Integrated equipment for automatic riveting of refrigerator lower beam body and reinforcing iron

Abstract

The application discloses a refrigerator lower beam body and reinforcing iron automatic riveting integrated equipment, and relates to the technical field of home appliance manufacturing, which comprises a workbench, a lower beam body conveying device, stamping units, a material blocking mechanism, reinforcing iron feeding units, a transplanting mechanical hand and an electric control system. The stamping units are arranged in a linear mode and two in number. The stamping units comprise C-shaped arms, upper die assemblies and lower die assemblies. The lower die assemblies are vertically opposite to the upper die assemblies. The lower beam body conveying device comprises conveying racks one and two, a supporting rack, a lifting mechanism and a conveying belt. The lifting mechanism is two in number and located between the two lower die assemblies. The lifting mechanism can adjust the lifting of the upper part of the conveying belt. The reinforcing iron feeding units are two in number. The transplanting mechanical hand comprises two transverse linear modules arranged on the right side of the workbench. Each transverse linear module is provided with a clamping assembly at the execution end. The application has reasonable structure design, high automation degree, accurate positioning, high precision, high product yield and greatly improved production efficiency.

Description

Technical Field

[0001] This invention relates to the field of home appliance manufacturing equipment technology, specifically to an integrated device for automatically riveting the lower beam of a refrigerator to the reinforcing iron. Background Technology

[0002] The refrigerator's lower beam is an L-shaped bent plate. After the metal sheet is cut, it undergoes several stamping and bending processes to form a strip-shaped workpiece. A reinforcing iron needs to be riveted to the inner sides of both ends of the formed refrigerator lower beam. The structure after the refrigerator lower beam and reinforcing iron are riveted together is as follows: Figure 1 As shown, the existing riveting method requires manual placement of one end of the refrigerator's lower beam onto a stamping machine. A reinforcing iron is then placed and positioned inside the lower beam. After the stamping machine rivets one end of the lower beam to the reinforcing iron, the other end is placed onto the stamping machine, another reinforcing iron is placed inside, and the stamping machine rivets the other end to the other reinforcing iron. Currently, relying on manual placement, positioning, and removal of workpieces results in unstable quality control, a high yield rate dependent on worker skill levels, a high percentage of defective products, and material waste. The existing processing method is inefficient, has high labor costs, and presents safety risks due to manual operation. Therefore, the existing technology urgently needs further improvement. Summary of the Invention

[0003] In view of the shortcomings of the existing technology, the purpose of this invention is to propose an integrated device for automatic riveting of the refrigerator lower beam body and the reinforcing iron. This device solves the problems of the existing riveting method, which relies on manual placement, positioning and removal of workpieces. The quality control is unstable, the yield is limited by the skill level of the workers, the proportion of defective products is high, and material waste is caused. The existing processing method is inefficient and has problems such as high labor costs and poor safety.

[0004] To achieve the above objectives, the technical solution adopted by this invention is as follows:

[0005] An integrated device for automatically riveting the lower beam body and reinforcing iron of a refrigerator includes a workbench, a base plate, a lower beam body conveying device, a stamping unit, a material blocking mechanism, a reinforcing iron feeding unit, a transplanting robot, and an electrical control system. The base plate is fixed to the top of the workbench. There are two stamping units, namely stamping unit one and stamping unit two. Stamping unit two is fixedly located at the rear upper part of the base plate. Stamping unit one is located in front of stamping unit two via a linear drive module. Stamping unit one and stamping unit two are arranged in a linear manner.

[0006] The stamping unit includes a C-arm, an upper die assembly, and a lower die assembly. The upper die assembly is located on the upper part of the C-arm via a lifting drive mechanism, and the lower die assembly is installed on the lower part of the C-arm. The lower die assembly and the upper die assembly are vertically aligned.

[0007] The lower beam body conveying device includes a conveyor frame one, a conveyor frame two, a support frame, a lifting mechanism and a conveyor belt. The conveyor frame two is arranged adjacent to the rear side of the stamping unit two, and the support frame is arranged adjacent to the front side of the stamping unit one. The conveyor frame one is located in front of the support frame and is fixed to the base plate.

[0008] There are two lifting mechanisms, which are arranged symmetrically between the two lower mold components. The front and rear ends of the conveyor belt are connected to conveyor frame one and conveyor frame two, respectively. The support frame and the lifting mechanism support the conveyor belt. The lifting mechanism can adjust the upper part of the conveyor belt located between the two lifting mechanisms to raise or lower.

[0009] Each lifting mechanism is provided with a positioning mechanism between itself and its adjacent lower mold assembly. The material blocking mechanism is located on one side of the support frame, and its execution end can move laterally back and forth.

[0010] There are two reinforcing iron feeding units. The two reinforcing iron feeding units are located adjacent to each other on the right side of the lower beam body conveying device and are arranged symmetrically front and back. The reinforcing iron feeding unit includes a belt conveyor and a second positioning mechanism. The belt conveyor is located above the bottom plate, and the second positioning mechanism is located adjacent to one end of the belt conveyor in the feeding direction.

[0011] The transplanting robot includes a double-slide linear module and two horizontal linear modules. The double-slide linear module is installed on the right side of the worktable, and the two horizontal linear modules are respectively mounted on the two slide seats of the double-slide linear module through a vertical linear module.

[0012] The execution end of the horizontal linear module is equipped with a robotic arm, and the left end of the robotic arm is equipped with a clamping component. During operation, the two clamping components respectively transfer the reinforcing iron located inside the corresponding positioning mechanism to the two stamping units, and the stamping units complete the riveting work between the lower beam body and the reinforcing iron.

[0013] Furthermore, the linear drive module includes a linear guide rail, a sliding seat, a lead screw, and a stepper motor. There are two linear guide rails, which are fixed to the upper surface of the base plate in parallel and spaced apart. The bottom of the sliding seat slides longitudinally and horizontally with the two linear guide rails.

[0014] The C-arm of stamping unit one is fixed to the top of the sliding seat, and the bottom of the C-arm of stamping unit two is fixed to the upper surface of the base plate through the mounting seat.

[0015] The lead screw is positioned between two linear guides and rotates with the base plate via a bearing seat. The lead screw nut is fixed to the bottom of the sliding seat. The output shaft of the stepper motor is coaxially and fixedly connected to the front end of the lead screw, which can drive the sliding seat to move back and forth.

