Automatic gluing and cover closing equipment of motor driver

Abstract

The invention discloses automatic gluing and cover closing equipment of a motor driver, which comprises a frame assembly, a conveying line body, two sets of jacking positioning assemblies, a three-axis system assembly, an automatic feeding assembly, a piece taking and cover closing assembly and a secondary positioning assembly, the two sets of jacking positioning assemblies are arranged on the left side and the right side of the frame assembly respectively, the three-axis system assembly is arranged on the frame assembly, the automatic feeding assembly is arranged on the rear side of the frame assembly, and the part taking and cover closing assembly is arranged between the automatic feeding assembly and the frame assembly. And the secondary positioning assembly is arranged on the frame assembly. Through mutual cooperation of the frame assembly, the conveying line body, the two jacking positioning assemblies, the three-axis system assembly, the automatic feeding assembly, the part taking and cover closing assembly and the secondary positioning assembly, the motor driver production quality and efficiency are improved.

Description

Technical Field

[0001] The invention relates to automatic gluing and capping equipment driven by a motor. Background Art

[0002] The motor driver is a device used to control the motor. It can adjust the motor's speed, direction and output torque according to different control signals. The motor driver receives the command signal of the control system and converts it into corresponding electrical energy output, thereby driving the motor to operate according to the predetermined requirements. It can be an independent device or a part integrated inside the motor. The main functions of the driver include: controlling the start, stop, acceleration and deceleration of the motor; adjusting the speed and output power of the motor; providing overload protection and fault diagnosis functions. According to the type of motor, the driver can be divided into DC motor driver, AC motor driver, stepper motor driver and servo motor driver. However, in the production and manufacturing of motor drivers, most of the existing production and manufacturing adopts manual cleaning of the motor driver box cover, and after the manual cleaning, the glue is applied by manual manual glue gun. In the process of gluing, the glue quality is also manually inspected visually, and the cover is closed manually after the manual judgment of the glue application is qualified. That is, in the production process of cleaning, gluing and closing the cover surface of the motor drive housing, most of the cleaning, gluing and closing are done manually, the gluing uniformity is poor, the efficiency is low, which seriously affects the production efficiency of the motor drive and the production cost is high. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] The technical problem to be solved by the present invention is how to improve the quality and efficiency of motor driver production.

[0005] To solve the above technical problems, the present invention provides the following technical solutions: an automatic gluing and capping device for a motor driver, comprising a frame assembly, a transport line body, two sets of lifting and positioning assemblies, a three-axis system assembly, an automatic feeding assembly, a picking and capping assembly and a secondary positioning assembly. The transport line body is arranged through the frame assembly, and is used to transport the motor driver case to the corresponding workstation. The two sets of the lifting and positioning assemblies are respectively arranged on the left and right sides of the frame assembly, and are used to position the motor driver case on the workstation. The three-axis system assembly is arranged on the frame assembly, and is used to automatically clean and gluing the fitting surface of the motor driver case. The automatic feeding assembly is arranged on the rear side of the frame assembly, and is used for automatic feeding of the motor driver upper cover. The picking and capping assembly is arranged between the automatic feeding assembly and the frame assembly, and is used for automatic clamping and capping of the motor driver upper cover. The secondary positioning assembly is arranged on the frame assembly, and is used for secondary positioning of the motor driver upper cover.

[0006] As a preferred solution of the automatic gluing and capping equipment of the motor drive described in the present invention, wherein: the frame assembly includes a welding frame, a workbench, a protective cover and an operation panel, the workbench is arranged on the welding frame, the transport line body passes through the welding frame, the transport line body is connected to the workbench, two sets of the jacking and positioning assemblies are respectively arranged on the left and right sides of the workbench, the protective cover is arranged on the workbench, and the operation panel is arranged on the protective cover.

[0007] As a preferred solution of the automatic gluing and capping equipment of the motor drive described in the present invention, the jacking and positioning assembly includes a first fixed plate, a first cylinder, a first linear bearing, a first guide column, a base plate, a connecting plate, a fixed shaft, a buffer limit plate, a first hydraulic buffer, a first limit bolt, a first positioning pin and a positioning support column. The first fixed plate is arranged on the workbench, the first cylinder is arranged on the first fixed plate, the first linear bearing is arranged at the four corners of the first fixed plate, the first guide column is arranged in the first linear bearing, the base plate is arranged at the top of the first guide column, the base plate is connected to the output end of the first cylinder, the connecting plate is arranged on two adjacent first guide columns on the left and right sides, the buffer limit plate is arranged on the connecting plate through the fixed shaft, the first hydraulic buffer and the first limit bolt are both arranged on the first fixed plate at the top of the buffer limit plate, the first positioning pin is arranged at the diagonal of the base plate, and the positioning support column is arranged on the base plate.

[0008] As a preferred solution of the automatic gluing and capping equipment of the motor drive described in the present invention, the three-axis system component includes two supporting legs, an X-axis servo module, a linear guide, a Y-axis servo module, a Z-axis servo module, a lifting cylinder, a plasma cleaning gun and a gluing gun. The two supporting legs are symmetrically arranged on one side of the workbench, the X-axis servo module and the linear guide are respectively arranged on the two supporting legs, one end of the Y-axis servo module is arranged on the X-axis servo module, the other end of the Y-axis servo module is arranged on the linear guide, the Z-axis servo module is arranged on the Y-axis servo module, the lifting cylinder is arranged on the Z-axis servo module, the plasma cleaning gun is arranged on the lifting cylinder, and the gluing gun is arranged on the Z-axis servo module.

