Refrigerator U shell automatic carrying device based on robot and control system of refrigerator U shell automatic carrying device

Abstract

The invention discloses a refrigerator U shell automatic carrying device based on a robot and a control system of the refrigerator U shell automatic carrying device, and relates to the technical field of refrigerator production. The device comprises a refrigerator U shell primary machining station and robots, the two robots are located on the side face of a refrigerator U shell carrying area, and each robot comprises a walking mechanism, a rotating arm mechanism, a telescopic arm mechanism, a clamp lifting and rotating mechanism and a clamp mechanism. The invention discloses a control system used by a robot-based refrigerator U shell automatic carrying device. The control system comprises the following steps of preliminary detection by a visual sensor, operation of a mechanical arm to a preset position, secondary detection by the visual sensor, clamping of a U shell, placement of the U shell, reset circulation and the like. According to the refrigerator U shell production line, the refrigerator U shell production line is designed, so that the refrigerator U shell production line meets the production procedure and process requirements and can be used in cooperation with a robot, a U shell and the like, the functions of automatic production, discharging, clamping, workshop carrying and the like of the refrigerator U shell are achieved, and the production efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of refrigerator production, and in particular to a robot-based automatic handling device for a refrigerator U shell and a control system thereof. Background Art

[0002] The refrigerator is a widely used household appliance among all household appliances, and it consists of hundreds of parts inside. Among them, the refrigerator U shell is a key and important component. Its main function is to support the entire frame of the refrigerator and to install part of the condenser. Its quality will directly affect the quality of the entire refrigerator, so the requirements for the production of the refrigerator U shell are relatively high. At present, there is a special production line for the refrigerator U shell. When the refrigerator U shell is produced, it needs to be carefully moved from the production line to the trolley by manual labor, and then transported to the designated location of other workshops by transportation workers. The size and weight of refrigerator U shells of different models are also different. The heaviest is more than 20 kilograms. Workers need to carry hundreds of refrigerator U shells every day. In addition, the refrigerator U shell production workshop has the characteristics of high noise and strong metallic smell. Workers working in this environment for a long time will not only affect their physical and mental health development, but also reduce the production efficiency of the refrigerator, which is not conducive to the rapid development of the enterprise. Therefore, in response to this situation, a robot-based refrigerator U shell automatic handling system is designed, which not only changes the traditional manual handling situation, but also reduces the labor cost of the enterprise while improving work efficiency, and further improves the automation and intelligence of the workshop.

[0003] The existing technical solution is to manually unload the refrigerator U shell and use a cart to transport the U shell in the workshop. The labor intensity of the workers is high and the production efficiency is low. To solve the above problems, the inventor proposes a robot-based refrigerator U shell automatic handling device and its control system to solve the above problems. Summary of the invention

[0004] In order to solve the problem of high labor intensity and low production efficiency of workers in manually completing automatic unloading of refrigerator U shells, the purpose of the present invention is to provide a robot-based refrigerator U shell automatic handling device and its control system.

[0005] In order to solve the above technical problems, the present invention adopts the following technical scheme: a robot-based automatic handling device for a refrigerator U shell, comprising a refrigerator U shell primary processing station and a robot, wherein there are two robots in total, the refrigerator U shell primary processing station is connected to four stations, the four stations are refrigerator U shell pasting condensers, the four stations are connected to a refrigerator U shell condenser pasting aluminum foil tape station, the refrigerator U shell condenser pasting aluminum foil tape station makes the condenser pasting more firmly, the refrigerator U shell condenser pasting aluminum foil tape station is connected to a refrigerator U shell bending station, the refrigerator U shell bending station uses a bending machine to bend the refrigerator U shell into a U shape again, the outside of the refrigerator U shell bending station is connected to a refrigerator U shell conveyor belt, the refrigerator U shell conveyor belt comprises a refrigerator U shell handling area, two robots are located on the side of the refrigerator U shell handling area, the refrigerator U shell handling area, four transport vehicles are parked in front of the refrigerator U shell handling area, the initial positions of the two robots are respectively set in front of the two transport vehicles, the robot is positioned and walked in the workshop, and magnetic strips are laid around the robot.

[0006] Preferably, the robot includes a walking mechanism, a rotating arm mechanism, a telescopic arm mechanism, a clamp lifting and rotating mechanism and a clamp mechanism. The base mechanism is installed above the AGV, the rotating arm mechanism is installed above the base mechanism, the rotating arm mechanism includes a rotating arm body, the telescopic arm mechanism is installed above the rotating arm body, the telescopic arm mechanism includes a telescopic arm body, the rotating mechanism is installed at the bottom end of the telescopic arm body, the rotating mechanism includes a swing cylinder, and the clamp mechanism is installed on the outside of the swing cylinder.

