Feeding and servo cooperative positioning system and method for water expansion machining of air conditioner parts

Abstract

The invention relates to the field of air conditioner parts, and provides a feeding and servo cooperative positioning system and method for water swelling machining of air conditioner parts, and the feeding and servo cooperative positioning system comprises a water swelling machine, a feeding area, a grabbing device, a recognition device, a main control system, a machining device and a material distribution system; the feeding area comprises a vibration disc and a servo mechanism, materials are manually placed on the vibration disc, and the vibration disc is used for conveying the materials into a servo clamping groove in the servo mechanism. The grabbing device comprises a mechanical arm and a running track and is used for grabbing materials in the feeding area to the machining area of the water expansion machine for machining, and through the technical scheme, the number of workers is greatly reduced, the working time is greatly shortened, the cost is reduced, and the production efficiency is improved; touch screen control is accompanied, and a manual mode and an automatic mode are flexibly switched; waste is automatically treated, the number of finished products is intelligently recorded, and efficient operation is facilitated.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of air conditioner parts, in particular, to an air conditioner part water expansion processing feeding and servo cooperative positioning system and method. BACKGROUND

[0002] The current metal part water swelling forming processing field still mainly relies on manual operation, and has high risk of safety accidents and low efficiency. Although the existing automatic solution integrates a vibration disc and a collaborative robot, it still has the following defects: (1) Serious dependence on manual operation, which needs to intervene in workpiece handling, mold positioning and sorting, and the operation process is complicated and faces the risk of mechanical injury; (2) Insufficient feeding stability, the vibration disc has a jam rate of >5% due to the influence of appearance tolerance, resulting in production line interruption; (3) Poor protocol compatibility, heterogeneous devices need to customize a communication gateway (such as Modbus to EtherCAT), increasing the integration cost; (4) Weak safety protection, the water swelling machine processing area lacks an interlocking emergency stop mechanism; (6) Poor economy, large initial investment of the system, long investment recovery period for small and medium-sized manufacturers. The above defects seriously restrict the technical upgrading of the industry. SUMMARY

[0003] The present application provides an air conditioner part water expansion processing feeding and servo cooperative positioning system and method, which solves the problems raised in the background art.

[0004] The technical scheme of the present application is as follows: The present application provides an air conditioner part water expansion processing feeding and servo cooperative positioning system, which includes a water swelling machine, a feeding area, a grabbing device, an identification device, a main control system, a processing device, and a distribution system. The feeding area includes a vibration disc and a servo mechanism, the vibration disc is used to place materials by hand, and the vibration disc is used to convey the materials to the servo mechanism card slot on the servo mechanism; The grabbing device includes a mechanical arm and a running track, which is used to grab the materials in the feeding area to the water swelling machine processing area for processing; The identification device includes a high-definition camera and an intelligent analysis module, the high-definition camera is used to identify the materials, and the intelligent analysis module is used to collect image data of the materials and analyze them; The main control system is used to collect the working status of each module, and the main control system has several preset modes built-in, which is used to automatically adjust the vibration disc frequency according to different material characteristics; The processing device includes a water swelling forming module and a pressure adjusting assembly, the water swelling forming module is used to accurately shape the materials by water flow, and the pressure adjusting assembly is used to adjust the water flow pressure intensity and action time; The material distribution system is used to distinguish waste materials from finished materials.

[0005] Optionally, the vibrating disc is provided with a concave slide rail, the tail end of the concave slide rail is connected with a pushing mechanism, the pushing mechanism is provided with an air knife, the air knife is used to push the materials into the servo slot, the pushing mechanism is also provided with a metal material blocking plate, and the metal material blocking plate is used to prevent multiple materials from being pushed out at the same time.

[0006] Optionally, the servo mechanism is composed of a servo frame, a pushing mechanism and a servo machine, the servo machine is provided with a groove mechanism for storing products, the groove mechanism is provided with six clamping slots, and the mechanical arm is provided with six clamping jaws, and the six clamping positions correspond to the six clamping slots.