[0016] Furthermore, the front end of the second conveyor frame is fixedly connected to the rear side of the C-shaped arm of the second stamping unit, and the lower part of the support frame is fixed to the front side of the C-shaped arm of the first stamping unit.

[0017] The middle part of the conveyor frame is provided with an active roller, one end of which is connected to a servo motor. A pressure roller is provided adjacent to the upper side of the active roller. A tension roller is provided at the top of the conveyor frame. An adjusting roller is provided at the upper and lower parts of the support frame, and the two adjusting rollers are arranged in parallel.

[0018] The lower part of the conveyor frame 2 is provided with a driven roller, and the upper rear part of the driven roller is provided with a tension roller 2. The upper and lower parts of the front end of the conveyor frame 2 are respectively provided with a directional roller 2. The two directional rollers 2 are also arranged in parallel and are located in front of the driven roller.

[0019] Furthermore, the lifting mechanism includes a lifting plate, a guide rail seat, a double-rod cylinder, and two directional rollers. There are two guide rail seats, which are symmetrically arranged on the left and right sides of the conveyor belt, and their bottoms are fixedly connected to a sliding seat or a mounting seat.

[0020] Each guide rail seat is equipped with a vertical guide rail. The lifting plate is vertically arranged between two guide rail seats, and its left and right sides are respectively slidably engaged with the two vertical guide rails. The cylinder body of the double rod cylinder is fixed to the lifting plate, and its telescopic end is fixedly connected to the sliding seat or mounting seat through the N-shaped bracket.

[0021] Two directional rollers, one high and one low, are arranged in parallel on the side of the lifting plate. The left and right ends of each directional roller are rotatably connected to the lifting plate through bearings.

[0022] Furthermore, the lifting drive mechanism includes a stamping cylinder and linear guide rods. The cylinder body of the stamping cylinder is fixed to the top of the C-arm. Two guide seats are symmetrically fixed on the front and rear sides of the upper part of the C-arm. Two linear guide rods are arranged at intervals on the inner side of the guide seats. Each linear guide rod slides vertically with the C-arm through the guide seats.

[0023] The upper mold assembly includes an upper mold base and an upper mold. The upper mold base is located below the stamping cylinder, and its top is connected to the piston rod of the stamping cylinder and the lower ends of each linear guide rod. The upper mold is detachably fixed to the bottom of the upper mold base.

[0024] A square pressure head is fixedly installed at the bottom center of the upper mold. Two vertically arranged guide pillars are located on the left side of the square pressure head. The upper ends of the guide pillars are fixedly connected to the bottom of the upper mold as one piece.

[0025] Furthermore, the lower die assembly includes a lower die base, a lower die, and multiple stamping rods. The lower die base is fixedly located at the lower part of the C-arm, and the multiple stamping rods are vertically arranged above the lower die base. The lower ends of the stamping rods are fixedly connected to the lower die base, and the lower die is floatingly located above the lower die base.

[0026] The lower die has stepped holes that are equal in number and correspond one-to-one with the number of stamping rods. Each stamping rod is located in the corresponding stepped hole. A return spring is fitted on the outside of each stamping rod. The return spring is located on the lower inner side of the stepped hole. The bottom of the upper die has blind holes that are equal in number and correspond one-to-one with the number of stamping rods.

[0027] The upper surface of the lower mold is provided with two vertical positioning rods. The lower end of the positioning rods is fixedly connected to the lower mold base. The bottom of the upper mold has a cavity corresponding to the upper end of the positioning rods.

[0028] Furthermore, the material blocking mechanism includes a linear cylinder, a sliding block, and a material blocking rod. The linear cylinder is mounted on the front side of the C-arm of the stamping unit through a cylinder seat. The sliding block is located on the right side of the linear cylinder, and its bottom is laterally slidingly engaged with the cylinder seat.

[0029] The baffle rod is arranged adjacent to the rear side of the sliding block 1. Its left end is fixedly connected to the sliding block 1 through a connecting block. In the working state, the linear cylinder can drive the baffle rod to move horizontally left and right, thereby limiting the movement of the refrigerator lower beam body from back to front.

[0030] Furthermore, the positioning mechanism includes a linear slide module, a support plate, a slide rail seat, and a two-way lead screw. The linear slide module is fixedly mounted on the side of the C-arm, and the left end of the support plate is fixedly connected to the slide rail seat of the linear slide module.

[0031] The slide rail is fixed to the top of the tray. The inner side of the slide rail has two sliding blocks arranged symmetrically on the left and right. Both sliding blocks slide laterally with the slide rail. Each sliding block has an inverted T-shaped limiting plate on its top. The two limiting plates are arranged symmetrically on the left and right.

[0032] The bidirectional lead screw is transversely inserted into the inner side of the two sliding blocks and is threadedly engaged with the two sliding blocks respectively. The left end of the bidirectional lead screw is connected to the output end of the servo motor two located on the left side of the slide rail seat. The servo motor two drives the two limiting plates to move synchronously in opposite directions through the bidirectional lead screw.

[0033] Furthermore, the frame of the belt conveyor is fixedly connected to the base plate via a mounting frame. The second positioning mechanism includes a receiving plate, a fixed side plate, a limiting block, and a double-rod cylinder. The receiving plate is horizontally fixed on the mounting frame, and one side of it is arranged adjacent to one end of the belt of the belt conveyor.

[0034] The fixed side plate is located on the left side of the receiving plate. The limiting block is fixed on the top of the receiving plate and located on the side opposite to the belt of the belt conveyor. The actuator end of the double-rod cylinder is equipped with a pusher plate, which is located on the upper surface of the receiving plate and is arranged opposite to the fixed side plate.

[0035] Furthermore, the dual-slide linear module has two servo motors, which independently drive the two slide seats of the dual-slide linear module to move horizontally back and forth.

[0036] The vertical linear module is located to the right of the dual-slide linear module. The base of the vertical linear module is fixedly connected to the slide base of the dual-slide linear module. The bottom of the base of each of the horizontal linear modules is fixedly connected to the upper end of the slide base of the corresponding vertical linear module.

[0037] The clamping assembly includes a gripper cylinder and two pins. The cylinder body of the gripper cylinder is fixed to the left end of the robotic arm. Both pins are arranged vertically, with their upper ends fixedly connected to the bottom of the two grippers of the gripper cylinder. The lower ends of the two pins can be simultaneously inserted into the insertion holes of the reinforcing iron and clamp the reinforcing iron located inside the second positioning mechanism.

