An automatic flanging device for impellers with a built-in manipulator for loading and unloading

Abstract

The present invention discloses an automatic flanging device for impellers with a built-in manipulator for loading and unloading, which includes a frame, a frame panel, an impeller feeding mechanism, a flanging mechanism, a laser positioning mechanism, a fixed-end power head mechanism, a movable-end power head mechanism, a manipulator mechanism, a control electrical box, and a touch screen; the impeller feeding mechanism feeds the impellers placed thereon and waits for the manipulator mechanism to grab them, and an induction switch is provided in the V-shaped groove of the V-shaped placement rack; the manipulator mechanism performs the grabbing work before and after the impeller flanging, and the fixed-end power head mechanism and the movable-end power head mechanism drive the impeller to rotate and cooperate with the flanging work of the flanging mechanism, and the laser positioning mechanism is used for positioning after the impeller flanging is completed to cooperate with the robot to grab the impeller with the position found. The present invention realizes the truly fully automatic processing of impeller flanging, greatly improves the processing efficiency, reduces the cost; prevents deformation during the flanging process, improves the processing accuracy, and ensures the performance of the fan in the later stage.

Description

Technical Field

[0001] The present invention belongs to the technical field of impeller flanging, and particularly relates to an automatic impeller flanging device with a built-in manipulator for loading and unloading. Background Art

[0002] The impeller is an important part of a fan, and the quality of the impeller directly affects the performance and service life of the fan. With the progress of technology, the flanging of the impeller is now basically made by integral forming, and the quality of the made impeller flanging is better. At present, some fully automatic flanging machines appear on the market. The existing flanging equipment programs are not fully automated. Most of the flanging part can be fully automated, and the impeller flanging and loading and unloading require specialized workers to operate, and the processing efficiency is still low; moreover, these flanging machines have no positioning support during the flanging process, which easily causes the position of the impeller to shift, resulting in deformation of the shape and size, low manufacturing accuracy, and easy appearance of defective products, affecting the performance of the fan. Therefore, it is very necessary to improve and solve the existing defects. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems raised in the above background art, and provide an automatic impeller flanging device with a built-in manipulator for loading and unloading.

[0004] To achieve the above purpose, the technical solution of the present invention is: an automatic impeller flanging device with a built-in manipulator for loading and unloading, including a frame, a frame panel, an impeller feeding mechanism, a flanging mechanism, a laser positioning mechanism, a fixed-end power head mechanism, a movable-end power head mechanism, a manipulator mechanism, a control electrical box, and a touch screen;

[0005] The impeller feeding mechanism includes a feeding frame plate and a V-shaped placement frame arranged at its end. The impellers welded by the welding equipment line are directly butted and rolled onto the feeding frame plate and then into the V-shaped groove of the V-shaped placement frame, and then are grabbed by the manipulator mechanism. An induction switch is arranged in the V-shaped groove of the V-shaped placement frame;

[0006] The manipulator mechanism includes an X-direction material grabbing screw module, a Y-direction material grabbing screw module, a Z-direction material grabbing screw module, an impeller jaw one and an impeller jaw two arranged on the Z-direction material grabbing screw module. When the induction switch detects the impeller, each material grabbing screw module cooperates to drive the impeller jaw one to move, and then the impeller is sent into the card slot of the flanging die one of the fixed-end power head mechanism;

[0007] The flanging die one of the fixed-end power head mechanism positions one side of the impeller in its card slot, and then each material grabbing screw module drives the impeller jaw one to reset and grab the next impeller. At the same time, the flanging die two in the movable-end power head mechanism pulls towards the direction of the flanging die one for mold closing, and the other side of the impeller is positioned in the card slot of the flanging die two. The fixed-end power head mechanism outputs power to drive the impeller between the flanging die one and the flanging die two to rotate;

[0008] Curling wheels are symmetrically arranged on the flanging mechanism. The flanging mechanism drives the two curling wheels to approach the impeller towards each other for feeding flanging processing, and after the flanging is completed, it resets. The fixed-end power head mechanism stops rotating and driving, and the movable-end power head mechanism resets.

[0009] Each material grabbing screw rod module cooperates to drive the impeller jaw two to move and clamp to remove the flanged impeller, and then place the unflanged impeller of the impeller jaw one in the card slot of the curling die one to start the flanging process of the next impeller. At the same time, the impeller jaw two moves the impeller to the laser positioning mechanism, swings the impeller 90 degrees, places it on the laser positioning mechanism, and then the manipulator mechanism goes back to grab the next unflanged impeller.

