A mobile non-stop door shell door liner automatic feeding system and door body foaming line

Abstract

This invention discloses an automatic door shell and door liner feeding system and a door foaming line that operates continuously. The door foaming line includes a door shell and door liner feeding station. This station is equipped with a mold frame position synchronization tracking device and an automatic feeding robot, both located on the side of the conveyor line. The mold frame position synchronization tracking device includes a mold frame synchronization track. The mold frame synchronization track includes a long, parallel track frame. Sprockets are located at both ends of the long track frame. A chain is strung between the two sprockets. Equally spaced protrusions are arranged on the chain. Encoders are connected to the sprockets. The foaming mold frame is equipped with synchronization probes that can engage with the protrusions. The encoder and the automatic feeding robot are connected to a controller. The encoder encodes the sprocket rotation and sends it to the controller. The controller maps the encoding to the real-time position of the foaming mold frame and sends it to the automatic feeding robot. The automatic feeding robot performs the door shell and door liner feeding operation based on the real-time position of the foaming mold frame.

Description

Technical Field

[0001] This invention relates to the foaming process for refrigerator and freezer doors. Background Technology

[0002] In the foaming process of refrigerator and freezer doors, in an assembly line production operation, the foaming mold frame is transported via a conveyor line. When operations need to be performed on the foaming mold frame, such as mold opening, door lining installation, mold closing, and material injection, there are generally two processing methods: The first method is to stop the conveyor line, and then perform the corresponding operations on the foaming mold frame after it stops moving; the second method is to remove the foaming mold frame from the conveyor line, process it with automated equipment at the workstation, and then move the foaming mold frame back onto the conveyor line for transport. However, regardless of the method, there is a problem with the foaming mold frame stopping, resulting in low production efficiency. Therefore, it is possible to consider performing all operations in the foaming production process directly on the moving foaming mold frame on the conveyor line, which can greatly improve the overall production efficiency. However, performing operations directly on the moving foaming mold frame presents many problems. For example, in the case of loading the door shell and door lining, the positioning of the moving foaming mold frame is a significant issue. Summary of the Invention

[0003] The problem this invention aims to solve is the positioning problem of a moving foaming mold frame during material loading on a transmission line.

[0004] To solve the above problems, the present invention adopts the following solution:

[0005] According to the present invention, an automatic door shell and door lining feeding system that moves continuously includes a transmission line and a foaming mold frame disposed on the transmission line; the transmission line passes through a door shell and door lining feeding station; it also includes a controller; the door shell and door lining feeding station is equipped with a mold frame position synchronization tracking device and an automatic feeding robot disposed on the side of the transmission line; the mold frame position synchronization tracking device includes a mold frame synchronization track and a position encoding device; the mold frame synchronization track includes a long strip of track frame parallel to the transmission line; sprockets are respectively disposed at both ends of the long strip of track frame; a chain is mounted between the two sprockets; and protrusions are disposed on the chain at equal intervals; the position encoding device includes an encoder; the encoder... The device connects to one of the sprockets; the foaming mold frame is equipped with a synchronous probe; the controller connects to the encoder and the automatic feeding robot; when the foaming mold frame moves within the door shell and door lining feeding station, the synchronous probe on the foaming mold frame can engage with the protrusion, thereby driving the sprocket to rotate via the chain; the encoder encodes the rotation of the sprocket in real time and sends the real-time code to the controller; the controller maps the real-time code of the encoder to the real-time position of the foaming mold frame within the door shell and door lining feeding station, and then sends the real-time position of the foaming mold frame to the automatic feeding robot; the automatic feeding robot performs the door shell and door lining feeding operation according to the real-time position of the foaming mold frame.

[0006] Furthermore, in the automatic door shell and door lining feeding system of the present invention, the controller also corrects and calculates the moving speed of the foaming mold frame according to the real-time position of the moving foaming mold frame, and sends the corrected moving speed of the foaming mold frame to the automatic feeding robot; the automatic feeding robot performs the feeding operation of the door shell and door lining according to the real-time position and moving speed of the foaming mold frame.

[0007] Furthermore, in the automatic door shell and door liner feeding system of the present invention, the spacing between the protrusions on the chain is 6cm to 16cm.

[0008] Furthermore, in the automatic door shell and door liner feeding system according to the present invention, the position encoding device further includes a first toothed pulley and a second toothed pulley; the first toothed pulley is coaxially arranged with and connected to the sprocket; the first toothed pulley and the second toothed pulley are connected by a toothed synchronous belt; the second toothed pulley is connected to an encoder.

[0009] Furthermore, in the automatic door shell and door liner feeding system according to the present invention, the transmission ratio of the first toothed pulley and the second toothed pulley is not less than 1 / 2.