[0007] Preferably, the rotating arm mechanism is composed of a servo motor, an RV reducer, and a rotating arm body; the telescopic arm mechanism is composed of a guide rail mechanism, a pulley mechanism, a mounting frame, a No. 1 telescopic cylinder, a cylinder rod connector, and a telescopic arm body; the clamp lifting and rotating mechanism is composed of a clamp lifting cylinder and a swing cylinder; the walking mechanism includes a universal wheel and an AGV; the servo motor is installed on the inner side of the base mechanism; an RV reducer is installed at the output end of the servo motor; and the top end of the RV reducer is detachably mounted on the rotating arm body.

[0008] Preferably, the guide rail mechanism is installed on the outside of the rotating arm body, the pulley mechanism is installed inside the guide rail mechanism, the mounting frame is installed on the top of the rotating arm body, the No. 1 telescopic cylinder is installed on the outside of the mounting frame, the output end of the No. 1 telescopic cylinder is fixedly connected to the cylinder rod connecting piece, the cylinder rod connecting piece is fixedly connected to the telescopic arm body, the telescopic arm body is connected to the pulley mechanism, the clamp lifting cylinder is installed at the bottom end of the telescopic arm body, and the swing cylinder is installed at the bottom end of the clamp lifting cylinder.

[0009] Preferably, the clamp mechanism includes a clamp fixing frame, a No. 2 telescopic cylinder, a visual sensor, a clamp arm, and an elastic element, and the mechanism is symmetrically distributed on the left and right sides. The clamp fixing frame fixes the entire clamp mechanism on the outside of the swing cylinder. There are two No. 2 telescopic cylinders, and the two No. 2 telescopic cylinders are fixed on the left and right sides of the clamp fixing frame. Both ends of the No. 2 telescopic cylinder are equipped with cylinder rods. The clamp arm is installed and connected to the output end of the No. 2 telescopic cylinder, the elastic element is installed on the inner side of the clamp arm, and the visual sensor is installed on the outside of the fixing frame.

[0010] A control system used in a robot-based refrigerator U-shell automatic handling device includes the following steps:

[0011] S1. Preliminary detection by visual sensor: The visual sensor on the robot fixture starts to perform preliminary detection of the U-shell posture on the conveyor belt and feeds back the detection signal to the control system;

[0012] S2, the robot moves to the preset position: the robot's posture is adjusted after being regulated by the control system, so that the robot arm and the clamp move to the preset position, waiting to clamp the U shell;

[0013] S3, visual sensor re-detection: When the U shell is transferred to the vicinity of the robot, the visual sensor detects again to provide the robot with the accurate position of the U shell;

[0014] S4, clamping the U shell: the control system controls the movement of the robotic arm and the clamp to clamp the U shell;

[0015] S5. The pressure sensor detects whether the fixture clamps the U shell: Since the U shell has a large mass, a pressure sensor needs to be installed on the fixture so that it can detect whether the fixture clamps the U shell during operation;

[0016] S6. The robot moves to the preset position: After the detection system detects that the U shell is clamped, the control system controls the robot to move to the preset position and drives the robot arm and the clamp to move;

[0017] S7, placing the U shell: placing the U shell on the transport vehicle;

[0018] S8, reset cycle: The robot resets and executes the U-shell handling process in a loop. When the pressure sensor detects that the fixture does not clamp the U-shell, it feeds back the signal to the control system, which needs to adjust the status of the fixture to ensure that it clamps the U-shell and then executes the next action.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention designs a refrigerator U-shell production line to meet the production process and process requirements, and can be used in conjunction with robots, U-shells, etc. to realize the functions of automatic production, unloading, clamping, workshop transportation, etc. of refrigerator U-shells, improve production efficiency, and combine visual inspection modules, pressure inspection modules, etc. with robots to monitor the status of robots and U-shells in real time, ensuring accurate clamping, installation and transportation of U-shells;

[0021] 2. In the present invention, a special fixture is designed according to the structural characteristics of the U shell, which increases the contact area with the U shell on the one hand, and increases the elastic element on the other hand to avoid damage to the U shell. At the same time, it can be applied to various types of U shells, and the navigation system can be used in conjunction with AGV and robots to realize automatic positioning and walking of the robot, which is convenient for U shell transportation;

[0022] 3. The present invention combines robot technology and automatic walking trolley to realize automatic positioning and walking of the robot in the workshop, fully integrates pressure detection and visual inspection machine robot technology, completes real-time monitoring and installation and transportation of U-shell and robot status, improves U-shell transportation efficiency and safety, and intelligently designs the U-shell production line to make it occupy a small area, have high production efficiency, and high intelligence and automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 The refrigerator U shell production process and robot workstation distribution diagram of the present invention;

[0025] Figure 2 This is a schematic diagram of the front view of the robot of the present invention;

[0026] Figure 3 A schematic top view of the robot of the present invention;

[0027] Figure 4 It is a two-dimensional schematic diagram of the clamp mechanism of the present invention;

[0028] Figure 5 The figure is a flowchart of the robot working process of the present invention.