[0007] Optionally, the surface of the main control system is provided with a touch screen and four buttons, the buttons are used to control the start and stop of the work, and the touch screen is used to display the statistical material quantity.

[0008] Optionally, the water rising machine is provided with an air knife blowing device and a material distribution mechanism, and both sides are provided with metal blocking plates, which are used to improve the accuracy of blowing materials into the material collecting area.

[0009] Optionally, the mechanical arm is fixedly connected with a mechanical arm support at the bottom, the mechanical arm support is used to support the mechanical arm, the top of the mechanical arm is connected with a mechanical arm clamping jaw through a mechanical arm shaft, the mechanical arm shaft is used to control the rotation and position adjustment of the mechanical arm clamping jaw, and the mechanical arm clamping jaw is used to clamp the materials.

[0010] Optionally, the mechanical arm clamping jaw is provided with a mechanical arm clamping jaw material clamping workpiece and a mechanical arm clamping jaw material pressing workpiece, the mechanical arm clamping jaw material clamping workpiece is used to clamp the materials, and the mechanical arm clamping jaw material pressing workpiece is used to apply pressure to the materials, thereby improving the stability of the materials in the mechanical arm clamping jaw material clamping workpiece.

[0011] The method for positioning the air conditioner parts by water expansion processing and servo cooperation includes the following steps: S1: power on preparation, specifically including: S11, turn on the total control → press the power-on button of the control system → wait for power-on → start completion; S12, open the robot control system and MQTTX, click connection in MQTTX to connect, and the robot control system confirms → connection is successful; S13, get the order → MQTTX production order information → click send; S14, determine the available position of the mold → determine the water pressure alarm value → start production → start production; S2: vibrating disc mechanism debugging, specifically including: S21, amplitude adjustment: set the feeding frequency according to the workpiece size; S22, the card processing: press the emergency stop button, after the emergency stop, manually take out the card, reset the emergency stop, start the button to continue production; S3: servo positioning calibration, specifically comprising: S31, operation path: HMI→servo debugging→origin regression→point teaching; S32, execute servo zero, Z-axis automatically finds mechanical zero point; S4: full-automatic production starts, specifically comprising: S41, the preparation is completed→the system runs according to the following step logic; S42, PLC starts the vibration disc→workpiece is transported to the waiting grabbing position; S43, PLC sends a positioning instruction→servo moves to the material taking coordinate; S44, PLC sends a grabbing permission signal to the mechanical arm→the mechanical arm executes the preset grabbing program; S45, the mechanical arm completes feeding→PLC sends a processing trigger signal to the water swelling machine; S46, the water swelling machine completes processing→the finished product is blown down by the air knife, and the material distribution process is carried out→cycling to step S41.

[0012] The working principle and beneficial effects of the application are: In the application, the touch screen can be used to control its operation, and the start button, stop button and emergency stop switch in the water swelling machine can also be used for control, which is mainly used to increase workpiece processing efficiency, can realize rapid workpiece processing and reduce manual participation, and realizes full-automatic production of workpieces. The production line composition includes a vibration disc feeding mechanism, a servo, a control cabinet, a mechanical arm and a water swelling machine, which greatly reduces the number of manual workers and working time, reduces cost and improves production efficiency; accompanied by touch screen control, flexible switching between manual and automatic modes; automatically processing waste, intelligently recording the number of finished products, which is beneficial to efficient operation. BRIEF DESCRIPTION OF DRAWINGS

[0013] The above characteristics, technical features, advantages and implementation modes of the application will be further described in the following preferred embodiments in a clear and easy-to-understand manner, combined with the drawings.

[0014] Figure 1 It is an overall schematic view of the air conditioner part water swelling processing feeding and servo cooperative positioning system of the application; Figure 2 It is an overall top view of the air conditioner part water swelling processing feeding and servo cooperative positioning system of the application; Figure 3 It is a schematic view of the mechanical arm in the air conditioner part water swelling processing feeding and servo cooperative positioning system of the application; Figure 4This is a schematic diagram of the servo mechanism in the feeding and servo-coordinated positioning system for the hydro-expansion processing of air conditioning parts of the present invention; Figure 5 This is a schematic diagram of the robotic arm gripper in the feeding and servo-coordinated positioning system for the hydro-expansion processing of air conditioning parts of the present invention. Figure 6 This is a flowchart illustrating the feeding and servo-coordinated positioning method for the hydro-expansion processing of air conditioning components according to the present invention.