[0010] Furthermore, according to the automatic door shell and door lining feeding system of the present invention, the foaming mold frame includes a frame and a mold frame body disposed on the frame; rollers are disposed at the bottom of the frame; the transmission line is realized by a ring chain dragging mechanism 0; the ring chain dragging mechanism 0 includes two large sprockets with vertical axes and a large chain mounted on and connecting the two large sprockets; the frame is connected to the large chain; one of the large sprockets is connected to the power mechanism.

[0011] Furthermore, in the automatic door shell and door lining feeding system according to the present invention, the track frame is located inside the large chain; the foaming mold frame is located outside the large chain.

[0012] According to the present invention, a door foaming line is used for foaming refrigerator and freezer doors, including the above-mentioned automatic door shell and door lining feeding system.

[0013] The technical effects of this invention are as follows: By setting up a mold frame position synchronization tracking device at the door shell and door lining feeding station, which can accurately track the position of the foaming mold frame on the transmission line in real time, the automatic feeding robot can perform door shell and door lining feeding operations based on the accurate real-time position of the foaming mold frame. Attached Figure Description

[0014] Figure 1 This is a top view schematic diagram of the overall structure of an embodiment of the door body foaming line of the present invention.

[0015] Figure 2 This is a three-dimensional structural schematic diagram of the transmission line in an embodiment of the foaming line of the door body of the present invention.

[0016] Figure 3 yes Figure 1 Enlarged view of the section R1 within the dashed box.

[0017] Figure 4 yes Figure 3 Enlarged view of the section R2 within the dashed box.

[0018] Figure 5 This is a schematic diagram of the structure of the mold frame position synchronous tracking device according to an embodiment of the present invention.

[0019] Figure 6 This is an enlarged schematic diagram of the position encoding device in the mold frame position synchronization tracking device of this invention.

[0020] Figure 7 This is a schematic diagram illustrating the working principle of an embodiment of the present invention.

[0021] Figure 8 This is a schematic diagram of the electrical connection of the controller according to an embodiment of the present invention.

[0022] In the above figures,

[0023] 1 is the material synchronization track, 11 is the sprocket, 12 is the chain, 121 is the protrusion, and 19 is the track frame; 2 is the position encoding device, 21 is the encoder, 22 is the first toothed pulley, and 23 is the second toothed pulley;

[0024] 910 is the ring chain dragging mechanism; 911 is the large sprocket; 912 is the large chain; 920 is the foaming mold frame; 921 is the frame; 922 is the mold frame body; 923 is the roller; 928 is the synchronous probe; 929 is the connecting frame; 930 is the door shell and door lining feeding station; 931 is the mold frame position synchronous tracking device; 932 is the automatic feeding robot; 935 is the controller; 939 is the door shell and door lining material stack.

[0025] Arrow M indicates the transmission direction of the transmission line. Implementation

[0026] The present invention will now be described in further detail with reference to the accompanying drawings.

[0027] Figure 1 An example of a refrigerator / freezer door foaming line is provided, comprising a transmission line, several foaming mold frames 920 disposed on the transmission line, several workstations disposed along the transmission line, and a controller 935. The transmission line is a ring-shaped transmission line implemented by a ring chain dragging mechanism 910. (Refer to...) Figure 2The ring chain dragging mechanism 910 includes two large sprockets 911 vertically mounted on a slewing bearing. The two sprockets 911 are 20-30m apart and connected by a large chain 912. One of the sprockets 911 is connected to a power mechanism. When the power mechanism drives the sprocket 911 to rotate, it causes the large chain 912 to move around the two sprockets along a ring line. This ring line consists of two straight segments on either side of the central axis of the two sprockets and two semicircular segments located on the sprockets respectively. The foaming mold frame 920 is a draggable component, including a frame 921 and a mold frame body 922. The frame 921 is connected to the large chain 912 and has rollers 923 at its bottom. The mold frame body 922 is mounted on the frame 921 and includes an upper mold mechanism and a lower mold mechanism. When the large chain 912 moves along the ring line, it drags the foaming mold frame 920 along the ring line. The number of foaming mold frames 920 on the door body foaming line is usually 20 to 40. The stations set along the transmission line include: mold opening station, material unloading station, door shell and door liner loading station 930, mold closing station, foaming and injection station, foam holding station, etc.

[0028] Door shell and door liner loading station 930, refer to Figure 3 , Figure 4 as well as Figure 7 The system is equipped with a mold frame position synchronization tracking device 931, an automatic feeding robot 932, and a door shell and door lining material stack 939, all located on the side of the conveyor line. The mold frame position synchronization tracking device 931 is located inside the conveyor line, while the automatic feeding robot 932 and the door shell and door lining material stack 939 are located outside the conveyor line. Both the mold frame position synchronization tracking device 931 and the automatic feeding robot 932 are connected to a controller 935.