[0029] In the figure: 1. universal wheel; 2. AGV; 3. base mechanism; 4. servo motor; 5. RV reducer; 6. rotating arm body; 7. guide rail mechanism; 8. pulley mechanism; 9. clamp lifting cylinder; 10. swing cylinder; 11. clamp mechanism; 12. mounting frame; 13. No. 1 telescopic cylinder; 14. cylinder rod connector; 15. telescopic arm body; 21. clamp fixing frame; 22. No. 2 telescopic cylinder; 23. visual sensor; 24. clamp arm; 25. elastic element. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example: Figure 1-5 As shown: The refrigerator U shell needs to go through multiple processes during the processing and manufacturing process. First, after the initial processing of the refrigerator U shell, four workers at four workstations paste the condenser on the refrigerator U shell, and use a pasting machine to paste aluminum foil tape on the condenser inside the U shell to make the condenser stick more firmly. Then, sponge is manually pasted on the bending part of the refrigerator U shell, and then the bending machine processes the refrigerator U shell again to bend it into a U shape. Finally, the conveyor belt conveys it to the waiting position for transportation for easy transportation.

[0032] There are four transport vehicles parked in front of the refrigerator U-shell handling area. The traditional method is to manually carry the refrigerator U-shell on the conveyor belt to the transport vehicle, and the transport worker will transport it to the designated area of ​​other workshops. When using robots to replace manual work, a handling robot can be set up in the handling area, and the initial position of the handling robot is set in front of the two transport vehicles. In order to facilitate the robot to locate and walk in the workshop, magnetic strips are laid around it to play a guiding role. On the one hand, there are a large number of U-shells on the conveyor belt, and on the other hand, the conveyor belt is sometimes in a transport state (the U-shell is not transported to the sensor detection position) and sometimes in a stopped state (the U-shell is transported to the sensor detection position) during work. Therefore, in order to improve work efficiency, two robots are needed to work together. When working, the two robots cooperate with each other and work at the same time. Robot No. 1 first moves the U-shells that are closer on the conveyor belt to the No. 1 transport vehicle, and places the U-shells in a V shape, with thirty U-shells evenly placed on each vehicle. Then, Robot No. 2 moves the U-shells on the conveyor belt that are not carried by the Io robot to the No. 3 transport vehicle, and the operation is the same as that of Robot No. 1. When the No. 1 and No. 2 transport vehicles are full of U-shells, they will be transported to other workstations, and new empty vehicles will be placed in the original parking area to temporarily store U-shells. Robot No. 1 and Robot No. 2 continue to repeat the previous process to move the U-shells to Transport No. 2 and Transport No. 4 respectively, and the cycle will be carried out.

[0033] The robot is mainly composed of a walking mechanism, a rotating arm mechanism, a telescopic arm mechanism, a fixture lifting and rotating mechanism, a fixture mechanism 11 and other parts. The walking mechanism includes a universal wheel 1 and an AGV 2, which can realize the automatic positioning and walking function of the robot in the workshop. The base mechanism 3 mainly includes a base, which supports and fixes the entire upper limb mechanical arm. The rotating arm mechanism is mainly composed of a servo motor 4, an RV reducer 5, a rotating arm body 6 and other components. The servo motor 4 is fixed inside the base and directly connected to the RV reducer 5. By controlling the forward and reverse rotation of the servo motor 4, the rotating arm body 6 can perform a circular rotation around the base mechanism 3 with the cooperation of the RV reducer 5. The telescopic arm mechanism is mainly composed of a guide rail mechanism 7, a pulley mechanism 8, a mounting frame 12, a No. 1 telescopic cylinder 13, a cylinder rod connector 14, a telescopic arm body 15 and other components. A mounting frame 12 and a cylinder rod connector 14 are provided on the top of the rotating arm body 6 to fix the No. 1 telescopic cylinder 13. In order to facilitate the telescopic arm body 15 to realize its telescopic function, the No. 1 telescopic cylinder 13 is connected to the telescopic arm body 15 by means of the cylinder rod connector 14, and the automatic positioning and telescopic function of the telescopic arm body 15 is realized by controlling the telescopic stroke of the cylinder. At the same time, in order to further improve the flexibility of the telescopic arm during telescopic extension and reduce its friction, a guide rail mechanism 7 is provided inside the rotating arm body 6, and a pulley mechanism 8 is provided on both sides of the telescopic arm body 15. The pulley mechanism 8 is used to further reduce its friction and play a guiding role. Clamp lifting and rotating mechanism: It is mainly composed of a clamp lifting cylinder 9 and a swing cylinder 10, which can accurately adjust the position of the clamp in the vertical direction and adjust the state of the clamp in the horizontal direction, so as to facilitate its accurate docking with the refrigerator U shell.