[0038] Compared with the prior art, the beneficial technical effects of the present invention are: the present invention has a reasonable structural design, a high degree of automation, and relies on automated means to replace manual labor for workpiece positioning and transportation, thereby reducing production costs, realizing continuous production, improving safety, greatly improving work efficiency, and achieving high and accurate positioning accuracy, which in turn greatly improves the quality and yield of the riveted product parts. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the combined structure of the refrigerator's lower beam and reinforcing iron in the background art.

[0040] Figure 2 This is a schematic diagram of the integrated device for automatically riveting the refrigerator lower beam body and the reinforcing iron according to the present invention.

[0041] Figure 3 This is a schematic diagram of the combination of the lower beam body conveying device and two stamping units of the present invention.

[0042] Figure 4 yes Figure 3 The diagram shows the working state of the assembly.

[0043] Figure 5 This is a schematic diagram of the combined structure of the conveyor belt, upper mold assembly, lower mold assembly and related parts of the present invention.

[0044] Figure 6 This is a schematic diagram of the combination of the transplanting robot and two reinforcing iron feeding units of the present invention.

[0045] Figure 7 yes Figure 6 The schematic diagram of a certain part shows the reinforcing iron feeding unit.

[0046] Figure 8 This is a schematic diagram of the lifting mechanism of the present invention.

[0047] Figure 9 This is a schematic diagram of the material blocking mechanism of the present invention.

[0048] Figure 10 This is a schematic diagram of the positioning mechanism of the present invention.

[0049] The diagram shows: 1. Workbench; 11. Base plate; 12. Linear drive module; 121. Linear guide rail; 122. Sliding seat; 123. Lead screw; 124. Stepper motor; 13. Mounting base; 14. L-shaped bracket; 2. Lower beam body conveying device; 21. Conveyor frame one; 22. Conveyor frame two; 23. Support frame; 24. Conveyor belt; 25. Lifting plate; 26. Guide rail seat; 261. Vertical guide rail; 262. 263. Limiting wheel; 27. Wheel frame; 28. Double-rod cylinder 1; 29. ​​Orienting roller 3; 30. N-shaped bracket; 31. Stamping unit 1; 31. C-arm; 32. Stamping cylinder; 33. Guide seat; 34. Linear guide rod; 35. Upper die base; 36. Upper die; 37. Square pressure head; 38. Guide post; 39. Lower die base; 30. Lower die; 31. Stamping rod; 32. Positioning rod; 33. Guide sleeve 4. Stamping Unit Two; 5. Material Stopping Mechanism; 51. Linear Cylinder; 52. Sliding Block One; 53. Material Stopping Rod; 54. Cylinder Seat One; 55. Connecting Block; 56. Linear Slide Rail; 57. Guide Block; 6. Reinforcing Iron Feeding Unit; 61. Belt Conveyor; 62. Mounting Frame; 63. Receiving Plate; 64. Fixed Side Plate; 65. Limiting Block; 66. Double-Rod Cylinder Two; 67. Pushing Plate; 7. Transplanting Robot; 7 1. Double slide linear module; 711. Servo motor three; 72. Vertical linear module; 73. Horizontal linear module; 74. Robotic arm; 75. Gripper cylinder; 76. Pin rod; 8. Positioning mechanism one; 81. Linear slide module; 82. Support plate; 83. Slide rail seat; 84. Two-way lead screw; 85. Sliding block two; 86. Limiting plate; 87. Servo motor two; 101. Refrigerator lower beam body; 102. Reinforcing iron. Detailed Implementation

[0050] The present invention will now be described in detail with reference to the accompanying drawings:

[0051] Implementation examples, in conjunction with Figures 1 to 10 An integrated device for automatically riveting a refrigerator lower beam body to a reinforcing iron includes a workbench 1, a lower beam body conveying device 2, a stamping unit, a material blocking mechanism 5, a reinforcing iron feeding unit 6, a transplanting robot 7, and an electrical control system. A base plate 11 is fixedly installed on the upper surface of the workbench 1. There are two stamping units, namely stamping unit one 3 and stamping unit two 4, which are arranged linearly at intervals. Stamping unit two 4 is fixedly mounted on the rear upper part of the base plate 11 by a mounting base 13, and stamping unit one 3 can be adjusted and fixed in front of stamping unit two 4 by a linear drive module 12.

[0052] The electrical control system includes a power distribution cabinet and an industrial computer with a touch screen. Both the power distribution cabinet and the industrial computer are installed on the workbench 1. The power distribution cabinet is connected to industrial power and supplies power to the integrated equipment used for automatic riveting of the refrigerator's lower beam body and reinforcing iron.

[0053] The refrigerator lower beam body 101 is a long strip bent piece with an L-shaped cross-section, processed from steel plate through a bending process. The reinforcing iron 102 is an L-shaped metal plate. One of the reinforcing irons 102 needs to be riveted to the inner sides of each end of the refrigerator lower beam body 101. Considering the positioning problem of automatic riveting, each end of the refrigerator lower beam body 101 has a set of positioning holes, and each reinforcing iron 102 also has the same set of positioning holes. In addition, the reinforcing iron 102 also has two insertion holes. In this embodiment, each set of positioning holes is set to two positioning holes. During the stamping and riveting process, it is necessary to ensure that the reinforcing iron 102 does not slip relative to the refrigerator lower beam body 101.

[0054] The linear drive module 12 includes a linear guide rail 121, a sliding seat 122, a lead screw 123, and a stepper motor 124. Two linear guide rails 121 are provided, fixedly mounted on the upper surface of the base plate 11 with parallel spacing, one on the left and one on the right. The sliding seat 122 is located above the two linear guide rails 121, and its bottom sides are respectively in longitudinal horizontal sliding engagement with the two linear guide rails 121. The lead screw 123 is located between the two linear guide rails 121. The rear end of the lead screw 123 is rotatably engaged with the base plate 11 via a bearing seat. A nut seat disposed on the lead screw 123 is fixed to the bottom of the sliding seat 122, and the nut seat is threadedly engaged with the lead screw 123 inside it. The output shaft of the stepper motor 124 is coaxially and fixedly connected to the front end of the lead screw 123 via a coupling, allowing the slide seat 122 to move back and forth via the lead screw 123.