[0010] In the above-mentioned impeller automatic flanging device with a built-in manipulator for loading and unloading, a fixed guide plate is arranged on one side of the feeding frame plate, and a movable guiding device is arranged on the other side. The movable guiding device includes a guiding cylinder and a movable guide plate. Before the impeller rolls, the guiding cylinder drives the movable guide plate to extend. The fixed guide plate and the movable guide plate cooperate to prevent the position deviation of the impeller caused by collision during rolling. When the inductive switch detects the impeller, the guiding cylinder drives the movable guide plate to reset.

[0011] In the above-mentioned impeller automatic flanging device with a built-in manipulator for loading and unloading, the X-direction material grabbing screw rod module includes an X-module fixing plate, an X-direction screw rod module, an X-direction servo motor, and guide shaft assemblies symmetrically arranged on both sides of the X-direction screw rod module. The X-direction material grabbing screw rod module is connected to the frame panel through the X-module fixing plate. The X-direction servo motor drives the Y-direction material grabbing screw rod module and the Z-direction material grabbing screw rod module to move axially along the X direction through the X-direction screw rod module, and the guide shaft assemblies position the axial movement of the X-direction screw rod module; the Y-direction material grabbing screw rod module includes a Y-module fixing plate, a Y-direction screw rod module, and a Y-direction servo motor. The Y-direction material grabbing screw rod module is connected to the X-direction screw rod module and the guide shaft assemblies through the Y-module fixing plate. The Y-direction servo motor drives the Z-direction material grabbing screw rod module to move axially along the Y direction through the Y-direction screw rod module; the Z-direction material grabbing screw rod module includes a Z-module fixing plate, a Z-direction screw rod module, and a Z-direction servo motor. The Z-direction material grabbing screw rod module is connected to the Y-direction screw rod module through the Z-module fixing plate. The Z-direction servo motor drives the impeller jaw one and the impeller jaw two to move axially along the Z direction through the Z-direction screw rod module; the X, Y, and Z material grabbing screw rod modules cooperate to drive the impeller jaw one and the impeller jaw two to grab the impeller, place the impeller between the curling die one and the curling die two for cooperative processing, and place it on the laser positioning mechanism.

[0012] In the above-mentioned automatic flanging device for impellers with built-in robot for loading and unloading, a flipping device is arranged between the impeller jaws one, the impeller jaws two and the Z-direction material grabbing screw rod module, and the flipping device includes a flipping fixing plate, a flipping connecting frame, a flipping base plate, and a flipping cylinder. The flipping connecting frame is connected to the Z-direction material grabbing screw rod module through the flipping fixing plate, the flipping cylinder is installed on the flipping connecting frame, and drives the flipping base plate to rotate and flip 90 degrees through a hinge assembly, and the impeller jaws one and the impeller jaws two are installed on the flipping base plate.

[0013] In the above-mentioned impeller automatic flanging device with built-in robot loading and unloading, the fixed-end power head mechanism includes a fixed-end motor, a fixed-end power head fixing seat, and a fixed-end power head. The fixed-end motor is transmission-connected to the fixed-end power head. The curling mold 1 is installed on the fixed-end power head. The fixed-end power head fixing seat is fixed on the frame panel, and a brake disc assembly is arranged on the side of the fixed-end power head; the movable-end power head mechanism includes a mold closing cylinder, a power end guide rail seat, a movable-end power head fixing seat, and a movable-end power head. The power head fixing seat is slidably installed on the power end guide rail seat, and the curling mold 2 is installed on the movable-end power head. A brake disc assembly is also arranged on the side of the movable-end power head. The mold closing cylinder drives the movable-end power head fixing seat to slide back and forth along the power end guide rail seat, so that the curling mold 2 and the curling mold 1 are close to each other for mold closing, or the two are far away from each other for mold separation.

[0014] In the above-mentioned automatic flanging device for impellers with built-in robotic arm for loading and unloading, the flanging mechanism includes a flanging fixing seat, a flanging screw module, a flanging servo motor, and a wheel mounting frame. The flanging fixing seat is fixed on the frame panel, and the flanging servo motor is installed on the flanging fixing seat through a bracket. Two wheel mounting frames are provided corresponding to the flanging wheels, and the flanging wheels are installed on the wheel mounting frames. The flanging servo motor drives the two flanging wheels thereon to move through the flanging screw module, thereby approaching the impeller to perform flanging work.