[0009] As a preferred solution of the motor-driven automatic gluing and capping equipment of the present invention, the automatic feeding assembly includes a fixed frame, a material storage trolley, two sets of lifting mechanisms and a material picking mechanism, the fixed frame is arranged on the ground at the rear side of the frame assembly, the material storage trolley is arranged in the open area in the middle of the fixed frame, the two sets of the lifting mechanisms are symmetrically arranged on the left and right sides of the fixed frame, and the material picking mechanism is arranged on the fixed frame.

[0010] As a preferred solution of the automatic gluing and capping equipment of the motor drive described in the present invention, the lifting mechanism includes a mounting frame, a second cylinder, a second linear bearing, a second guide column, a lifting plate, a fixed column, a second fixed plate, a second hydraulic buffer, a second limit bolt and a second positioning pin. The mounting frame is arranged on the fixed frame, the second cylinder is arranged on the mounting frame, the second linear bearing is arranged on the mounting frame, the second guide column is arranged in the second linear bearing, the lifting plate is arranged on the top of the second guide column, the lifting plate is connected to the output end of the second cylinder, the fixed column is arranged on the mounting frame, the end of the fixed column away from the mounting frame passes through the lifting plate, the second fixed plate is arranged on the top of the fixed column, the second hydraulic buffer and the second limit bolt are both arranged on the second fixed plate, and the second positioning pin is arranged on the lifting plate.

[0011] As a preferred solution of the automatic gluing and capping equipment of the motor drive described in the present invention, wherein: the material picking mechanism includes a servo elevator, a lifting tray, a transfer mechanism, a right-angle reducer and a driving servo, the servo elevator is arranged on the fixed frame, the lifting tray is arranged on the servo elevator, the transfer mechanism is arranged on the lifting tray, the right-angle reducer is arranged on the lifting tray, and the driving servo is arranged on the right-angle reducer.

[0012] As a preferred solution of the automatic gluing and capping equipment of the motor drive described in the present invention, the transfer mechanism includes a transfer arm, a placement tool, a rack and a gear, the transfer arm is arranged on the lifting tray, the placement tool is arranged on the transfer arm, the rack is arranged on the transfer arm, the gear is arranged at the output end of the right-angle reducer, and the gear and the rack are meshed.

[0013] As a preferred solution of the automatic gluing and capping equipment of the motor driver described in the present invention, wherein: the picking and capping assembly includes a six-axis robot, a double-headed flange shaft, a mounting plate, a suction cup, a 2D camera, a 3D linear scanner and a third positioning pin, the six-axis robot is arranged between the automatic feeding assembly and the frame assembly, the double-headed flange shaft is arranged on the six-axis robot, the mounting plate is arranged on the double-headed flange shaft, the suction cup is arranged on the mounting plate, the 2D camera is arranged in the middle position of the mounting plate, the 3D linear scanner is arranged on the side of the mounting plate, and the third positioning pin is arranged on the mounting plate.

[0014] As a preferred solution of the automatic gluing and capping equipment of the motor driver described in the present invention, wherein: the secondary positioning component includes an installation support column, a positioning table, a support plate, a first positioning cylinder, a first positioning block, a second positioning cylinder, a second positioning block and a limit column, the positioning table is arranged on the workbench through the installation support column, the support plate is arranged on the positioning table, the first positioning cylinder is arranged on one side of the positioning table, the first positioning block is arranged at the output end of the first positioning cylinder, the second positioning cylinder is arranged on the other side of the positioning table, the second positioning block is arranged at the output end of the second positioning cylinder, and the limit column is arranged on the positioning table.

[0015] The beneficial effects of the present invention are:

[0016] 1. Improve the quality and efficiency of motor drive production through the cooperation between the frame assembly, the transport line, two sets of jacking and positioning assemblies, the three-axis system assembly, the automatic feeding assembly, the picking and covering assembly and the secondary positioning assembly;

[0017] 2. With the cooperation of the six-axis robot, this equipment not only improves the accuracy and work efficiency of the motor driver gluing and capping, but also improves the versatility and reliability of the equipment, reduces production costs, and makes the entire workstation process without manual intervention, realizing the full automation of the motor driver gluing and capping process, laying a good foundation for the completion of the later process;

[0018] 3. This equipment can realize the functions of automatic plasma cleaning of the glue-coated surface, automatic glue coating, 3D linear scanner to determine whether the glue coating track is qualified, automatic conveying of the upper cover by the transfer arm, automatic removal of the upper cover by the robot, automatic positioning of the upper cover, and automatic closing of the upper cover, so as to realize the process of automatic upper cover material taking, glue coating, detection and closing of the cover by the motor drive, so that it has the advantages of strong functionality, high glue coating accuracy, high visual judgment accuracy and high efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. 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 creative labor. Among them:

[0020] Figure 1 It is a schematic diagram of the overall position structure of the automatic gluing and capping equipment driven by the motor.

[0021] Figure 2 This is a schematic diagram of the position structure of the frame components and the transport line body of the motor-driven automatic gluing and capping equipment.

[0022] Figure 3 A schematic diagram of the structure of the frame assembly of the motor-driven automatic gluing and capping equipment.

[0023] Figure 4 It is a schematic diagram of the structure of the lifting and positioning assembly of the automatic gluing and capping equipment driven by the motor.

[0024] Figure 5 Schematic diagram of the structure of the three-axis system components of the automatic gluing and capping equipment driven by the motor.

[0025] Figure 6 It is a schematic diagram of the structure of the automatic feeding component of the automatic gluing and capping equipment driven by the motor.

[0026] Figure 7 It is a schematic diagram of the structure of the material storage trolley of the automatic gluing and capping equipment driven by a motor.