[0015] In the diagram: 1. Water expansion machine; 2. Vibratory feeder; 3. Robotic arm; 4. Servo mechanism; 41. Servo machine slot; 5. Robotic arm support; 6. Robotic arm gripper; 61. Material; 62. Robotic arm gripper holding the workpiece; 63. Robotic arm gripper pressing the workpiece; 7. Robotic arm shaft. Detailed Implementation

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0017] To keep the drawings concise, each drawing only schematically shows the parts relevant to the invention; these do not represent the actual structure of the product. Furthermore, for ease of understanding, in some drawings, only one of components with the same structure or function is schematically shown, or only one is labeled. In this document, "one" not only means "only one," but can also mean "more than one," and "several" includes "two" and "more than two."

[0018] In this document, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0019] Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0020] Example 1 Reference Figures 1-5The first embodiment of the present invention proposes a feeding and servo-coordinated positioning system for the hydro-expansion processing of air conditioning parts, including a feeding area, a gripping device, an identification device, a main control system, a processing device, and a material distribution system.

[0021] Specifically, it consists of: 2 vibratory feeders, 4 SV630N series servo mechanisms, 3 robotic arms, control cabinet, material distribution device, and 1 hydraulic expansion machine.

[0022] The gripping device is used to grip the material 61 in the feeding area and move the material 61 to the workstation in the processing area of ​​the water-lifting machine 1 for processing at a designated position.

[0023] The control cabinet, as the core of the main control system, is responsible for coordinating the operation of various devices, including the start and stop of the vibratory feeder 2, the positioning of the servo motor, the movement of the robotic arm 3, and the sorting operation of the material distribution device. The processing area of ​​the water expansion machine 1 is equipped with an identification device that can detect the presence of material 61 at the workstation in real time and feed the information back to the main control system to ensure the accuracy and continuity of the processing. The material distribution device, according to the instructions of the main control system, sorts the processed material 61 into finished products and waste products, thereby improving production efficiency and product quality. Through a highly automated design, the entire system achieves efficient, stable, and intelligent operation of the water expansion processing of air conditioning components.

[0024] The feeding area includes a vibratory feeder 2 and a servo mechanism 4. Material 61 is manually placed on the vibratory feeder 2 and then conveyed to the servo mechanism 4. The servo mechanism 4 consists of a servo frame, a push-out mechanism, and a servo motor. The vibratory feeder 2 is used to orderly convey the material 61 to the push-out mechanism and push it into the servo motor slot 41, ensuring that the material 61 is neatly arranged and oriented in the same direction. The servo motor, through precise positioning calibration, adjusts the material 61 to a suitable position for the robotic arm 3 to grasp. The gripping device includes a robotic arm 3 and a running track. The robotic arm 3 can move on the running track and can grip material 61. The robotic arm 3 has multiple bearings inside and a six-slot gripper and identification device on the top of the robotic arm 3. The robotic arm 3 can change its position and posture by adjusting the bearings. The robotic arm 3 can grip material 61 and adjust the posture of material 61 by adjusting the bearings. The identification device includes a high-definition camera and an intelligent analysis module. The high-definition camera can identify material 61; the intelligent analysis module can collect image data of material 61 in real time and use built-in algorithms to accurately analyze the position of material 61. The identification results will be transmitted to the control system in a synchronous manner to provide a reliable basis for the next operation. The main control system is responsible for the overall operation scheduling and parameter monitoring of the equipment. It collects the working status of each module in real time through sensors and feeds the data back to the human-machine interface. The system has multiple preset modes built-in and can automatically adjust the frequency of the vibratory feeder and the positioning accuracy of the servo motor according to the characteristics of different materials, ensuring the efficiency and stability of the production process. The processing device includes a water-expansion molding module and a pressure regulating component. The water-expansion molding module precisely shapes the material 61 using high-pressure water flow, while the pressure regulating component dynamically adjusts the water flow intensity and duration according to the specifications of the material 61 to ensure consistent processing quality. Simultaneously, the processing device is equipped with a cooling system, which effectively reduces heat accumulation during equipment operation and extends its service life.