[0029] Mold frame position synchronous tracking device 931, refer to Figure 5 The system includes a mold frame synchronization track 1 and a position encoding device 2. The mold frame synchronization track 1 includes a long, parallel track frame 19. Sprockets 11 are respectively installed at both ends of the long track frame 19. More specifically, the track frame 19 is located inside a large chain 912 and parallel to its straight section. A chain 12 is mounted between the two sprockets 11, with one sprocket 11 connected to the position encoding device 2. Equally spaced protrusions 121 are provided on the chain 12. The distance between two adjacent protrusions 121 on the chain 12 does not exceed 20cm, preferably 6cm to 16cm. The sprocket 11 axis is horizontal, dividing the chain 12 into upper and lower sections, with the upper section being the detection section and the lower section being the return section. The position encoding device 2 is described below. Figure 6The system includes an encoder 21, a first toothed pulley 22, and a second toothed pulley 23. The first toothed pulley 22 is coaxially mounted and connected to a sprocket 11 at one end of the track frame 19. The first toothed pulley 22 and the second toothed pulley 23 are connected by a toothed synchronous belt. The second toothed pulley 23 is connected to the encoder 21. The transmission ratio between the first toothed pulley 22 and the second toothed pulley 23 is not less than 3, preferably 4 to 8.

[0030] To coordinate with the aforementioned mold frame position synchronous tracking device 931, refer to Figure 4 and Figure 7 The foaming mold frame 920 is equipped with a synchronous probe 928. Specifically, the synchronous probe 928 is a horizontal rod mounted on the connecting frame 929, perpendicular to the main chain 912, and extending into the inside of the main chain 912. The connecting frame 929 is a frame mounted on the chassis 921, used to connect the main chain 912 and to connect the pipelines required for door foaming. When the foaming mold frame 920 moves within the door shell and door liner loading station 930, the synchronous probe 928 on the foaming mold frame 920 can engage with the protrusion 121. Specifically, refer to... Figure 7 As the large chain 912 drags the foaming mold frame 920 into the door shell and door liner loading station 930 along the direction indicated by arrow M, the synchronous probe 928 installed on the foaming mold frame 920 engages with a protrusion 121 on the detection section of the chain 12. Thus, as the foaming mold frame 920 moves within the door shell and door liner loading station 930, the synchronous probe 928 and the protrusion 121 drive the chain 12 to move, which in turn drives the sprocket 11 to rotate. This rotation is then transmitted through the first toothed pulley 22 and the second toothed pulley 23, and is encoded and recorded in real time by the encoder 21. The controller 935 receives the real-time code sent by the encoder 21 and maps the real-time code of the encoder 21 to the real-time position of the foaming mold frame 920 within the door shell and door liner loading station 930. Then, it sends the real-time position of the foaming mold frame 920 to the automatic loading robot 932. The automatic loading robot 932 performs the door shell and door liner loading operation based on the real-time position of the foaming mold frame. During loading, the automatic loading robot 932 transfers the door shell and door liner stacked on the door shell and door liner material pile 939 to the moving foaming mold frame 920 via a robotic arm.

[0031] It should be noted that the aforementioned mold frame position synchronization tracking device 931 is connected to the controller 935, as shown in the reference. Figure 8This refers to the encoder 21 in the mold frame position synchronization tracking device 931 being connected to the controller 935. In this embodiment, the controller 935 is a computing unit installed in a control cabinet, including a general-purpose computer processor and memory, used for the automatic control of the door foaming line transmission line and various automated components at each workstation. Specifically, in this invention, the controller 935 executes a computer program to realize the real-time encoding of the encoder 21 to the real-time position of the foaming mold frame 920. Since the chain length and the protrusion spacing are fixed, the above-mentioned real-time encoding of the encoder 21 to the real-time position of the foaming mold frame 920 is not difficult for those skilled in the art, and the specific mapping calculation method will not be described in detail in this specification.

[0032] Furthermore, in this embodiment, the controller 935 also sends the moving speed of the foaming mold frame 920 to the automatic feeding robot 932. The automatic feeding robot 932 performs the feeding operation of the door shell and door liner according to the real-time position and moving speed of the foaming mold frame. The moving speed of the foaming mold frame 920 is fixed in the door body foaming line, so it can be preset, but there is some error between the actual working speed and the preset speed. Therefore, in this embodiment, the controller 935 also corrects the preset moving speed according to the real-time position of the foaming mold frame 920 to obtain the corrected moving speed of the foaming mold frame 920, and then sends the corrected moving speed of the foaming mold frame 920 to the automatic feeding robot 932.