[0055] The stepper motor 124 is a stepper motor with a braking function. The signal terminal of the stepper motor 124 is connected to the industrial control computer. The industrial control computer controls the direction and rotation angle of the stepper motor 124 through program instructions. The stepper motor 124 drives the lead screw 123 to rotate in the forward or reverse direction. The lead screw 123 drives the sliding seat 122 to move linearly back and forth along the linear guide rail 121 through the lead screw nut seat. By adjusting the distance between the stamping unit 13 and the stamping unit 24, the refrigerator lower beam body 101 of different length specifications can be accommodated. Before starting work, the position of the stamping unit 13 is adjusted into place, and then the output shaft of the stepper motor 124 is locked. The stamping unit 13 and the sliding seat 122 below it are fixed on the linear guide rail 121, and the distance between the stamping unit 13 and the stamping unit 24 remains unchanged.

[0056] The stamping unit includes a C-arm 31, an upper die assembly, and a lower die assembly. The upper die assembly is mounted on the upper part of the C-arm 31 via a lifting drive mechanism, and the lower die assembly is mounted on the lower part of the C-arm 31, with the lower die assembly vertically facing the upper die assembly. The C-arm 31 of stamping unit 3 is fixed to the top of the sliding seat 122, and the bottom of the C-arm 31 of stamping unit 4 is fixed to the upper surface of the base plate 11 via a mounting seat 13.

[0057] The lifting drive mechanism includes a stamping cylinder 311 and a linear guide rod 313. The cylinder body of the stamping cylinder 311 is fixed to the top of the C-arm 31. Two guide seats 312 are symmetrically fixed on the front and rear sides of the upper part of the C-arm 31. Two linear guide rods 313 are arranged at intervals on the inner side of the guide seat 312. Each linear guide rod 313 slides vertically with the C-arm 31 through the guide seat 312.

[0058] The upper mold assembly includes an upper mold base 32 and an upper mold 33. The upper mold base 32 is located below the stamping cylinder 311, and its top is connected to the piston rod of the stamping cylinder 311 and the lower ends of each linear guide rod 313. The upper mold 33 is detachably fixed to the bottom of the upper mold base 32. A square pressure head 331 is fixedly provided at the center of the bottom of the upper mold 33. Two vertically arranged guide posts 332 are located on the left side of the square pressure head 331. The upper ends of the guide posts 332 are fixedly connected to the bottom of the upper mold 33 as a whole.

[0059] In addition, the lower die assembly includes a lower die base 34, a lower die 35, and a plurality of stamping rods 36. The lower die base 34 is fixedly disposed at the lower part of the C-shaped arm 31, and the plurality of stamping rods 36 are arranged vertically and regularly above the lower die base 34. The lower ends of the stamping rods 36 are fixedly connected to the lower die base 34 to form a whole, and the lower die 35 is floatingly disposed above the lower die base 34.

[0060] The lower mold 35 has stepped holes on its inner side, the same number and position as the stamping rods 36. Each stamping rod 36 is located in its corresponding stepped hole and slides vertically against the inner wall of the stepped hole. A return spring is fitted around the outside of each stamping rod 36, located at the lower inner part of the stepped hole. The bottom of the upper mold 33 has blind holes, the same number and position as the stamping rods 36. Under normal conditions, the lower mold 35 is in the upper position under the action of the return springs and remains horizontal, with the upper ends of all stamping rods 36 lower than the upper surface of the lower mold 35.

[0061] The upper surface of the lower mold 35 is provided with two vertical positioning rods 37. The lower end of the positioning rods 37 is fixedly connected to the lower mold base 34. The bottom of the upper mold 33 has a cavity corresponding to the upper end of the positioning rods 37.

[0062] The lower mold base 34 has guide sleeves 38 on its upper left side that correspond one-to-one with the positions of the two linear guide rods 313. The guide sleeves 38 are arranged vertically and their lower ends are fixedly connected to the upper surface of the lower mold base 34. The left side of the lower mold 35 has a circular hole that matches the outer wall of the guide sleeve 38. The upper end of the guide sleeve 38 passes through the corresponding circular hole. The lower mold 35 and the guide sleeve 38 slide vertically together. In the working state, when the stamping cylinder 311 drives the upper mold assembly to move downward, the lower ends of the two linear guide rods 313 can respectively pass into the corresponding guide sleeves 38 and slide vertically together with the corresponding guide sleeves 38, thus guiding the stamping movement of the upper mold 33 and the square pressure head 331.

[0063] The lower beam body conveying device 2 includes a first conveyor frame 21, a second conveyor frame 22, a support frame 23, a lifting mechanism, and a conveyor belt 24. The second conveyor frame 22 is arranged adjacent to the rear side of the second stamping unit 4, and its front end is fixedly connected to the rear side of the C-shaped arm 31 of the second stamping unit 4. The support frame 23 is arranged adjacent to the front side of the first stamping unit 3, and its lower part is bolted to the front side of the C-shaped arm 31 of the first stamping unit 3. The first conveyor frame 21 is located in front of the support frame 23, and its lower end is bolted to the upper surface of the base plate 11.

[0064] Conveyor frame 21, conveyor frame 22, support frame 23 and two lifting mechanisms are arranged linearly along the direction of conveyor belt 24. Conveyor frame 21 has a drive roller 211 in the middle. One end of the drive roller 211 is connected to a servo motor. A pressure roller 212 is provided adjacent to the upper side of the drive roller 211. A tension roller 213 is installed on the top of the conveyor frame 21 through a tensioning mechanism. The left and right ends of the drive roller 211, pressure roller 212 and tension roller 213 are rotatably connected to the conveyor frame 21.

[0065] The upper and lower parts of the support frame 23 are each provided with a first directional roller 231, which are arranged in parallel. The left and right ends of the first directional roller 231 are rotatably connected to the support frame 23. The lower part of the second conveyor frame 22 is provided with a driven roller 221, and a second tension roller 222 is provided above and behind the driven roller 221. The upper and lower parts of the front end of the second conveyor frame 22 are each provided with a second directional roller 223, which are also arranged in parallel and located in front of the driven roller 221.

[0066] There are two lifting mechanisms, which are arranged symmetrically between the two lower mold assemblies. The front and rear ends of the conveyor belt 24 pass over the tension roller 213 at the top of the first conveyor frame 21 and the tension roller 222 at the top of the second conveyor frame 22, respectively. The two directional rollers 231 of the support frame 23 and the lifting mechanism support the movement of the conveyor belt 24. The servo motor drives the drive roller 211 to rotate. The pressure roller 212 presses the outer side of the conveyor belt 24 to increase the contact area between the conveyor belt 24 and the circumferential surface of the drive roller 211 to prevent slippage. The lifting mechanism can adjust the upper part of the conveyor belt 24 located between the two lifting mechanisms to raise or lower.