[0034] Combination Figure 4 The clamp mechanism 11 is mainly composed of a clamp fixing frame 21, a second telescopic cylinder 22, a visual sensor 23, a clamp arm 24, an elastic element 25 and other components, and the mechanism is in a bilaterally symmetrical form. The clamp fixing frame 21 is used to fix the entire clamp mechanism 11 on the swing cylinder 10, so that the entire clamp can follow the swing cylinder 10 to make a circular rotation motion, and there are two states: one is to stop and flexibly adjust the horizontal posture of the clamp; the second telescopic cylinder 22 is fixed on the left and right sides of the clamp, and the left and right sides of the second telescopic cylinder 22 are equipped with cylinder rods, which can perform the telescopic function simultaneously; the clamp arm 24 and the cylinder rod of the second telescopic cylinder 22 are designed as a whole, and the corresponding elastic element 25 is designed according to the distribution of the condenser inside the refrigerator U shell. When the clamp clamps the U shell, it can ensure that the elastic elements 25 on both sides do not contact the condenser and directly clamp the thin wall of the U shell. Since a plurality of elastic elements 25 are arranged on the clamp arm 24, there are two types: single eye and binocular. When the clamp is clamped, it can protect the refrigerator U shell and avoid wear; in addition, it also appropriately increases the friction force to improve the stability of the clamp.

[0035] In actual operation, the robot is located at the initial position and waits for instructions. After the robot receives the start instruction, the visual sensor 23 on the robot fixture begins to perform preliminary detection of the U shell posture on the conveyor belt and feeds back the detection signal to the control system. After the control system adjusts the robot's posture, the robot's mechanical arm and fixture are operated to the preset position, waiting to clamp the U shell. When the U shell is transmitted to the vicinity of the robot, the visual sensor 23 detects again to provide the robot with the accurate position of the U shell, and then the control system regulates the mechanical arm and fixture to clamp the U shell. Since the mass of the U shell is large, it is necessary to install a pressure sensor on the fixture so that it can detect whether the fixture clamps the U shell when it is working. After the detection system detects that the U shell is clamped, the control system regulates the robot to run to the preset position and drives the mechanical arm and fixture to move, placing the U shell on the transport vehicle, and then the robot resets and cyclically executes the U shell handling process. When the pressure sensor detects that the fixture does not clamp the U shell, it feeds back the signal to the control system, and the control system is required to adjust the state of the fixture to ensure that it clamps the U shell, and then executes the next action.

[0036] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot-based automatic handling device for refrigerator U shells, comprising a refrigerator U shell primary processing station and a robot, characterized in that: There are two robots in total. The refrigerator U-shell primary processing station is connected to four stations. The four stations are for pasting condensers on refrigerator U-shells. The four stations are connected to a refrigerator U-shell condenser pasting aluminum foil tape station. The refrigerator U-shell condenser pasting aluminum foil tape station makes the condenser pasted more firmly. The refrigerator U-shell condenser pasting aluminum foil tape station is connected to a refrigerator U-shell bending station. The refrigerator U-shell bending station uses a bending machine to bend the refrigerator U-shell into a U shape again. The outside of the refrigerator U-shell bending station is connected to a refrigerator U-shell conveyor belt, and the refrigerator U-shell conveyor belt includes a refrigerator U-shell handling area. The two robots are located on the side of the refrigerator U-shell handling area. The refrigerator U-shell handling area, four transport vehicles are parked in front of the refrigerator U-shell handling area, and the initial positions of the two robots are respectively set in front of the two transport vehicles. The robot is positioned and walks in the workshop, and magnetic strips are laid around the robot.