[0015] In the above-mentioned automatic flanging device for impellers with built-in robot loading and unloading, the laser positioning mechanism includes a positioning fixing plate, a positioning rodless cylinder, a worm gear reducer, a positioning servo motor, an impeller turntable, and an optical fiber switch. The impeller is positioned on the impeller turntable. A plurality of cylindrical magnets for positioning and attracting the impeller are buried on the circumference of the impeller turntable. The positioning rodless cylinder moves the impeller on the impeller turntable into position through the worm gear reducer. The positioning servo motor drives the impeller turntable to rotate. The optical fiber switch detects a notch on a blade of the impeller and sends an induction signal. After the impeller rotates into position, the positioning servo motor brakes urgently and the impeller turntable stops rotating, thereby completing the positioning of the impeller and waiting for the robot to grab the impeller that has been positioned.

[0016] In the above-mentioned automatic flanging device for impellers with a built-in manipulator for loading and unloading, a distance adjustment device is provided on the flanging mechanism. There are two distance adjustment devices corresponding to the curling wheels, which are symmetrically arranged, and the curling wheels are installed on them. The distance adjustment device includes a distance adjustment mounting base plate, a distance adjustment servo motor, and a distance adjustment lead screw module. The wheel mounting bracket is installed on the distance adjustment lead screw module, and the distance adjustment lead screw module is installed on the flanging lead screw module through the distance adjustment mounting base plate. The distance adjustment servo motor is fixedly installed on the distance adjustment mounting base plate through a bracket, and the distance adjustment servo motor drives the wheel mounting bracket and the curling wheels thereon to move through the distance adjustment lead screw module.

[0017] In the above-mentioned automatic flanging device for impellers with a built-in manipulator for loading and unloading, the first impeller jaw can rotate in the circumferential direction, and the head card slots of the first curling die should all be designed with transition sharp corners.

[0018] In the above-mentioned automatic flanging device for impellers with a built-in manipulator for loading and unloading, a stop device is provided on the feeding frame plate and corresponding plate holes are provided. The stop device includes a lifting cylinder and a baffle. The lifting cylinder is fixed to the feeding frame plate through a bracket, and the lifting cylinder drives the baffle to move up and down in the plate holes, so as to block the impellers on the feeding frame plate and cooperate with the process synchronously.

[0019] The effects of the present invention:

[0020] The present invention realizes the truly fully automated processing of impeller flanging. The impellers welded by the welding equipment line are directly butted and rolled onto the feeding mechanism, and the subsequent processes until the flanging is completed are fully automated. Moreover, the flanged impellers are automatically positioned and ready to be grabbed by the robot and docked to the next process, greatly improving the processing efficiency and reducing the processing cost; at the same time, positioning support is realized during the process of impeller picking and placing, preventing deformation during the flanging process, improving the processing accuracy, and ensuring the performance of the fan in the later stage. Description of the Drawings

[0021] Figure 1 、 Figure 2 are three-dimensional views of the present invention in two different directions;

[0022] Figure 3 is a three-dimensional view of the impeller feeding mechanism in the present invention;

[0023] Figure 4 is a three-dimensional view of the fixed-end power head mechanism of the impeller in the present invention;

[0024] Figure 5 is a three-dimensional view of the movable-end power head mechanism in the present invention;

[0025] Figure 6 is a three-dimensional view of the manipulator mechanism in the present invention;

[0026] Figure 7, Figure 8 are partial three-dimensional views of two different directions of the manipulator mechanism in the present invention;

[0027] Figure 9 is a three-dimensional view of the flanging mechanism in the present invention;

[0028] Figure 10 is a three-dimensional view of the laser positioning mechanism in the present invention;

[0029] Figure 11 is a three-dimensional view of the first curling die in the present invention;

[0030] Figure 12 is a three-dimensional view of the impeller turntable in the present invention.