[0025] The material sorting system can distinguish between waste materials and finished products.

[0026] The vibratory feeder 2 is equipped with a special concave slide rail, and the tail end is connected to the ejection mechanism. The ejection mechanism is equipped with an air knife, which can push the material into the servo machine slot 41. The ejection mechanism is equipped with a metal baffle to prevent multiple materials 61 from being ejected at the same time.

[0027] The servo motor is equipped with a groove mechanism for storing products, with a total of six slot positions. It adopts an Ethernet communication interface and also supports the EtherCAT communication protocol. The vibratory feeder 2 and the servo mechanism 4 are integrated into one unit. The six loading slots of the servo motor correspond to the six gripping positions of the robotic arm 3, which can be placed in the six workstations of the water expansion machine 1.

[0028] The robotic arm 3 is equipped with special grippers with six slots, which can be perfectly matched with the servo motor slot 41. The identification device works in conjunction with the robotic arm 3 to complete the gripping and placement of material 61.

[0029] The main control system features a touchscreen and four buttons. The buttons control the start and stop of the operation, while the touchscreen displays the statistical quantity of materials (61). Manual orders can also be placed through this device.

[0030] At the water-lifting machine 1, an air knife blowing device and a material distribution mechanism are installed, and metal baffles are provided on both sides to improve the accuracy of material being blown into the receiving area.

[0031] The bottom of the robotic arm 3 is fixedly connected to a robotic arm support 5, which supports the robotic arm 3. The top of the robotic arm 3 is connected to a robotic arm gripper 6 via a robotic arm shaft 7. The robotic arm shaft 7 is used to control the rotation and position adjustment of the robotic arm gripper 6, which is used to grip the material 61.

[0032] The robotic arm gripper 6 is equipped with a robotic arm gripper clamping workpiece 62 and a robotic arm gripper pressing workpiece 63. The robotic arm gripper clamping workpiece 62 is used to clamp the material 61, and the robotic arm gripper pressing workpiece 63 is used to apply pressure to the material 61, thereby improving the stability of the material 61 within the robotic arm gripper clamping workpiece 62.

[0033] Example 2 Reference Figure 6This embodiment proposes a feeding and servo-coordinated positioning method for the hydro-expansion processing of air conditioning components, including the following steps: S1: Power-on preparation, which includes: S11. Turn on the main control switch → Press the power button of the control system → Wait for power on → Start-up complete; S12. Open the robot control system and MQTTX. Click "connection" in MQTTX to connect. Confirm the connection in the robot control system. → Connection successful. S13, Get Order → MQTTX Production Order Information → Click Send; S14. Determine the usable location of the mold → Determine the water pressure alarm value → Start production → Begin production; S2: Vibratory feeder 2 mechanism debugging, specifically including: S21. Amplitude adjustment: Set the feeding frequency (range: Hz) according to the workpiece size. S22. Material jamming: Press the emergency stop button, manually remove the jammed material after the emergency stop is completed, reset the emergency stop, and press the start button to continue production.

[0034] S3: Servo positioning calibration, specifically including: S31. Operation path: HMI → Servo debugging → Origin return → Point teaching; S32, Execute servo homing (Z-axis automatically finds mechanical zero point).

[0035] S4: Fully automated production start-up, specifically including: S41. Power-on preparation complete → The system will run according to the following steps; S42, PLC starts vibratory feeder 2 → workpiece is conveyed to the gripping position; S43, PLC sends positioning command → servo motor moves to material picking coordinates; S44, PLC sends a gripping permission signal to robotic arm 3 → robotic arm 3 executes the preset gripping program; S45, Robotic arm 3 completes loading → PLC sends processing trigger signal to hydraulic expansion machine 1; S46, Water-lifting machine 1 completes processing → Air knife blows off the finished product and performs material sorting → Repeat to step S41.

