S4. Pick up the material, the manipulator module grabs the target material plate from the rack with the target material plate, and transports the target material plate to the corresponding position of the sheet metal housing fixed submodule; S5. Assemble the panels. The U-shaped fixing plate moves outward along the length direction of the bottom plate. Perform S4 to place the back plate. Then, the U-shaped fixing plate is reset. Repeat S4 to place the right side plate and the left side plate in turn. The three plates are assembled into the fan housing. S6. Installation, the flatbed trolley starts to move until it reaches the end of the slide away from the robot module, and the staff fixes the back plate to the right plate and the left plate with bolts or rivets; S7. Transfer, the flatbed trolley returns to the initial position, the U-shaped fixing plate moves outward along the width direction of the bottom plate, and the handling robot of the next process puts the liner into the assembled fan housing; then the U-shaped fixing plate is reset, and then the U-shaped fixing plate moves outward along the length direction of the bottom plate, and finally the two are transported as a whole to the next process; S8. Repeat S4 to S7; S9. Refilling: When the material plates on a rack are used up, the rack automatically moves to the beginning of the feeding rail following the base bracket. The staff unloads the empty rack through the gantry crane and hoists the new rack filled with material plates onto the base bracket. Then the rack moves to the end of the feeding rail following the base bracket.

6. According to the control method of the fan sheet metal shell assembly system of claim 5, the specific control method of taking materials comprises the following steps: S1. Approaching the rack, the control system controls the manipulator to approach a rack and obtain distance information through the infrared ranging sensor. When the suction cup is 0.5~1cm away from the target material plate, the manipulator stops moving; S2. Approaching the material plate, the robot gradually approaches the material plate at a distance of 3 mm, and the vacuum generator is activated between two distances for 1 to 2 seconds; when the gas pressure sensor detects the change in air pressure, it can be determined that the suction cup has been attached to the target material plate; S3. Grab the sheet, the suction cup moves forward 1-3 mm again, and the vacuum generator starts to work. When the gas pressure sensor detects that the air pressure drops to the rated value, the vacuum generator stops working; S4. Confirm that the grip is firm, and the robot pauses for 1 to 3 seconds. When the gas pressure sensor does not detect a change in air pressure, it can be determined that the suction cup has been firmly attached to the material plate; if the air pressure changes, proceed to S3; S5. To transport the sheet material, the robot first moves vertically upward for a certain distance, and then transports the sheet material to the corresponding position of the sheet metal shell fixed submodule.

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