[0031] Reference numerals: 1, frame; 2, frame panel; 3, impeller feeding mechanism; 4, flanging mechanism; 5, laser positioning mechanism; 6, fixed-end power head mechanism; 7, movable-end power head mechanism; 8, manipulator mechanism; 9, control electric box; 11, feeding frame plate; 12, V-shaped placement rack; 68, impeller; 13, V-shaped groove; 14, X-direction material-grabbing screw rod module; 15, Y-direction material-grabbing screw rod module; 16, Z-direction material-grabbing screw rod module; 17, first impeller jaw; 18, second impeller jaw; 19, first curling die; 20, card slot; 21, second curling die; 22, curling wheel; 23, fixed guide plate; 24, guiding cylinder; 25, movable guide plate; 26, X-module fixing plate; 27, X-direction screw rod module; 28, X-direction servo motor; 29, guide shaft assembly; 30, Y-module fixing plate; 31, Y-direction screw rod module; 32, Y-direction servo motor; 33, Z-module fixing plate; 34, Z-direction screw rod module; 35, Z-direction servo motor; 36, flipping fixing plate; 37, flipping connecting frame; 38, flipping base plate; 39, flipping cylinder; 40, hinge assembly; 41, fixed-end motor; 42, fixed-end power head fixing seat; 43, fixed-end power head; 44, brake disc assembly; 45, die-closing cylinder; 46, power-end guide rail seat; 47, movable-end power head fixing seat; 48, movable-end power head; 49, flanging fixing seat; 50, flanging screw rod module; 51, flanging servo motor; 52, wheel mounting rack; 53, positioning fixing plate; 54, positioning rodless cylinder; 55, worm gear reducer; 56, positioning servo motor; 57, impeller turntable; 58, fiber optic switch; 59, cylindrical magnet; 68-1, notch; 60, distance-adjusting mounting base plate; 61, distance-adjusting servo motor; 62, distance-adjusting screw rod module; 63, transition sharp corner; 64, lifting cylinder; 65, baffle; 11-1, plate hole. Detailed implementation manners

[0032] The present invention will be further described with reference to the accompanying drawings.

[0033] Please refer to Figures 1 to 12, the present invention provides an automatic flanging device for impellers with an in-built manipulator for loading and unloading, which includes a frame 1, a frame panel 2, an impeller feeding mechanism 3, a flanging mechanism 4, a laser positioning mechanism 5, a fixed-end power head mechanism 6, a movable-end power head mechanism 7, a manipulator mechanism 8, a control electrical box 9, and a touch screen; each mechanism is connected to the control electrical box 9, and operation control can be performed through the touch screen.

[0034] The impeller feeding mechanism 3 includes a feeding frame plate 11 and a V-shaped placement rack 12 provided at its end. The impellers 68 welded by the welding equipment line are directly butted and rolled onto the feeding frame plate 11. An inclined rolling plate is provided on the feeding frame plate 11. After the impellers are placed, they can roll into the V-shaped groove 13 of the V-shaped placement rack 12, and then wait to be grabbed by the manipulator mechanism 8. An induction switch (not marked in the figure) is provided in the V-shaped groove 13 of the V-shaped placement rack 12; a fixed guide plate 23 is provided on one side of the feeding frame plate 11, and a movable guiding device is provided on the other side. The movable guiding device includes a guiding cylinder 24 and a movable guide plate 25. Before the impeller rolls, the guiding cylinder 24 drives the movable guide plate 25 to extend. The fixed guide plate 23 and the movable guide plate 25 cooperate to prevent the position deviation of the impeller caused by collision during rolling. When the induction switch detects the impeller 68, the guiding cylinder 24 drives the movable guide plate 25 to reset. Further, a stop device is provided on the feeding frame plate 11 and a corresponding plate hole 11-1 is provided. The stop device includes a lifting cylinder 64 and a baffle 65. The lifting cylinder 64 is fixed to the feeding frame plate 11 through a bracket. The lifting cylinder 64 drives the baffle 65 to move up and down in the plate hole 11-1, so as to perform the blocking cooperation process on the impellers 68 on the feeding frame plate 11 synchronously. An auxiliary impeller 68 rolling inclined plate 66 is also provided on the feeding frame plate 11.

[0035] The manipulator mechanism 8 includes an X-axis material grabbing screw rod module 14, a Y-axis material grabbing screw rod module 15, a Z-axis material grabbing screw rod module 16, an impeller clamping claw 17 and an impeller clamping claw 2 18 arranged on the Z-axis material grabbing screw rod module 16. When the induction switch detects the impeller 68, each material grabbing screw rod module cooperates to drive the impeller clamping claw 17 to move, and then sends the impeller 68 to the card slot of the curling die 19 of the fixed end power head mechanism 6; the X-axis material grabbing screw rod module 14 includes an X-module fixed The fixed plate 26, the X-direction screw rod module 27, the X-direction servo motor 28, and the guide shaft assembly 29 symmetrically arranged on both sides of the X-direction screw rod module 27, the X-direction material grabbing screw rod module 14 is connected to the frame panel 2 through the X-direction module fixed plate 26, and the X-direction servo motor 28 drives the Y-direction material grabbing screw rod module 15 and the Z-direction material grabbing screw rod module 16 to move axially in the X direction through the X-direction screw rod module 27, and the guide shaft assembly 29 positions the axial movement of the X-direction screw rod module 27; the Y-direction material grabbing screw rod module 14 is connected to the frame panel 2 through the X-direction module fixed plate 26, and the X-direction servo motor 28 drives the Y-direction material grabbing screw rod module 15 and the Z-direction material grabbing screw rod module 16 to move axially in the X direction through the X-direction screw rod module 27. The material screw rod module 15 includes a Y module fixing plate 30, a Y direction screw rod module 31, and a Y direction servo motor 32. The Y direction material grabbing screw rod module 15 is connected to the X direction screw rod module 27 and the guide shaft assembly 29 through the Y module fixing plate 30. The Y direction servo motor 32 drives the Z direction material grabbing screw rod module 16 to move axially in the Y direction through the Y direction screw rod module 31. The Z direction material grabbing screw rod module 16 includes a Z module fixing plate 33, a Z direction screw rod module 34, and a Z direction servo motor 35. The Z-direction material grabbing screw module 16 is connected to the Y-direction screw module 31 through the Z-direction module fixing plate 33, and the Z-direction servo motor 35 drives the impeller clamp 17 and the impeller clamp 2 18 to move axially along the Z-direction through the Z-direction screw module 34; the X, Y, and Z material grabbing screw modules cooperate to drive the impeller clamp 17 and the impeller clamp 2 18 to grab the impeller 68, place the impeller between the curling die 19 and the curling die 21 for cooperative processing, and place it on the laser positioning mechanism 5.