[0067] Specifically, the lifting mechanism includes a lifting plate 25, a guide rail seat 26, a double-rod cylinder 27, and two directional rollers 28. There are two guide rail seats 26, which are symmetrically arranged on the left and right sides of the conveyor belt 24, and their bottoms are fixedly connected to the sliding seat 122 or the mounting seat 13.

[0068] Each guide rail seat 26 is equipped with a vertical guide rail 261. A lifting plate 25 is vertically arranged between two guide rail seats 26, with its left and right sides slidingly engaged with the two vertical guide rails 261 respectively. The cylinder body of the double-rod cylinder 27 is fixed to the lifting plate 25, and its telescopic end is fixedly connected to the sliding seat 122 or the mounting seat 13 via an N-shaped bracket 29. Two directional rollers 28, one high and one low, are arranged parallel to each other on the side of the lifting plate 25, and both ends of each directional roller 28 are rotatably connected to the lifting plate 25 via bearings.

[0069] A pair of limiting wheels 262 are provided between the two guide rail seats 26. The two limiting wheels 262 are arranged symmetrically on the left and right. Each limiting wheel 262 is connected to the top of the guide rail seat 26 on the same side through a wheel frame 263. The wheel axle of the limiting wheel 262 is arranged vertically and rotates with the wheel frame 263. In the working state, the refrigerator lower beam body 101 is conveyed from back to front on the conveyor belt 24. During the conveying process, it passes between the two pairs of limiting wheels 262 to prevent the refrigerator lower beam body 101 from shifting too much during the conveying process.

[0070] The portion of the conveyor belt 24 above the drive roller 211 passes behind the pressure roller 212, then forward past the front side of the tension roller 213, reaches the support frame 23, and successively passes behind the upper and lower directional rollers 231 of the support frame 23, reaches the front lifting mechanism, and passes the two directional rollers 28 of the lifting mechanism from bottom to top, reaches the rear lifting mechanism, and passes the two directional rollers 28 of the lifting mechanism from top to bottom, reaches the second conveyor frame 22, and passes the two directional rollers 223 from bottom to top, passes the tension roller 222, then forward past the bottom of the driven roller 221, and passes the inner sides of the two N-shaped supports 29 to reach the front side of the drive roller 211.

[0071] The material blocking mechanism 5 is located on one side of the support frame 23, and its execution end can move laterally back and forth. During operation, the servo motor 1 drives the upper part of the conveyor belt 24 to move from back to front and the lower part to move from front to back through the active roller 211. The formed refrigerator lower beam body 101 enters the conveyor belt 24 from the rear. At this time, the lifting plates 25 of the two lifting mechanisms are at the upper stop of their stroke. The height of the upper part of the conveyor belt 24 between the two lifting mechanisms is the same as the height of the upper part of the conveyor belt between the second conveyor frame 22 and the upper part between the first conveyor frame 21 and the support frame 23. The refrigerator lower beam body 101 is conveyed from back to front to the position of the material blocking mechanism 5. The execution end of the material blocking mechanism 2 is at the right stop of its stroke, blocking the refrigerator lower beam body 101 from continuing to move forward and stopping it behind the material blocking mechanism 2. At this time, only the upper part of the conveyor belt 24 between the two lifting mechanisms supports the bottom surface of the refrigerator lower beam body 101.

[0072] Specifically, the material-stopping mechanism 5 includes a linear cylinder 51, a sliding block 52, and a material-stopping rod 53. The linear cylinder 51 is mounted on the front side of the C-arm 31 of the stamping unit 3 via a cylinder seat 54. The sliding block 52 is located to the right of the linear cylinder 51, and its bottom is laterally slidingly engaged with the cylinder seat 54 via a linear slide rail 56. The material-stopping rod 53 is arranged adjacent to the rear side of the sliding block 52, and its left end is fixedly connected to the sliding block 52 via a connecting block 55. A guide block 57 is provided on the rear side of the linear slide rail 56, and the guide block 57 is fixed on the cylinder seat 54. The left end of the material-stopping rod 53 is laterally linearly slidingly engaged with the guide block 57.

[0073] In operation, the linear cylinder 51 drives the baffle rod 53 to move horizontally left and right via the sliding block 52 and the connecting block 55, limiting the movement of the refrigerator lower beam body 101 from back to front. Additionally, the baffle rod 53 also slides with the guide block 57 to improve its bending resistance when blocking the refrigerator lower beam body 101. When the baffle rod 53 is at the right end of its stroke, it can block the refrigerator lower beam body 101 on the conveyor belt 24 from moving forward and stop at that position. When the linear cylinder 51 drives the baffle rod 53 to the left end of its stroke, it releases the obstruction of the refrigerator lower beam body 101, allowing the riveted refrigerator lower beam body 101 to continue forward transport.

[0074] Each lifting mechanism is equipped with a positioning mechanism 8 between itself and its adjacent lower mold assembly. The positioning mechanism 8 includes a linear slide module 81, a support plate 82, a slide rail seat 83, and a two-way lead screw 84. The linear slide module 81 is fixedly installed on the side of the adjacent C-arm 31 through a slide bracket. The bottom left end of the support plate 82 is fixedly connected to the slide rail seat of the linear slide module 81. The lateral position of the slide rail seat 83 is adjusted by the linear slide module 81 to adapt to different width specifications of the refrigerator lower beam body 101 and to match the position where the reinforcing iron 102 is sent in by the transplanting robot 7, so as to ensure that the reinforcing iron 102 and the refrigerator lower beam body 101 can be accurately positioned before riveting.

[0075] The slide rail seat 83 is fixed to the top of the support plate 82. The inner side of the slide rail seat 83 has two symmetrically arranged sliding blocks 85. Both sliding blocks 85 slide laterally with the slide rail seat 83. An inverted T-shaped limiting plate 86 is fixedly installed on the top of each sliding block 85. The two limiting plates 86 are symmetrically arranged, and each limiting plate 86 moves synchronously with the sliding block 85 below it. The bidirectional lead screw 84 passes laterally through the inner side of the two sliding blocks 85. The two screw sections of the bidirectional lead screw 84 are threaded into the two sliding blocks 85 respectively. The left end of the bidirectional lead screw 84 is connected to the output end of a servo motor 87 located on the left side of the slide rail seat 83. The servo motor 87 drives the two limiting plates 86 to move synchronously in opposite directions through the bidirectional lead screw 84.