[0027] Figure 8 It is a structural schematic diagram of the lifting mechanism of the automatic gluing and capping equipment driven by a motor.

[0028] Fig. 9 It is a schematic diagram of the position structure of the material taking mechanism of the automatic gluing and capping equipment driven by the motor.

[0029] Fig.10 It is a schematic structural diagram from another perspective of the material taking mechanism of the automatic gluing and capping equipment driven by the motor.

[0030] Fig.11 It is a schematic diagram of the structure of the transfer mechanism of the automatic gluing and capping equipment driven by a motor.

[0031] Fig.12 It is a schematic diagram of the structure of the picking and lid closing components of the automatic gluing and lid closing equipment driven by a motor.

[0032] Fig.13 For motor-driven automatic gluing and capping equipment Fig.12 Enlarged view of point A in the middle.

[0033] Fig.14 It is a schematic diagram of the structure of the secondary positioning component of the automatic gluing and capping equipment of the motor drive.

[0034] In the figure: 1, frame assembly; 11, welding frame; 12, workbench; 13, shield; 14, control panel; 2, transport line body; 3, lifting and positioning assembly; 31, first fixed plate; 32, first cylinder; 33, first linear bearing; 34, first guide column; 35, bottom plate; 36, connecting plate; 37, fixed shaft; 38, buffer limit plate; 39, first hydraulic buffer; 310, first limit bolt; 311, first positioning pin; 312, positioning support Column; 4, three-axis system components; 41, support legs; 42, X-direction servo module; 43, linear guide rail; 44, Y-direction servo module; 45, Z-direction servo module; 46, lifting cylinder; 47, plasma cleaning gun; 48, glue gun; 5, automatic feeding component; 51, fixed frame; 52, material storage trolley; 53, lifting mechanism; 531, mounting frame; 532, second cylinder; 533, second linear bearing; 534, second guide column; 535, lifting plate; 536, fixed column; 537, second fixed plate; 538, second hydraulic buffer; 539, second limit bolt; 5310, second positioning pin; 54, material picking mechanism; 541, servo lift; 542, lifting tray; 543, transfer mechanism; 5431, transfer arm; 5432, placement tool; 5433, rack; 5434, gear; 544, right-angle reducer; 545, drive servo; 6, pick-up and cover closing assembly; 61, six-axis machine Person; 62, double-headed flange shaft; 63, mounting plate; 64, suction cup; 65, 2D camera; 66, 3D linear scanner; 67, third positioning pin; 7, secondary positioning assembly; 71, mounting support column; 72, positioning table; 73, support plate; 74, first positioning cylinder; 75, first positioning block; 76, second positioning cylinder; 77, second positioning block; 78, limit column; 8, glue coating machine control cabinet; 9, robot control cabinet; 10, plasma cleaning control cabinet. DETAILED DESCRIPTION

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0036] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0037] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0038] Example

[0039] Reference Figures 1 to 14The present embodiment provides an automatic gluing and capping device driven by a motor, which is mainly composed of a frame assembly 1, a conveying line body 2, two sets of lifting and positioning assemblies 3, a three-axis system assembly 4, an automatic feeding assembly 5, a picking and capping assembly 6 and a secondary positioning assembly 7. The frame assembly 1 serves as the installation base of the device. A conveying line body 2 is installed on the inner side of the frame assembly 1. The conveying line body 2 has the function of conveying materials to the workstation where the equipment is located. The entire line body runs through the entire equipment. The motor driver box is placed on the conveying tray on the conveying line body 2, and is transported to the frame assembly 1 through the line body's double-speed chain, and is stopped at the corresponding workstation by the blocking mechanism, waiting for Each functional module of the equipment works; a set of jacking and positioning components 3 are installed on the left and right sides of the frame component 1, one set of jacking and positioning components 3 cooperates with the three-axis system component 4, and the other set of jacking and positioning components 3 cooperates with the picking and covering component 6 to facilitate the positioning of the motor driver box on the workstation. A three-axis system component 4 is installed on the right side of the frame component 1, and the three-axis system component 4 can be used to automatically clean and glue the fitting surface of the motor driver box after positioning. An automatic feeding component 5 is installed on the rear bottom surface of the frame component 1, and the automatic feeding component 5 can realize the automatic feeding of the motor driver cover. A pick-up and cover-closing assembly 6 is installed between the frame assemblies 1, and the pick-up and cover-closing assembly 6 can automatically clamp the motor driver upper cover transported by the automatic feeding assembly 5 and realize the automatic closing of the motor driver upper cover and the box body, further improving the automation of the present equipment. In order to ensure safety, the present embodiment also installs a fence on the rear side of the frame assembly 1 to enclose the automatic feeding assembly 5, the pick-up and cover-closing assembly 6 and the relevant control cabinet. A secondary positioning assembly 7 is also installed on the frame assembly 1. The secondary positioning assembly 7 is between the pick-up and cover-closing assembly 6 and the lifting and positioning assembly 3 that cooperates with the pick-up and cover-closing assembly 6, so as to facilitate the installation of the motor driver. Before covering, the upper cover is secondary positioned to ensure that the motor driver box and the upper cover can be accurately installed. Through the cooperation between the frame component 1, the transport line body 2, the two sets of jacking and positioning components 3, the three-axis system component 4, the automatic feeding component 5, the picking and covering component 6 and the secondary positioning component 7, not only the accuracy and work efficiency of the motor driver gluing and covering are improved, but also the versatility and reliability of the equipment are improved, the production cost is reduced, and the entire workstation process does not require manual intervention, realizing the full automation of the motor driver gluing and covering process, laying a good foundation for the completion of the later process, thereby improving the quality and efficiency of motor driver production.