[0036] The fixed end power head mechanism 6 includes a fixed end motor 41, a fixed end power head fixing seat 42, and a fixed end power head 43. The fixed end motor 41 is connected to the fixed end power head 43 in a transmission manner. The hemming mold 19 is mounted on the fixed end power head 43. The fixed end power head fixing seat 42 is fixed on the frame panel 2. A brake disc assembly 44 is arranged on the side of the fixed end power head 43. The movable end power head mechanism 7 includes a mold clamping cylinder 45, a power end guide rail seat 46, a movable end power head fixing seat 47, and a movable end power head 48. The movable end power head fixing seat 47 is slidably mounted on the power end guide rail seat 46. The hemming mold 21 is mounted on the movable end power head 48. A brake disc assembly 44 is also arranged on the side of the movable end power head 48. The mold clamping cylinder 45 drives the movable end power head fixing seat 47 to slide back and forth along the power end guide rail seat 46, so that the hemming mold 21 and the hemming mold 1 19 are close to the mold clamping, or both are far away from the mold separation.

[0037] The impeller jaw 17 tightly grips and places the impeller into the card slot 20 of the curling die 19 of the fixed-end power head mechanism 6. Since the circumferential position of the blades is random when the impeller is grabbed, in order to better place the impeller into the card slot of the curling die 19, first, the impeller jaw 17 can rotate in the circumferential direction. At the same time, the card slots 20 at the head of the curling die 19 should be designed with transition sharp corners 63. The curling die 19 of the fixed-end power head mechanism 6 positions one side of the impeller in its card slot 20. Then, each material-grabbing lead screw module drives the impeller jaw 17 to reset and grab the next impeller 68. At the same time, the curling die 21 in the moving-end power head mechanism 7 pulls towards the curling die 19 for mold closing. The other side of the impeller 68 is positioned in the card slot 20 of the curling die 21. The fixed-end power head mechanism 6 outputs power to drive the impeller between the curling die 19 and the curling die 21 to rotate.

[0038] The curling wheels 22 are symmetrically arranged on the flanging mechanism 4. The flanging mechanism 4 drives the two curling wheels 22 to move towards each other and approach the impeller 68 for feed flanging processing. Specifically, the flanging mechanism 4 includes a flanging fixed seat 49, a flanging lead screw module 50, a flanging servo motor 51, and a wheel mounting bracket 52. The flanging fixed seat 49 is fixed on the frame panel 2. The flanging servo motor 51 is installed on the flanging fixed seat 49 through a bracket. There are two wheel mounting brackets 52 corresponding to the curling wheels 22. The curling wheels 22 are installed on the wheel mounting brackets 52. The flanging servo motor 51 drives the two curling wheels 22 on it to move through the flanging lead screw module 50, so that the two curling wheels move towards each other and approach the impeller for feed flanging processing.

[0039] After the flanging is completed, the flanging mechanism 4 resets. The fixed-end motor 41 in the fixed-end power head mechanism 6 stops operating. The brake disc assemblies 44 in the fixed-end power head mechanism 6 and the moving-end power head mechanism 7 perform braking. The clamping cylinder 45 in the moving-end power head mechanism 7 works for resetting.