[0076] Before the refrigerator lower beam body 101 moves forward on the conveyor belt 24 and reaches the stop bar 53, the two limit plates 86 are in a state of being far apart from each other. The front end of the refrigerator lower beam body 101 passes through the two pairs of limit plates 86 in sequence. When the stop bar 53 blocks the refrigerator lower beam body 101 from moving, the servo motors 87 of the two positioning mechanisms 8 drive the corresponding two limit plates 86 to move towards each other until they are close to each other through the bidirectional lead screws 84, thereby positioning the refrigerator lower beam body 101 that has stopped moving. Afterwards, the lifting plates 25 of the two lifting mechanisms move downwards synchronously for a certain distance and then stop. As the refrigerator lower beam body 101 descends with the conveyor belt 24 between the two lifting mechanisms, the two positioning rods 37 on the upper surface of each lower mold 35 are respectively inserted into the two positioning holes at the corresponding ends of the refrigerator lower beam body 101. The positioning rods 37 guide the two ends of the refrigerator lower beam body 101 to fall onto the upper surfaces of the two lower molds 35 respectively. The upper part of the conveyor belt 24 between the two lifting mechanisms continues to descend and separates from the bottom surface of the refrigerator lower beam body 101. The two lower molds 35 maintain a supporting state for the refrigerator lower beam body 101.

[0077] Two reinforcing iron feeding units 6 are provided, adjacent to each other on the right side of the lower beam body conveying device 2, and symmetrically fixedly installed above the base plate 11. Specifically, each reinforcing iron feeding unit 6 includes a belt conveyor 61 and a second positioning mechanism. The belt conveyor 61 is located above the base plate 11, and its frame is fixedly connected to the base plate 11 via a mounting bracket 62. The second positioning mechanism is located adjacent to one end of the belt conveyor 61 in the feeding direction. A vibratory feeder is respectively configured at the ends of the two belt conveyors 61 that are far apart from each other. The vibratory feeder is a conventional vibratory feeder, and several reinforcing irons 102 are placed inside it. After being processed by the vibratory feeder, each reinforcing iron 102 enters the belt surface of the corresponding belt conveyor 61 in a regular arrangement and is continuously conveyed towards the second positioning mechanism.

[0078] Specifically, the second positioning mechanism includes a receiving plate 63, a fixed side plate 64, a limiting block 65, and a second double-rod cylinder 66. The receiving plate 63 is horizontally fixed on the mounting frame 62, with one side adjacent to one end of the belt of the belt conveyor 61. The fixed side plate 64 is located to the left of the receiving plate 63. The limiting block 65 is fixed to the top of the receiving plate 63 and located on the side opposite to the belt of the belt conveyor. The actuating end of the second double-rod cylinder 66 is provided with a pusher plate 67, which is located on the upper surface of the receiving plate 63 and is arranged opposite to the fixed side plate 64. The belt of the belt conveyor 61 delivers the reinforcing iron 102 to the upper surface of the receiving plate 63, and the limiting block 65 prevents the reinforcing iron 102 from moving forward or backward. Then, the second double-rod cylinder 66 drives the pusher plate 67 to move to the left, positioning the reinforcing iron 102 on the upper surface of the receiving plate 63 between the fixed side plate 64, the limiting block 65, and the pusher plate 67. After the transplanting robot 7 removes the reinforcing iron 102, the next reinforcing iron 102 is delivered to the upper surface of the receiving plate 63. Then, the next reinforcing iron 102 is positioned and waits for the transplanting robot 7 to remove it. This cycle continues.

[0079] The transplanting robot 7 includes a double-slide linear module 71 and two transverse linear modules 73. The base of the double-slide linear module 71 is fixedly installed on the right side of the worktable 1 by an L-shaped bracket 14. The double-slide linear module 71 has two servo motors 711, and the two servo motors 711 independently drive the two slide seats of the double-slide linear module 71 to move back and forth horizontally.

[0080] The two horizontal linear modules 73 are located above the dual-slide linear module 71 and are arranged one in front of the other. The two horizontal linear modules 73 are respectively mounted on the two slide seats of the dual-slide linear module 71 through a vertical linear module 72.

[0081] Specifically, the vertical linear module 72 is located to the right of the dual-slide linear module 71. The base of the vertical linear module 72 is fixedly connected to the slide base of the dual-slide linear module 71. The bottom of the base of each of the horizontal linear modules 73 is fixedly connected to the upper end of the slide base of the corresponding vertical linear module 72. The dual-slide linear module 71, the vertical linear module 72, and the horizontal linear module 73 all adopt existing technology. The signal terminals of the servo motors of each linear module are respectively connected to the industrial control computer for communication. The industrial control computer controls the execution terminals of each linear module to coordinate their actions through programmed instructions.

[0082] A robotic arm 74 is mounted on the top of the base of the horizontal linear module 73. The right end of the robotic arm 74 is fixedly connected to the base of the horizontal linear module 73, and the left end is equipped with a clamping assembly. The clamping assembly includes a gripper cylinder 75 and two pins 76 with a circular cross-section. The cylinder body of the gripper cylinder 75 is fixed to the left end of the robotic arm 74. Both pins 76 are arranged vertically, and their upper ends are fixedly connected to the bottom of the two grippers of the gripper cylinder 75. The lower ends of the two pins 76 can be simultaneously inserted into the insertion holes of the reinforcing iron 102 and clamp the reinforcing iron 102 located inside the second positioning mechanism. During operation, the two clamping assemblies respectively move the reinforcing iron 102 located inside the corresponding second positioning mechanism to two stamping units, which then complete the riveting work between the refrigerator lower beam body 101 and the corresponding reinforcing iron 102.

[0083] In operation, the robotic arm 74 is driven to move back and forth by the double-slide linear module 71. The vertical linear module 72 drives the corresponding robotic arm 74 to rise or fall, and the horizontal linear module 73 drives the corresponding robotic arm 74 to move left and right, realizing the three-dimensional spatial movement of the clamping component. When the gripper cylinder 75 reaches directly above the reinforcing iron 102 on the inner side of the corresponding positioning mechanism, the vertical linear module 72 drives the gripper cylinder 75 to move vertically downward. The lower ends of the two pins 76 are inserted into the corresponding insertion holes of the reinforcing iron 102. Then, the gripper cylinder 75 clamps the reinforcing iron 102 through the pins 76. The upper part of one side of the refrigerator lower beam body 101 has an inwardly bent protrusion. The reinforcing iron 102 needs to be embedded in the lower side of the protrusion and attached to and riveted to the inner wall of the refrigerator lower beam body 101.