[0040] Specifically, the frame assembly 1 in this embodiment is mainly composed of a welding frame 11, a workbench 12, a shield 13 and an operation panel 14. The workbench 12 is fixedly mounted on the welding frame 11 by screws. The shield 13 is made of aluminum profiles. The shield 13 is fixedly mounted above the workbench 12 by screws and corresponding connectors to protect the equipment and operators. The transport line 2 passes through the welding frame 11 and is fixedly connected to the workbench 12 on the welding frame 11 by corresponding connectors. An operation panel 14 is also installed on the shield 13 to facilitate the staff to control the equipment, and a storage cabinet is also provided at the bottom of the welding frame 11 so that the device has a certain storage function.

[0041] Specifically, the lifting and positioning assembly 3 in this embodiment is mainly composed of a first fixed plate 31, a first cylinder 32, a first linear bearing 33, a first guide column 34, a bottom plate 35, a connecting plate 36, a fixed shaft 37, a buffer limit plate 38, a first hydraulic buffer 39, a first limit bolt 310, a first positioning pin 311 and a positioning support column 312. The four corners of the first fixed plate 31 are provided with mounting holes. The first fixed plate 31 is fixedly mounted on the workbench 12 through the mounting holes, and the first fixed plate 31 is in the middle of the transport line body 2. The first cylinder 32 is installed at the bottom of the first fixed plate 31, and the output end of the first cylinder 32 passes through the first fixed plate 31. In this embodiment, the number of first linear bearings 33 is four, and the four first linear bearings 33 are respectively installed at the bottom of the four corners of the first fixed plate 31. In this embodiment, the number of first guide pillars 34 is four, and the four first guide pillars 34 are respectively inserted into the four first linear bearings 33 and pass through the first linear bearings 33 to play a certain guiding role to improve the overall stability of the lifting and positioning assembly 3. The bottom plate 35 is fixedly installed on the top of the first guide pillars 34, and the output end of the first cylinder 32 is fixedly connected to the bottom of the bottom plate 35 so that the first cylinder 32 can push the bottom plate 35 to move up and down. Connecting plates 36 are installed at the bottom of the two first guide pillars 34 on the left and right sides of the first fixed plate 31, and buffer limit plates 38 are installed on the connecting plates 36 through fixed shafts 37. Two first hydraulic buffers 39 and two first limit bolts 310 are symmetrically installed on the left and right sides of the first fixed plate 31, so as to adjust the position of the bottom plate 35 according to actual needs. The first hydraulic buffer 39 and the first limit bolt 310 are adjusted to indirectly adjust the stroke of the first cylinder 32 so that it can stop at the desired position. Two first positioning pins 311 are installed at the diagonals of the base plate 35. The first positioning pins 311 cooperate with the conveying pallet on the transport line body 2 to achieve the positioning of the motor driver box. Four positioning support columns 312 are installed at the four corners of the base plate 35 to support the conveying pallet, so that the lifting and positioning assembly 3 can better lift the motor driver box.

[0042] Specifically, the three-axis system component 4 is mainly composed of two support legs 41, an X-axis servo module 42, a linear guide 43, a Y-axis servo module 44, a Z-axis servo module 45, a lifting cylinder 46, a plasma cleaning gun 47 and a glue gun 48. The two support legs 41 are welded and serve as the installation basis of the entire three-axis system component 4. The support legs 41 are fixedly installed on the right side of the workbench 12 by screws. The X-axis servo module 42 and the linear guide 43 are respectively installed on the two support legs 41. One end of the Y-axis servo module 44 is installed on the X-axis servo module 4 2, the other end of the Y-direction servo module 44 is slidably mounted on the linear guide rail 43, so that the Y-direction servo module 44 and the Z-direction servo module 45 can move along the X-direction servo module 42, the Z-direction servo module 45 is mounted on the Y-direction servo module 44, so that the Z-direction servo module 45 can move along the Y-direction servo module 44, the lifting cylinder 46 is mounted on the Z-direction servo module 45 through the corresponding connecting piece, the plasma cleaning gun 47 is mounted on the lifting cylinder 46, so that the lifting cylinder 46 can drive the plasma cleaning gun 47 to move up and down, and the glue gun 48 is mounted on the lifting cylinder 46. The module motherboard is mounted on the Z-direction servo module 45, and the plasma cleaning gun 47 and the glue gun 48 can both move along the Z-direction servo module 45, and the plasma cleaning gun 47 and the module motherboard are slidably connected by a pair of linear guide rails 43. In this embodiment, three sets of modules are used to realize the linear movement of the plasma cleaning gun 47 and the glue gun 48 in the three directions of X, Y, and Z, so as to accurately clean and glue the fitting surface of the motor driver housing. It should be noted that when the Z-direction servo module 45 moves to a certain height above the motor driver housing, the lifting cylinder 46 The plasma cleaning gun 47 is pushed downward to move close to the surface of the box to be cleaned. At this time, the glue gun 48 is at a higher height and is not working. After cleaning is completed, the plasma cleaning gun 47 is retracted by the lifting cylinder 46, and the Z-axis servo module 45 moves downward again to move the glue gun 48 close to the glue coating surface. A plasma cleaning control cabinet 10 connected to the plasma cleaning gun 47 is also installed in the fence on the rear side of the frame assembly 1, and a glue coating machine control cabinet 8 connected to the glue gun 48 is also installed outside the fence. In this way, the two processes of gluing and plasma cleaning can be independently controlled.