[0040] The X-axis material grabbing screw module 14, the Y-axis material grabbing screw module 15, and the Z-axis material grabbing screw module 16 cooperate to drive the impeller clamp 18 to move and tighten to remove the flanged impeller 68, and then place the impeller with the unflagged impeller by the impeller clamp 17 into the slot 20 of the curling die 19 to start the flanging process of the next impeller. At the same time, the impeller clamp 18 moves the impeller 68 to the laser positioning mechanism 5 and swings the impeller 90 degrees and places it on the laser positioning mechanism, and then the robot mechanism 8 goes back to grab the next unflagged impeller. Specifically, a flipping device is arranged between the impeller clamp 17, the impeller clamp 2, and the Z-direction material grabbing screw rod module 16, and the flipping device includes a flipping fixing plate 36, a flipping connecting frame 37, a flipping base plate 38, and a flipping cylinder 39. The flipping connecting frame 37 is connected to the Z-direction material grabbing screw rod module 16 through the flipping fixing plate 36, the flipping cylinder 39 is installed on the flipping connecting frame 37, and drives the flipping base plate 38 to rotate 90 degrees through the hinge assembly 40, and the impeller clamp 17, the impeller clamp 2, 18 are installed on the flipping base plate 38.

[0041] The laser positioning mechanism 5 includes a positioning fixing plate 53, a positioning rodless cylinder 54, a worm gear reducer 55, a positioning servo motor 56, an impeller turntable 57, and an optical fiber switch 58. The impeller is positioned on the impeller turntable 57. A plurality of cylindrical magnets 59 are embedded in the circumference of the impeller turntable 57 to position and absorb the impeller. The positioning rodless cylinder 54 moves the impeller on the impeller turntable 57 into position through the worm gear reducer 55. The positioning servo motor 56 drives the impeller turntable 57 to rotate. The optical fiber switch 58 detects the notch 68-1 on a blade of the impeller 68 and sends out an induction signal. When the two optical fiber switches detect the notch, the two switches are on and the two switches are off, indicating that the impeller has rotated into position. After the impeller rotates into position, the positioning servo motor 56 is braked urgently and the impeller turntable 57 stops rotating, thereby completing the positioning of the impeller and waiting for the robot to grab the impeller that has been positioned.

[0042] Furthermore, the flanging mechanism 4 is provided with a pitch adjusting device, and two pitch adjusting devices are provided corresponding to the curling wheel 22. The pitch adjusting devices are symmetrically arranged and the curling wheel 22 is installed thereon. The pitch adjusting device includes a pitch adjusting mounting base plate 60, a pitch adjusting servo motor 61, and a pitch adjusting screw module 62. The wheel mounting frame 52 is installed on the pitch adjusting screw module 62. The pitch adjusting screw module 62 is installed on the flanging screw module 50 through the pitch adjusting mounting base plate 60. The pitch adjusting servo motor 61 is fixedly installed on the pitch adjusting mounting base plate 60 through a bracket. The pitch adjusting servo motor 61 drives the wheel mounting frame 52 and the curling wheel 22 thereon to adjust and move through the pitch adjusting screw module 62, so that it can easily adapt to the adjustment and flanging of different impellers.