2. The robot-based automatic handling device for refrigerator U shell according to claim 1, characterized in that: The robot comprises a walking mechanism, a rotating arm mechanism, a telescopic arm mechanism, a clamp lifting and rotating mechanism and a clamp mechanism (11); the base mechanism (3) is installed above the AGV (2); the rotating arm mechanism is installed above the base mechanism (3); the rotating arm mechanism comprises a rotating arm body (6); the telescopic arm mechanism is installed above the rotating arm body (6); the telescopic arm mechanism comprises a telescopic arm body (15); the rotating mechanism is installed at the bottom end of the telescopic arm body (15); the rotating mechanism comprises a swing cylinder (10); and the clamp mechanism (11) is installed outside the swing cylinder (10).

3. The robot-based automatic handling device for refrigerator U shells as claimed in claim 2, characterized in that: The rotating arm mechanism is composed of a servo motor (4), an RV reducer (5), and a rotating arm body (6); the telescopic arm mechanism is composed of a guide rail mechanism (7), a pulley mechanism (8), a mounting frame (12), a No. 1 telescopic cylinder (13), a cylinder rod connecting piece (14), and a telescopic arm body (15); and the clamp lifting and rotating mechanism is composed of a clamp lifting cylinder (9) and a swing cylinder (10).

4. The robot-based automatic handling device for refrigerator U shells according to claim 3, characterized in that: The walking mechanism comprises a universal wheel (1) and an AGV (2); the servo motor (4) is installed on the inner side of a base mechanism (3); the output end of the servo motor (4) is connected to an RV reducer (5); and the top end of the RV reducer (5) is detachably mounted to a rotating arm body (6).

5. The robot-based automatic handling device for refrigerator U shells according to claim 4, characterized in that: The guide rail mechanism (7) is installed on the outside of the rotating arm body (6), the pulley mechanism (8) is installed inside the guide rail mechanism (7), and the mounting frame (12) is installed on the top of the rotating arm body (6).

6. The robot-based automatic handling device for refrigerator U shells according to claim 5, characterized in that: The No. 1 telescopic cylinder (13) is installed outside the mounting frame (12); the output end of the No. 1 telescopic cylinder (13) is fixedly connected to a cylinder rod connecting piece (14); the cylinder rod connecting piece (14) is fixedly connected to a telescopic arm body (15); and the telescopic arm body (15) is connected to a pulley mechanism (8).

7. The robot-based automatic handling device for refrigerator U shells according to claim 6, characterized in that: The clamp lifting cylinder (9) is installed at the bottom end of the telescopic arm body (15), and the swing cylinder (10) is installed at the bottom end of the clamp lifting cylinder (9).

8. The robot-based automatic handling device for refrigerator U shells as claimed in claim 7, characterized in that: The clamp mechanism (11) comprises a clamp fixing frame (21), a second telescopic cylinder (22), a visual sensor (23), a clamp arm (24), and an elastic element (25), and the mechanism is symmetrically distributed on the left and right sides. The clamp fixing frame (21) fixes the entire clamp mechanism (11) on the outside of the swing cylinder (10).

9. The robot-based automatic handling device for refrigerator U shells according to claim 8, characterized in that: There are two No. 2 telescopic cylinders (22), which are fixed on the left and right sides of the clamp fixing frame. Both ends of the No. 2 telescopic cylinder (22) are provided with cylinder rods. The clamp arm (24) is installed and connected to the output end of the No. 2 telescopic cylinder (22). The elastic element (25) is installed on the inner side of the clamp arm (24), and the visual sensor (23) is installed on the outer side of the fixing frame (21).

10. A control system used in a robot-based refrigerator U-shell automatic handling device as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1, preliminary detection by visual sensor (23): the visual sensor (23) on the robot fixture begins to perform preliminary detection on the posture of the U shell on the conveyor belt and feeds back the detection signal to the control system; S2, the robot moves to the preset position: the robot's posture is adjusted after being regulated by the control system, so that the robot arm and the clamp move to the preset position, waiting to clamp the U shell; S3, visual sensor (23) detects again: when the U shell is transferred to the vicinity of the robot, the visual sensor 23 detects again to provide the robot with the accurate position of the U shell; S4, clamping the U shell: the control system controls the movement of the robotic arm and the clamp to clamp the U shell; S5. The pressure sensor detects whether the fixture clamps the U shell: Since the U shell has a large mass, a pressure sensor needs to be installed on the fixture so that it can detect whether the fixture clamps the U shell during operation; S6. The robot moves to the preset position: After the detection system detects that the U shell is clamped, the control system controls the robot to move to the preset position and drives the robot arm and the clamp to move; S7, placing the U shell: placing the U shell on the transport vehicle; S8, reset cycle: The robot resets and executes the U-shell handling process in a loop. When the pressure sensor detects that the fixture does not clamp the U-shell, it feeds back the signal to the control system, which needs to adjust the status of the fixture to ensure that it clamps the U-shell and then executes the next action.

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