[0043] Specifically, the automatic feeding assembly 5 in this embodiment is mainly composed of a fixed frame 51, a storage trolley 52, two sets of lifting mechanisms 53 and a material taking mechanism 54, wherein the fixed frame 51 is welded by a rectangular tube, as the installation base of the automatic feeding assembly 5, the fixed frame 51 is placed on the rear side of the frame assembly 1, and the foot of the fixed frame 51 is fixedly connected to the ground by bolts to ensure the stability and reliability of the entire automatic feeding assembly 5, the middle of the fixed frame 51 is an open area for placing the storage trolley 52, the storage trolley 52 is constructed of aluminum profiles, and the storage trolley 5 2 is provided with 4 universal wheels at the bottom, the storage trolley 52 can store 6 layers of upper covers in total, 4 in each layer, arranged in a 2x2 manner. When in use, the storage trolley 52 is transported by the AGV trolley to the working placement position in the middle open area of ​​the fixed frame 51 after being manually stored with materials. Two sets of lifting mechanisms 53 are symmetrically installed on the left and right sides of the fixed frame 51. When working, the storage trolley 52 can be lifted up to facilitate automatic transportation of the upper covers. The material taking mechanism 54 is installed on the fixed frame 51, and the upper covers stored on the storage trolley 52 can be automatically transported through the material taking mechanism 54.

[0044] Specifically, the lifting mechanism 53 in this embodiment is mainly composed of a mounting frame 531, a second cylinder 532, a second linear bearing 533, a second guide column 534, a lifting plate 535, a fixing column 536, a second fixing plate 537, a second hydraulic buffer 538, a second limiting bolt 539 and a second positioning pin 5310. The mounting frame 531 is fixedly mounted on the upper surface of the fixing frame 51, the second cylinder 532 is mounted on the bottom of the mounting frame 531, and the output end of the second cylinder 532 passes through the mounting frame 531. Two second linear bearings 533 are symmetrically installed at the bottom of the left and right ends of the mounting frame 531. The two second guide pillars 534 are respectively mounted in the two second linear bearings 533 and penetrate the second linear bearings 533, playing a certain guiding role to improve the overall stability of the lifting mechanism 53. A lifting plate 535 is fixedly installed on the top of the second guide pillars 534. The bottom of the lifting plate 535 is connected to the output end of the second cylinder 532 so that the second cylinder 532 can push the lifting plate 535 to move up and down. Two fixed pillars 536 are symmetrically installed on the upper surface of the mounting frame 531, and the fixed pillars 536 penetrate the lifting plate 535. A second fixed plate 537 is installed on the top of the fixed pillars 536. A second hydraulic buffer 538 and a second limiting bolt 539 are respectively installed on the left and right ends of the fixing plate 537 to limit the lifting height of the second cylinder 532, so that the lifting height of the jacking mechanism 53 on the left and right sides of the fixed frame 51 can be consistent, and the stroke height of the second cylinder 532 can be adjusted according to actual needs, so as to ensure the balance of the storage trolley 52 after being jacked up. Second locating pins 5310 that match the pin holes at the bottom of the storage trolley 52 are symmetrically installed on the upper surface of the jacking plate 535. The second locating pins 5310 are conical and have a low positioning accuracy, so that the second locating pins 5310 can be easily adjusted. When the axis 10 is not concentric with the pin hole at the bottom of the storage trolley 52 with high precision, it can also enter the pin hole, thereby better realizing the jacking and positioning of the storage trolley 52. ​​When the storage trolley 52 is transported to the working position by the AGV, the second cylinder 532 rises and drives the jacking plate 535 to move upward after receiving the signal. The two second guide pillars 534 maintain the lifting trajectory and move in the second linear bearing 533 to maintain the stability of the jacking plate 535 until the two conical positioning pins are inserted into the pin holes at the bottom of the storage trolley 52, and finally the storage trolley 52 is lifted off the ground, thereby realizing the fixation of the position of the storage trolley 52.

[0045] Specifically, the material picking mechanism 54 in this embodiment is mainly composed of a servo lift 541, a lifting tray 542, a transfer mechanism 543, a right-angle reducer 544 and a driving servo 545. The servo lift 541 is installed on the right side of the fixed frame 51, and the lifting tray 542 is installed at the lifting end of the servo lift 541 to drive the lifting tray 542 to move up and down, thereby realizing the taking of upper covers of different levels in the material storage trolley 52. ​​It should be noted that the servo lift 541 is mainly driven by a servo-driven ball screw to achieve up and down movement. A transfer mechanism 543 is installed on the lifting tray 542, and the upper cover on the material storage trolley 52 can be automatically transported out through the transfer mechanism 543. A right-angle reducer 544 is installed on the inner bottom of the lifting tray 542, and the output end of the right-angle reducer 544 is connected to the transfer mechanism 543. The input end of the right-angle reducer 544 is installed with a driving servo 545 to provide sufficient power for the transfer mechanism 543.

[0046] Specifically, the transfer mechanism 543 in this embodiment is mainly composed of a transfer arm 5431, a placing tool 5432, a rack 5433 and a gear 5434. The transfer arm 5431 is welded from a steel pipe. The transfer arm 5431 is slidably installed on the lifting tray 542 through a guide rail. A placing tool 5432 is installed at the front end of the transfer arm 5431 to ensure that the upper cover of the transfer arm 5431 will not fall off during transportation. A rack 5433 is installed on the inner side of the transfer arm 5431. The gear 5434 is installed at the output end of the right-angle reducer 544 on the lifting tray 542, and the gear 5434 and the rack 5433 are meshed so that the gear 5434 can drive the rack 5433 to reciprocate, thereby driving the transfer arm 5431 to extend into the material storage trolley 52 to pick up materials and transfer them out laterally for the picking and covering assembly 6 to pick up materials.