[0084] The two gripping components of the transplanting robot 7 grip the two reinforcing irons 102 respectively. First, they move to the left to the front and rear ends of the refrigerator lower beam body 101 respectively. After descending a certain distance so that the upper end of the reinforcing iron 102 is lower than the lower edge of the refrigerator lower beam body 101, they continue to move to the left a certain distance and then stop before moving vertically downward. This allows the two positioning rods 37 on the upper surface of the lower mold 35 to pass into the two positioning holes of the corresponding reinforcing iron 102. Then, the gripper cylinder 75 controls the two pins 76 to release the gripping of the reinforcing iron 102. The robot arm 74 returns to the initial position and waits to grip the next reinforcing iron 102.

[0085] After the two reinforcing irons 102 are placed on the inner sides of both ends of the refrigerator lower beam body 101, the stamping cylinders 311 of stamping unit 1 3 and stamping unit 2 4 drive the corresponding upper mold base 32 and upper mold 33 to move vertically downward. The square pressure head 331 at the bottom of the upper mold 33 stamps and rivets the reinforcing irons 102 and the front and rear ends of the refrigerator lower beam body 101. During the stamping process, the lower mold 35 moves downward together with the refrigerator lower beam body 101. The refrigerator lower beam body 101 and the reinforcing irons 102 form a riveting point at the position corresponding to the stamping rod 36.

[0086] Subsequently, the stamping cylinder 311 drives the corresponding upper die holder 32 and upper die 33 to move upward to the initial position. Under the action of the return spring, the lower die 35 also moves upward to the initial position and supports both ends of the refrigerator lower beam body 101. Then, the lifting plates 25 of the two lifting mechanisms move upward synchronously to the initial position. The upper part of the conveyor belt 24 located between the two lifting plates 25 drives the riveted refrigerator lower beam body 101 back to the initial height and separates it from the lower die 35 and the positioning rod 37. The conveyor belt 24 continues to transport the riveted refrigerator lower beam body 101 forward. The next refrigerator lower beam body 101 is sent from the rear into the conveyor belt 24 and continues to be transported to the position corresponding to the two stamping units. The riveting work of the next refrigerator lower beam body 101 and the reinforcing iron 102 is carried out in the above manner.

[0087] For any parts not mentioned in this invention, existing technologies can be used or referenced.

[0088] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0089] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0090] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An integrated device for automatically riveting the lower beam of a refrigerator to the reinforcing iron, characterized in that, It includes a workbench, a base plate, a lower beam body conveying device, a stamping unit, a material blocking mechanism, a reinforcing iron feeding unit, a transplanting robot, and an electrical control system. The base plate is fixed to the top of the workbench. There are two stamping units, namely stamping unit one and stamping unit two. Stamping unit two is fixedly located at the rear upper part of the base plate, and stamping unit one is located in front of stamping unit two via a linear drive module. The stamping unit includes a C-arm, an upper die assembly, and a lower die assembly. The upper die assembly is located on the upper part of the C-arm via a lifting drive mechanism, and the lower die assembly is installed on the lower part of the C-arm. The lower die assembly and the upper die assembly are vertically opposite each other. The lower beam body conveying device includes a conveyor frame one, a conveyor frame two, a support frame, a lifting mechanism and a conveyor belt. The conveyor frame two is arranged adjacent to the rear side of the stamping unit two, and the support frame is arranged adjacent to the front side of the stamping unit one. The conveyor frame one is located in front of the support frame and is fixed to the base plate. There are two lifting mechanisms, which are arranged symmetrically between the two lower mold components. The front and rear ends of the conveyor belt are connected to conveyor frame one and conveyor frame two, respectively. The support frame and the lifting mechanism support the conveyor belt. The lifting mechanism can adjust the upper part of the conveyor belt located between the two lifting mechanisms to raise or lower. Each lifting mechanism is provided with a positioning mechanism between itself and its adjacent lower mold assembly. The material blocking mechanism is located on one side of the support frame, and its execution end can move laterally back and forth. There are two reinforcing iron feeding units. The two reinforcing iron feeding units are located adjacent to each other on the right side of the lower beam body conveying device and are arranged symmetrically front and back. The reinforcing iron feeding unit includes a belt conveyor and a second positioning mechanism. The belt conveyor is located above the bottom plate, and the second positioning mechanism is located adjacent to one end of the belt conveyor in the feeding direction. The transplanting robot includes a double-slide linear module and two horizontal linear modules. The double-slide linear module is installed on the right side of the worktable, and the two horizontal linear modules are respectively mounted on the two slide seats of the double-slide linear module through a vertical linear module. The execution end of the horizontal linear module is equipped with a robotic arm, and the left end of the robotic arm is equipped with a clamping component. During operation, the two clamping components respectively transfer the reinforcing iron located inside the corresponding positioning mechanism to the two stamping units. The stamping units complete the riveting work between the lower beam body and the reinforcing iron. The front end of the second conveyor frame is fixedly connected to the rear side of the C-shaped arm of the second stamping unit, and the lower part of the support frame is fixed to the front side of the C-shaped arm of the first stamping unit. The middle part of the conveyor frame is provided with an active roller, one end of which is connected to a servo motor. A pressure roller is provided adjacent to the upper side of the active roller. A tension roller is provided at the top of the conveyor frame. An adjusting roller is provided at the upper and lower parts of the support frame, and the two adjusting rollers are arranged in parallel. The lower part of the conveyor frame 2 is provided with a driven roller, and the upper rear part of the driven roller is provided with a tension roller 2. The upper and lower parts of the front end of the conveyor frame 2 are respectively provided with a directional roller 2. The two directional rollers 2 are also arranged in parallel and are located in front of the driven roller.

2. The integrated device for automatically riveting the refrigerator lower beam body and reinforcing iron according to claim 1, characterized in that, The linear drive module includes a linear guide rail, a sliding seat, a lead screw, and a stepper motor. There are two linear guide rails, which are fixed to the upper surface of the base plate in parallel and spaced apart. The bottom of the sliding seat slides horizontally with the two linear guide rails in a longitudinal direction. The C-arm of stamping unit one is fixed to the top of the sliding seat, and the bottom of the C-arm of stamping unit two is fixed to the upper surface of the base plate through the mounting seat. The lead screw is positioned between two linear guides and rotates with the base plate via a bearing seat. The lead screw nut is fixed to the bottom of the sliding seat. The output shaft of the stepper motor is coaxially and fixedly connected to the front end of the lead screw, which can drive the sliding seat to move back and forth.