[0033] Furthermore, in this embodiment, the transmission line, the foaming mold frame 920 disposed on the transmission line, the door shell and door lining feeding station 930 disposed along the transmission line, and the controller 935 constitute the automatic door shell and door lining feeding system referred to in this invention.

[0034] Furthermore, in this embodiment, the transmission line is implemented by chain dragging. In actual configurations, other methods can also be used to implement the transmission line. For example, a motor can be installed on the frame of the foaming mold, and the motor drives the rollers to move in a circle. In this implementation, the rollers are usually confined in a circular track.

[0035] Furthermore, in this embodiment, the encoder 21 in the position encoding device 2 is connected to the sprocket 11 through two toothed pulleys with a certain transmission ratio. The main purpose of this implementation is to improve the encoding accuracy of the encoder 21. Those skilled in the art will understand that if higher accuracy is not required, the encoder 21 can also be directly connected to the sprocket 11 to directly encode the rotation of the sprocket 11.

[0036] Furthermore, the automatic feeding robot 932 in this embodiment is an outsourced component, and its specific implementation is not within the scope of this invention.

Claims

1. A continuously moving automatic door shell and door lining feeding system, comprising a conveyor line and a foaming mold frame disposed on the conveyor line; the conveyor line passes through a door shell and door lining feeding station; characterized in that, It also includes a controller (935); the door shell and door liner feeding station is equipped with a mold frame position synchronization tracking device (931) and an automatic feeding robot (932) located on the side of the transmission line; the mold frame position synchronization tracking device (931) includes a mold frame synchronization track (1) and a position encoding device (2); the mold frame synchronization track (1) includes a long track frame (19) parallel to the transmission line; sprockets (11) are respectively provided at both ends of the long track frame (19); a chain (12) is strung between the two sprockets (11); the chain (12) is provided with equally spaced protrusions (121); the position encoding device (2) includes an encoder (21); the encoder (21) is connected to one of the sprockets (11); the foaming mold frame is provided with a synchronization probe (928). The controller (935) connects the encoder (21) and the automatic feeding robot (932). When the foaming mold frame moves within the door shell and door lining feeding station, the synchronous probe (928) set on the foaming mold frame can be locked on the protrusion (121), thereby driving the sprocket (11) to rotate through the chain (12). The encoder (21) encodes the rotation of the sprocket (11) in real time and sends the real-time code to the controller (935). The controller (935) maps the real-time code of the encoder (21) to the real-time position of the foaming mold frame moving within the door shell and door lining feeding station, and then sends the real-time position of the foaming mold frame to the automatic feeding robot (932). The automatic feeding robot (932) performs the door shell and door lining feeding operation according to the real-time position of the foaming mold frame.

2. The automatic door shell and door lining feeding system according to claim 1, characterized in that, The controller (935) also corrects the calculation of the moving speed of the foam mold frame based on the real-time position of the moving foam mold frame, and sends the corrected moving speed of the foam mold frame to the automatic feeding robot (932); the automatic feeding robot (932) performs the feeding operation of the door shell and door liner based on the real-time position and moving speed of the moving foam mold frame.

3. The automatic door shell and door lining feeding system according to claim 1, characterized in that, The distance between two adjacent protrusions (121) on the chain (12) is 6cm to 16cm.

4. The automatic door shell and door lining feeding system according to claim 1, characterized in that, The position encoding device (2) also includes a first toothed pulley (22) and a second toothed pulley (23); the first toothed pulley (22) is coaxially arranged with and connected to the sprocket (11); the first toothed pulley (22) and the second toothed pulley (23) are connected by a toothed synchronous belt; the second toothed pulley (23) is connected to the encoder (21).

5. The automatic door shell and door lining feeding system according to claim 4, characterized in that, The transmission ratio between the first toothed pulley (22) and the second toothed pulley (23) is not less than 3.

6. The automatic door shell and door lining feeding system according to claim 1, 2, 3, 4, or 5, characterized in that, The foaming mold frame includes a frame (921) and a mold frame body (922) mounted on the frame (921); the bottom of the frame (921) is provided with rollers; the transmission line is realized by a ring chain dragging mechanism (910); the ring chain dragging mechanism (910) includes two large sprockets (911) with vertical axes and a large chain (912) mounted on and connected to the two large sprockets (911); the frame (921) is connected to the large chain (912); one of the large sprockets (911) is connected to the power mechanism.

7. The automatic door shell and door lining feeding system according to claim 6, characterized in that, The track frame (19) is located inside the large chain (912); the foaming mold frame is located outside the large chain (912).

8. A door foaming line for use in the foaming of refrigerator and freezer doors, characterized in that, Includes the automatic door shell and door lining feeding system according to any one of claims 1 to 7.

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