[0047] Specifically, the picking and covering assembly 6 in the present embodiment is mainly composed of a six-axis robot 61, a double-headed flange shaft 62, a mounting plate 63, a suction cup 64, a 2D camera 65, a 3D linear scanner 66 and a third positioning pin 67. The six-axis robot 61 is fixed on a welded robot base, and the six-axis robot 61 is located between the automatic feeding assembly 5 and the frame assembly 1. A mounting plate 63 is installed at the front end of the six-axis robot 61 through the double-headed flange shaft 62, and a suction cup 64 is installed on the mounting plate 63. When the arm of the six-axis robot 61 drives the suction cup 64 to move above the transfer arm 5431, the upper cover can be sucked by the suction cup 64, thereby realizing the clamping of the upper cover and transporting it to the secondary positioning assembly 7. A 2D camera 65 is installed in the middle position of the mounting plate 63 to identify whether the placement position of the upper cover is neat before clamping the upper cover, so as to avoid collision during the material picking process. A 3D linear scanner 66 is also installed on the side of the mounting plate 63 to determine the quality of the glue on the box body. If the glue is unqualified, the signal will be fed back to the control system and an alarm will be issued. If it is qualified, the control system will instruct the six-axis robot 61 to continue the subsequent closing action. A third positioning pin 67 is also installed on the mounting plate 63 to facilitate positioning when clamping the upper cover. It should be noted that in this embodiment, a robot control cabinet 9 is installed in the fence so that the six-axis robot 61 can be independently controlled by the robot control cabinet 9.

[0048] Specifically, the secondary positioning assembly 7 in the present embodiment is mainly composed of four mounting support columns 71, a positioning table 72, a support plate 73, a first positioning cylinder 74, a first positioning block 75, a second positioning cylinder 76, a second positioning block 77 and six limiting columns 78. The four mounting support columns 71 are symmetrically mounted on the workbench 12. A positioning table 72 is mounted on the top of the mounting support columns 71. A support plate 73 is mounted on the upper surface of the positioning table 72 to support the upper cover. A first positioning cylinder 74 is mounted on the front end of the positioning table 72. A first positioning block 75 is mounted on the output end of the first positioning cylinder 74. During positioning, the first positioning cylinder 74 can drive the first positioning block 75 to push the upper cover to achieve secondary positioning of the upper cover. A second positioning cylinder 76 is mounted on the left side of the positioning table 72. A second positioning block 77 is mounted on the second positioning cylinder 76. During positioning, the second positioning cylinder 76 can be used to drive the second positioning block 77 to push the upper cover to achieve secondary positioning of the upper cover. Six limit columns 78 are also installed on the upper surface of the positioning table 72, and the distribution of their installation positions is consistent with the two irregular side contours of the upper cover to achieve accurate positioning of the upper cover. During positioning, the six-axis robot 61 transports the upper cover and places it on the support plate 73 on the positioning table 72, and starts the first positioning cylinder 74 and the second positioning cylinder 76 to push the front and left sides of the upper cover (opposite the two irregular sides of the upper cover) through the first positioning block 75 and the second positioning block 77 respectively, so that it moves forward and closes to the limit columns 78 in two directions, thereby achieving accurate positioning of the upper cover. The secondary positioning component 7 can be used to perform secondary positioning of the upper cover before closing the upper cover to the motor driver box to ensure the accuracy of the posture of the upper cover, thereby ensuring the accuracy of the closing position.

[0049] During operation, the conveyor line body conveys the conveyor pallet loaded with the motor driver box to the welding frame 11. When the conveyor pallet arrives at the plasma cleaning station, the blocking mechanism on the conveyor line body stops the conveyor pallet. At this time, the conveyor pallet is located directly above the jacking and positioning assembly 3. After the jacking and positioning assembly 3 receives the signal that the conveyor pallet is in place, the piston rod of the first cylinder 32 extends to lift the bottom plate 35, so that the first positioning pins 311 on the diagonal of the bottom plate 35 are accurately inserted into the positioning pin holes of the conveyor pallet, thereby realizing the positioning of the conveyor pallet. The conveyor pallet is supported by the four positioning support columns 312 on the bottom plate 35, so as to wait for the three-axis system assembly 4 to clean and glue the box body fitting surface in the conveyor pallet, and the heights of the four support columns are strictly consistent, which ensures the balance of the conveyor pallet on the plane, thereby providing good plane accuracy for subsequent operations.

[0050] After the three-axis system component 4 receives the working signal, the modules in the X, Y, and Z directions move simultaneously, driving the plasma cleaning gun 47 and the glue gun 48 to arrive at the appropriate position waiting above the conveying tray, and the lifting cylinder 46 vertically installed on the Z-direction servo module 45 drives the plasma cleaning gun 47 downward to approach the surface to be cleaned of the box body and starts the plasma cleaning gun 47 through the plasma cleaning control cabinet 10. During this process, the X-direction servo module 42 and the Y-direction servo module 44 jointly drive the plasma cleaning gun 47 to complete a circle of cleaning of the box cover surface along the trajectory set by the system. After washing a complete circle, the plasma cleaning gun 47 returns to the starting point of the trajectory and turns off, and the lifting cylinder 46 retracts the plasma cleaning gun 47 is lifted to a height higher than the glue gun 48, the Z-direction servo module 45 moves downward again to send the glue outlet of the glue gun 48 to a suitable height of the glue coating surface, and under the linkage drive of the X-direction servo module 42 and the Y-direction servo module 44, the glue coating of the entire circle of the box cover surface is completed along the trajectory set by the system. After the gluing is completed, the glue gun 48 is closed, and the servo modules in the X, Y, and Z directions return to the standby position. A glue receiving barrel can be placed under the glue gun 48. If the waiting time is long, the glue gun 48 can regularly discharge glue into the glue receiving barrel below to prevent gel from appearing in the glue discharge pipe. After completing plasma cleaning and gluing, the blocking mechanism of the station releases the conveyor tray, and the conveyor tray flows to the closing station to wait for the six-axis robot 61 to close the cover.