[0043] The above has introduced in detail an automatic flanging device for impellers with a built-in manipulator for loading and unloading. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the technical solution disclosed by the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An automatic flanging device for an impeller with a robot for loading and unloading, characterized in that: It comprises a frame (1), a frame panel (2), an impeller feeding mechanism (3), a flanging mechanism (4), a laser positioning mechanism (5), a fixed end power head mechanism (6), a movable end power head mechanism (7), a manipulator mechanism (8), a control electric box (9), and a touch screen; The impeller feeding mechanism (3) comprises a feeding frame plate (11) and a V-shaped placement frame (12) arranged at the end thereof. The impeller (68) welded by the welding equipment line is directly docked and rolled onto the feeding frame plate (11), rolled into the V-shaped groove (13) of the V-shaped placement frame (12), and then waits to be grasped by the manipulator mechanism (8). An induction switch is provided in the V-shaped groove (13) of the V-shaped placement frame (12); The manipulator mechanism (8) comprises an X-axis material grabbing screw module (14), a Y-axis material grabbing screw module (15), a Z-axis material grabbing screw module (16), an impeller clamping claw 1 (17) and an impeller clamping claw 2 (18) arranged on the Z-axis material grabbing screw module (16); when the induction switch detects the impeller (68), each material grabbing screw module cooperates to drive the impeller clamping claw 1 (17) to move, and then sends the impeller (68) to the card slot of the curling die 1 (19) of the fixed end power head mechanism (6); The curling die 1 (19) of the fixed end power head mechanism (6) positions one side of the impeller in its slot (20), and then each material grabbing screw module group drives the impeller clamping claw 1 (17) to reset and grab the next impeller (68), and at the same time, the curling die 2 (21) in the movable end power head mechanism (7) is pulled in the direction of the curling die 1 (19) to close the mold, and the other side of the impeller (68) is positioned in the slot (20) of the curling die 2 (21), and the fixed end power head mechanism (6) outputs power to drive the impeller between the curling die 1 (19) and the curling die 2 (21) to rotate; The flanging mechanism (4) is symmetrically provided with flanging wheels (22). The flanging mechanism (4) is driven to move the two flanging wheels (22) toward each other and close to the impeller (68) to perform feeding and flanging processing. After the flanging is completed, the fixed end power head mechanism (6) stops rotating and driving, and the movable end power head mechanism (7) is reset. Each material grabbing screw module cooperates to drive the impeller clamping jaw 2 (18) to move and tighten to remove the flanging impeller (68), and then put the impeller with unflanged edge of the impeller clamping jaw 1 (17) into the slot (20) of the flanging die 1 (19), and start the flanging process of the next impeller. At the same time, the impeller clamping jaw 2 (18) moves the impeller (68) to the laser positioning mechanism (5) and swings the impeller 90 degrees and places it on the laser positioning mechanism, and then the manipulator mechanism (8) goes back to grab the next impeller with unflanged edge. A flipping device is provided between the impeller clamping jaw 1 (17), the impeller clamping jaw 2 (18) and the Z-direction material grabbing screw rod module (16), and the flipping device comprises a flipping fixing plate (36), a flipping connecting frame (37), a flipping base plate (38), and a flipping cylinder (39). The flipping connecting frame (37) is connected to the Z-direction material grabbing screw rod module (16) via the flipping fixing plate (36), the flipping cylinder (39) is mounted on the flipping connecting frame (37), and drives the flipping base plate (38) to rotate and flip 90 degrees via a hinge assembly (40), and the impeller clamping jaw 1 (17) and the impeller clamping jaw 2 (18) are mounted on the flipping base plate (38).

2. According to claim 1, the automatic flanging device for impellers with self-contained manipulator loading and unloading is characterized in that: A fixed guide plate (23) is provided on one side of the feed rack plate (11), and a movable guide device is provided on the other side. The movable guide device comprises a guide cylinder (24) and a movable guide plate (25). Before the impeller rolls, the guide cylinder (24) drives the movable guide plate (25) to extend. The fixed guide plate (23) cooperates with the movable guide plate (25) to prevent the impeller from being offset after collision during rolling. When the induction switch detects the impeller (68), the guide cylinder (24) drives the movable guide plate (25) to reset.

3. The automatic flanging device for impellers with self-contained manipulator loading and unloading according to claim 1 is characterized in that: The X-axis material grabbing screw rod module (14) comprises an X-axis module fixing plate (26), an X-axis screw rod module (27), an X-axis servo motor (28), and guide shaft assemblies (29) symmetrically arranged on both sides of the X-axis screw rod module (27); the X-axis material grabbing screw rod module (14) is connected to the frame panel (2) via the X-axis module fixing plate (26); the X-axis servo motor (28) drives the Y-axis material grabbing screw rod module (15) and the Z-axis material grabbing screw rod module (16) to move axially in the X-axis direction via the X-axis screw rod module (27); the guide shaft assembly (29) positions the axial movement of the X-axis screw rod module (27); the Y-axis material grabbing screw rod module (15) comprises a Y-axis module fixing plate (30), a Y-axis screw rod module (31), and a Y-axis servo motor (32); the Y-axis material grabbing screw rod module (15) is connected to the X-axis screw rod module (27) and the guide shaft assembly (29) via the Y-axis module fixing plate (30). The Z-axis servo motor (32) drives the Z-axis material grabbing screw module (16) to move axially in the Y direction through the Y-axis screw module (31); the Z-axis material grabbing screw module (16) comprises a Z-axis module fixing plate (33), a Z-axis screw module (34), and a Z-axis servo motor (35); the Z-axis material grabbing screw module (16) is connected to the Y-axis screw module (31) through the Z-axis module fixing plate (33); the Z-axis servo motor (35) drives the impeller clamping claw 1 (17) and the impeller clamping claw 2 (18) to move axially in the Z direction through the Z-axis screw module (34); the X, Y, and Z material grabbing screw modules cooperate to drive the impeller clamping claw 1 (17) and the impeller clamping claw 2 (18) to grab the impeller (68), place the impeller between the curling die 1 (19) and the curling die 2 (21) for cooperative processing, and place it on the laser positioning mechanism (5).