3. The integrated device for automatically riveting the refrigerator lower beam body and reinforcing iron according to claim 2, characterized in that, The lifting mechanism includes a lifting plate, a guide rail seat, a double-rod cylinder, and two directional rollers. There are two guide rail seats, which are symmetrically arranged on the left and right sides of the conveyor belt, and their bottoms are fixedly connected to a sliding seat or a mounting seat. Each guide rail seat is equipped with a vertical guide rail. The lifting plate is vertically arranged between the two guide rail seats, and its left and right sides are respectively slidably engaged with the two vertical guide rails. The cylinder body of the double rod cylinder is fixed on the lifting plate, and its telescopic end is fixedly connected to the sliding seat or mounting seat through the N-shaped bracket. Two directional rollers, one high and one low, are arranged in parallel on the side of the lifting plate. The left and right ends of each directional roller are rotatably connected to the lifting plate through bearings.

4. The integrated device for automatically riveting the refrigerator lower beam body and reinforcing iron according to claim 1, characterized in that, The lifting drive mechanism includes a press cylinder and linear guide rods. The cylinder body of the press cylinder is fixed to the top of the C-arm. Two guide seats are symmetrically fixed on the front and rear sides of the upper part of the C-arm. Two linear guide rods are arranged at intervals on the inner side of the guide seats. Each linear guide rod slides vertically with the C-arm through the guide seats. The upper mold assembly includes an upper mold base and an upper mold. The upper mold base is located below the stamping cylinder, and its top is connected to the piston rod of the stamping cylinder and the lower ends of each linear guide rod. The upper mold is detachably fixed to the bottom of the upper mold base. A square pressure head is fixedly installed at the bottom center of the upper mold. Two vertically arranged guide pillars are located on the left side of the square pressure head. The upper ends of the guide pillars are fixedly connected to the bottom of the upper mold as one piece.

5. The integrated device for automatically riveting the refrigerator lower beam body and reinforcing iron according to claim 2, characterized in that, The lower die assembly includes a lower die base, a lower die, and multiple stamping rods. The lower die base is fixedly located at the lower part of the C-arm, and the multiple stamping rods are vertically arranged above the lower die base. The lower ends of the stamping rods are fixedly connected to the lower die base, and the lower die is floatingly located above the lower die base. The lower die has stepped holes that are equal in number and correspond one-to-one with the number of stamping rods. Each stamping rod is located in the corresponding stepped hole. A return spring is fitted on the outside of each stamping rod. The return spring is located on the lower inner side of the stepped hole. The bottom of the upper die has blind holes that are equal in number and correspond one-to-one with the number of stamping rods. The upper surface of the lower mold is provided with two vertical positioning rods. The lower end of the positioning rods is fixedly connected to the lower mold base. The bottom of the upper mold has a cavity corresponding to the upper end of the positioning rods.

6. The integrated device for automatically riveting the refrigerator lower beam body and reinforcing iron according to claim 1, characterized in that, The material blocking mechanism includes a linear cylinder, a sliding block, and a material blocking rod. The linear cylinder is mounted on the front side of the C-arm of the stamping unit through a cylinder seat. The sliding block is located on the right side of the linear cylinder, and its bottom is laterally slidingly engaged with the cylinder seat. The baffle rod is arranged adjacent to the rear side of the sliding block 1. Its left end is fixedly connected to the sliding block 1 through a connecting block. In the working state, the linear cylinder can drive the baffle rod to move horizontally left and right, thereby limiting the movement of the refrigerator lower beam body from back to front.

7. The integrated device for automatically riveting the refrigerator lower beam body and reinforcing iron according to claim 1, characterized in that, The positioning mechanism includes a linear slide module, a support plate, a slide rail seat, and a two-way lead screw. The linear slide module is fixedly mounted on the side of the C-arm, and the left end of the support plate is fixedly connected to the slide rail seat of the linear slide module. The slide rail is fixed to the top of the tray. The inner side of the slide rail has two sliding blocks 2 arranged symmetrically on the left and right. Both sliding blocks 2 are laterally sliding with the slide rail. Each sliding block 2 has an inverted T-shaped limiting plate at its top. The two limiting plates are arranged symmetrically on the left and right. The bidirectional lead screw is transversely inserted into the inner side of the two sliding blocks and is threadedly engaged with the two sliding blocks respectively. The left end of the bidirectional lead screw is connected to the output end of the servo motor two located on the left side of the slide rail seat. The servo motor two drives the two limiting plates to move synchronously in opposite directions through the bidirectional lead screw.

8. The integrated device for automatically riveting the refrigerator lower beam body and reinforcing iron according to claim 1, characterized in that, The frame of the belt conveyor is fixedly connected to the base plate through the mounting frame. The positioning mechanism two includes a receiving plate, a fixed side plate, a limiting block and a double-rod cylinder two. The receiving plate is horizontally fixed on the mounting frame, and one side of it is arranged adjacent to one end of the belt of the belt conveyor. The fixed side plate is located on the left side of the receiving plate. The limiting block is fixed on the top of the receiving plate and located on the side opposite to the belt of the belt conveyor. The actuator end of the double-rod cylinder is equipped with a pusher plate, which is located on the upper surface of the receiving plate and is arranged opposite to the fixed side plate.

9. The integrated device for automatically riveting the refrigerator lower beam body and reinforcing iron according to claim 1, characterized in that, The dual-slide linear module has two servo motors, which independently drive the two slide seats of the dual-slide linear module to move horizontally back and forth. The vertical linear module is located to the right of the dual-slide linear module. The base of the vertical linear module is fixedly connected to the slide base of the dual-slide linear module. The bottom of the base of each of the horizontal linear modules is fixedly connected to the top of the slide base of the corresponding vertical linear module. The clamping assembly includes a gripper cylinder and two pins. The cylinder body of the gripper cylinder is fixed to the left end of the robotic arm. Both pins are arranged vertically, with their upper ends fixedly connected to the bottom of the two grippers of the gripper cylinder. The lower ends of the two pins can be simultaneously inserted into the insertion holes of the reinforcing iron and clamp the reinforcing iron located inside the second positioning mechanism.

Images