[0051] At the same time, the fully loaded storage trolley 52 is sent to the material fetching position by the AGV. When it is detected that the storage trolley 52 is in place, the second cylinder 532 in the lifting mechanism 53 is actuated to lift the storage trolley 52 off the ground. The two conical second positioning pins 5310 are inserted into the corresponding pin holes at the bottom of the storage trolley 52 to achieve the positioning of the storage trolley 52. ​​At this time, the transfer arm 5431 is driven by the drive servo 545 to penetrate into the storage trolley 52, and then the servo lifter 541 is lifted upward. , so that the two upper covers fall on the placement tooling 5432 of the transfer arm, and finally drive the servo 545 to reversely drive the transfer arm 5431 to take the upper covers out of the storage cart 52, and move the two upper covers to the material picking position of the six-axis robot 61. The arm of the six-axis robot 61 drives the suction cup 64 to move to the top of the transfer arm 5431, and first identifies whether the placement position of the upper cover is neat through the 2D camera 65 to avoid collision when picking up the material. After the 2D camera 65 confirms that the position of the upper cover is neat, it sucks up the upper cover through the suction cup 64, and at the same time Two spring-loaded third positioning pins 67 are also installed on the mounting plate 63 so as to accurately position them in the two positioning pin holes of the upper cover to achieve accurate positioning and grasping of the upper cover. Then the upper cover is moved to the positioning table 72, and the upper cover is pushed to the limit column 78 by the first positioning cylinder 74 and the second positioning cylinder 76 in two directions on the positioning table 72 to complete the secondary positioning of the upper cover. In this process, the six-axis robot 61 moves to the top of the conveyor line body cover closing station, and uses the 3D linear scanner 66 on the mounting plate 63 to scan and detect the gluing track on the box body to identify whether the gluing is qualified. If the gluing is unqualified, the signal is fed back to the control system and an alarm is issued. If the gluing is qualified, the control system instructs the six-axis robot 61 to turn to the positioning table 72 and clamp the upper cover again and move it to the cover closing station of the conveyor line body to complete the cover closing. The above working process is repeated to realize the automatic cover material taking, automatic gluing, automatic detection and automatic cover closing of the motor driver, thereby improving the quality and efficiency of motor driver production.

[0052] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A motor-driven automatic gluing and capping device, characterized in that: The invention comprises a frame assembly (1), a transport line body (2), two sets of lifting and positioning assemblies (3), a three-axis system assembly (4), an automatic feeding assembly (5), a piece picking and lid closing assembly (6) and a secondary positioning assembly (7), wherein the transport line body (2) is arranged through the frame assembly (1) and is used to transport the motor driver housing to the corresponding workstation, the two sets of lifting and positioning assemblies (3) are respectively arranged on the left and right sides of the frame assembly (1) and are used to position the motor driver housing on the workstation, and the three-axis system assembly (4) is arranged on the left and right sides of the frame assembly (1) and is used to position the motor driver housing on the workstation. 4) is arranged on the frame assembly (1) and is used for automatically cleaning and gluing the fitting surface of the motor drive housing. The automatic feeding assembly (5) is arranged on the rear side of the frame assembly (1) and is used for automatically feeding the upper cover of the motor drive. The picking and closing assembly (6) is arranged between the automatic feeding assembly (5) and the frame assembly (1) and is used for automatically clamping and closing the upper cover of the motor drive. The secondary positioning assembly (7) is arranged on the frame assembly (1) and is used for secondary positioning of the upper cover of the motor drive.

2. The automatic gluing and capping device of the motor driver according to claim 1, characterized in that: The frame assembly (1) comprises a welding frame (11), a workbench (12), a protective cover (13) and an operation panel (14); the workbench (12) is arranged on the welding frame (11); the transport line body (2) passes through the welding frame (11); the transport line body (2) is connected to the workbench (12); two sets of the lifting and positioning assemblies (3) are respectively arranged on the left and right sides of the workbench (12); the protective cover (13) is arranged on the workbench (12); and the operation panel (14) is arranged on the protective cover (13).

3. The automatic gluing and capping device of the motor driver according to claim 2, characterized in that: The lifting and positioning assembly (3) comprises a first fixing plate (31), a first cylinder (32), a first linear bearing (33), a first guide column (34), a base plate (35), a connecting plate (36), a fixing shaft (37), a buffer limit plate (38), a first hydraulic buffer (39), a first limit bolt (310), a first positioning pin (311) and a positioning support column (312); the first fixing plate (31) is arranged on the workbench (12); the first cylinder (32) is arranged on the first fixing plate (31); the first linear bearing (33) is arranged at four corners of the first fixing plate (31); the first guide column (34) is arranged on the first linear bearing (33), the bottom plate (35) is arranged at the top end of the first guide column (34), the bottom plate (35) is connected to the output end of the first cylinder (32), the connecting plate (36) is arranged on two adjacent first guide columns (34) on the left and right sides, the buffer limit plate (38) is arranged on the connecting plate (36) through the fixed shaft (37), the first hydraulic buffer (39) and the first limit bolt (310) are both arranged on the first fixed plate (31) at the top of the buffer limit plate (38), the first positioning pin (311) is arranged at the diagonal of the bottom plate (35), and the positioning support column (312) is arranged on the bottom plate (35).