4. The automatic flanging device for impellers with self-contained manipulator loading and unloading according to claim 1 or 3, characterized in that: The fixed end power head mechanism (6) comprises a fixed end motor (41), a fixed end power head fixing seat (42), and a fixed end power head (43); the fixed end motor (41) is transmission-connected to the fixed end power head (43); a curling die (19) is mounted on the fixed end power head (43); the fixed end power head fixing seat (42) is fixed on the frame panel (2); and a brake disc assembly (44) is arranged on the side of the fixed end power head (43); the movable end power head mechanism (7) comprises a mold clamping cylinder (45), a power end guide rail seat (46); 6), a movable end power head fixing seat (47), a movable end power head (48), the movable end power head fixing seat (47) is slidably mounted on the power end guide rail seat (46), the second curling mold (21) is mounted on the movable end power head (48), and a brake disc assembly (44) is also arranged on the side of the movable end power head (48), and the mold closing cylinder (45) drives the movable end power head fixing seat (47) to slide back and forth along the power end guide rail seat (46), so that the second curling mold (21) and the first curling mold (19) are close to each other for mold closing, or both are far away from each other for mold separation.

5. The automatic flanging device for impellers with self-contained manipulator loading and unloading according to claim 1 or 3, characterized in that: The flanging mechanism (4) comprises a flanging fixing seat (49), a flanging screw module (50), a flanging servo motor (51), and a wheel mounting frame (52). The flanging fixing seat (49) is fixed on the frame panel (2). The flanging servo motor (51) is mounted on the flanging fixing seat (49) via a bracket. Two wheel mounting frames (52) are provided corresponding to the flanging wheels (22). The flanging wheels (22) are mounted on the wheel mounting frames (52). The flanging servo motor (51) drives the two flanging wheels (22) thereon to move via the flanging screw module (50), thereby approaching the impeller (68) to perform flanging work. The flanging mechanism (4) is provided with a pitch adjusting device. Two devices are provided corresponding to the hemming wheel (22), the pitch-adjusting devices are symmetrically arranged, and the hemming wheel (22) is mounted thereon, the pitch-adjusting devices include a pitch-adjusting mounting base plate (60), a pitch-adjusting servo motor (61), and a pitch-adjusting screw module (62), the wheel mounting frame (52) is mounted on the pitch-adjusting screw module (62), the pitch-adjusting screw module (62) is mounted on the flanging screw module (50) through the pitch-adjusting mounting base plate (60), the pitch-adjusting servo motor (61) is fixedly mounted on the pitch-adjusting mounting base plate (60) through a bracket, and the pitch-adjusting servo motor (61) drives the wheel mounting frame (52) and the hemming wheel (22) thereon to adjust and move through the pitch-adjusting screw module (62).

6. The automatic flanging device for impellers with self-contained manipulator loading and unloading according to claim 1 or 3, characterized in that: The laser positioning mechanism (5) comprises a positioning fixing plate (53), a positioning rodless cylinder (54), a worm gear reducer (55), a positioning servo motor (56), an impeller turntable (57), and an optical fiber switch (58). The impeller is positioned on the impeller turntable (57). A plurality of cylindrical magnets (59) for positioning and attracting the impeller are embedded on the circumference of the impeller turntable (57). The positioning rodless cylinder (54) moves the impeller on the impeller turntable (57) into position via the worm gear reducer (55). The positioning servo motor (56) drives the impeller turntable (57) to rotate. The optical fiber switch (58) detects a notch (68-1) on a blade of the impeller (68) and sends out an induction signal. After the impeller rotates into position, the positioning servo motor (56) brakes urgently and the impeller turntable (57) stops rotating, thereby completing the positioning of the impeller and waiting for the robot to grab the impeller that has been positioned.

7. The automatic flanging device for impellers with self-contained robot loading and unloading according to claim 3 is characterized in that: The impeller clamping claw 1 (17) can rotate in the circumferential direction, and the head slot (20) of the curling die 1 (19) is designed to be a transition sharp angle (63).

8. The automatic flanging device for impellers with self-contained manipulator loading and unloading according to claim 2 is characterized in that: The feeding rack plate (11) is provided with a material blocking device and a corresponding plate hole (11-1). The material blocking device comprises a lifting cylinder (64) and a baffle plate (65). The lifting cylinder (64) is fixed to the feeding rack plate (11) through a bracket. The lifting cylinder (64) drives the baffle plate (65) to move up and down in the plate hole (11-1), thereby blocking the impeller (68) on the feeding rack plate (11) to synchronize the matching process.

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