4. The automatic gluing and capping device of the motor driver according to claim 2, characterized in that: The three-axis system component (4) comprises two supporting legs (41), an X-direction servo module (42), a linear guide rail (43), a Y-direction servo module (44), a Z-direction servo module (45), a lifting cylinder (46), a plasma cleaning gun (47) and a glue gun (48), wherein the two supporting legs (41) are symmetrically arranged on one side of the workbench (12), the X-direction servo module (42) and the linear guide rail (43) are respectively arranged on the two supporting legs (41), and the Y-direction servo module (44) and the Z-direction servo module (45) are respectively arranged on the two supporting legs (41). One end of the servo module (44) is arranged on the X-direction servo module (42), the other end of the Y-direction servo module (44) is arranged on the linear guide rail (43), the Z-direction servo module (45) is arranged on the Y-direction servo module (44), the lifting cylinder (46) is arranged on the Z-direction servo module (45), the plasma cleaning gun (47) is arranged on the lifting cylinder (46), and the glue gun (48) is arranged on the Z-direction servo module (45).

5. The automatic gluing and capping device of the motor driver according to claim 1, characterized in that: The automatic feeding assembly (5) comprises a fixed frame (51), a material storage trolley (52), two sets of lifting mechanisms (53) and a material taking mechanism (54); the fixed frame (51) is arranged on the ground at the rear side of the frame assembly (1); the material storage trolley (52) is arranged in an open area in the middle of the fixed frame (51); the two sets of the lifting mechanisms (53) are symmetrically arranged on the left and right sides of the fixed frame (51); and the material taking mechanism (54) is arranged on the fixed frame (51).

6. The automatic gluing and capping device of the motor driver according to claim 5, characterized in that: The lifting mechanism (53) comprises a mounting frame (531), a second cylinder (532), a second linear bearing (533), a second guide column (534), a lifting plate (535), a fixing column (536), a second fixing plate (537), a second hydraulic buffer (538), a second limiting bolt (539) and a second positioning pin (5310), wherein the mounting frame (531) is arranged on the fixing frame (51), the second cylinder (532) is arranged on the mounting frame (531), the second linear bearing (533) is arranged on the mounting frame (531), and the second guide column (534) is arranged on the second linear bearing (531). 3), the lifting plate (535) is arranged on the top of the second guide column (534), the lifting plate (535) is connected to the output end of the second cylinder (532), the fixing column (536) is arranged on the mounting frame (531), and the end of the fixing column (536) away from the mounting frame (531) passes through the lifting plate (535), the second fixing plate (537) is arranged on the top of the fixing column (536), the second hydraulic buffer (538) and the second limiting bolt (539) are both arranged on the second fixing plate (537), and the second positioning pin (5310) is arranged on the lifting plate (535).

7. The automatic gluing and capping device of the motor driver according to claim 5, characterized in that: The material picking mechanism (54) comprises a servo lift (541), a lifting tray (542), a transfer mechanism (543), a right-angle reducer (544) and a driving servo (545); the servo lift (541) is arranged on the fixed frame (51); the lifting tray (542) is arranged on the servo lift (541); the transfer mechanism (543) is arranged on the lifting tray (542); the right-angle reducer (544) is arranged on the lifting tray (542); and the driving servo (545) is arranged on the right-angle reducer (544).

8. The automatic gluing and capping device of the motor driver according to claim 7, characterized in that: The transfer mechanism (543) includes a transfer arm (5431), a placement tool (5432), a rack (5433) and a gear (5434); the transfer arm (5431) is arranged on the lifting tray (542); the placement tool (5432) is arranged on the transfer arm (5431); the rack (5433) is arranged on the transfer arm (5431); the gear (5434) is arranged at the output end of the right-angle reducer (544); and the gear (5434) and the rack (5433) are meshed with each other.

9. The automatic gluing and capping device of the motor driver according to claim 1, characterized in that: The picking and covering assembly (6) comprises a six-axis robot (61), a double-headed flange shaft (62), a mounting plate (63), a suction cup (64), a 2D camera (65), a 3D linear scanner (66) and a third positioning pin (67); the six-axis robot (61) is arranged between the automatic feeding assembly (5) and the frame assembly (1); the double-headed flange shaft (62) is arranged on the six-axis robot (61); the mounting plate (63) is arranged on the double-headed flange shaft (62); the suction cup (64) is arranged on the mounting plate (63); the 2D camera (65) is arranged at the middle position of the mounting plate (63); the 3D linear scanner (66) is arranged on the side of the mounting plate (63); and the third positioning pin (67) is arranged on the mounting plate (63).

10. The automatic gluing and capping device of the motor driver according to claim 2, characterized in that: The secondary positioning assembly (7) comprises an installation support column (71), a positioning table (72), a support plate (73), a first positioning cylinder (74), a first positioning block (75), a second positioning cylinder (76), a second positioning block (77) and a limiting column (78); the positioning table (72) is arranged on the workbench (12) through the installation support column (71); the support plate (73) is arranged on the positioning table (72); the first positioning cylinder (74) is arranged on one side of the positioning table (72); the first positioning block (75) is arranged at the output end of the first positioning cylinder (74); the second positioning cylinder (76) is arranged on the other side of the positioning table (72); the second positioning block (77) is arranged at the output end of the second positioning cylinder (76); and the limiting column (78) is arranged on the positioning table (72).

Images