[0036] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A feeding and servo-coordinated positioning system for hydroforming of air conditioning components, characterized in that, It includes a water-lifting machine (1), a feeding area, a gripping device, an identification device, a main control system, a processing device, and a material distribution system; The feeding area includes a vibratory feeder (2) and a servo mechanism (4). The vibratory feeder (2) is used to manually place materials (61) and to transfer materials (61) to the servo slot (41) on the servo mechanism (4). The gripping device includes a robotic arm (3) and a running track, used to grip the material (61) in the feeding area and transfer it to the processing area of ​​the water-lifting machine (1) for processing; The identification device includes a high-definition camera and an intelligent analysis module. The high-definition camera is used to identify the material (61), and the intelligent analysis module is used to collect and analyze the image data of the material (61). The main control system is used to collect the working status of each module, and the main control system has several preset modes built in, which are used to automatically adjust the frequency of the vibratory feeder (2) according to the characteristics of different materials (61). The processing device includes a water-expansion molding module and a pressure regulating component. The water-expansion molding module is used to precisely shape the material (61) by water flow, and the pressure regulating component is used to adjust the water flow pressure intensity and action time. The material sorting system is used to distinguish between waste materials and finished products.

2. The feeding and servo-coordinated positioning system for hydroforming of air conditioning components according to claim 1, characterized in that, The vibratory plate (2) is provided with a concave slide rail. The end of the concave slide rail is connected to the ejection mechanism. The ejection mechanism is provided with an air knife. The air knife is used to push the material (61) into the servo machine slot (41). The ejection mechanism is also provided with a metal baffle plate. The metal baffle plate is used to prevent multiple materials (61) from being ejected at the same time.

3. The feeding and servo-coordinated positioning system for hydroforming of air conditioning components according to claim 2, characterized in that, The servo mechanism (4) consists of a servo frame, an ejection mechanism and a servo machine. The servo machine is provided with a groove mechanism for storing products. The groove mechanism has a total of six slots. The robotic arm (3) is provided with six grippers. The six grippers correspond to the six slots.

4. The feeding and servo-coordinated positioning system for hydroforming of air conditioning components according to claim 3, characterized in that, The main control system is equipped with a touch screen and four buttons on its surface. The buttons are used to control the start and stop of the operation, and the touch screen is used to display the statistical quantity of materials (61).

5. The feeding and servo-coordinated positioning system for hydroforming of air conditioning components according to claim 4, characterized in that, The water-lifting machine (1) is equipped with an air knife blowing device and a material distribution mechanism, and metal baffles are provided on both sides. The metal baffles are used to improve the accuracy of the material (61) being blown into the receiving area.

6. The feeding and servo-coordinated positioning system for hydroforming of air conditioning components according to claim 5, characterized in that, The bottom of the robotic arm (3) is fixedly connected to a robotic arm support (5), which is used to support the robotic arm (3). The top of the robotic arm (3) is connected to a robotic arm gripper (6) via a robotic arm shaft (7). The robotic arm shaft (7) is used to control the rotation and position adjustment of the robotic arm gripper (6), and the robotic arm gripper (6) is used to clamp the material (61).

7. The feeding and servo-coordinated positioning system for hydroforming of air conditioning components according to claim 6, characterized in that, The robotic arm gripper (6) is provided with a robotic arm gripper material clamping workpiece (62) and a robotic arm gripper pressure workpiece (63). The robotic arm gripper material clamping workpiece (62) is used to clamp the material (61), and the robotic arm gripper pressure workpiece (63) is used to apply pressure to the material (61) to improve the stability of the material (61) in the robotic arm gripper material clamping workpiece (62).

8. A feeding and servo-coordinated positioning method for hydroforming of air conditioning components, employing the feeding and servo-coordinated positioning system for hydroforming of air conditioning components as described in claim 7, characterized in that... Includes the following steps: S1: Power-on preparation, which includes: S11. Turn on the main control switch → Press the power button of the control system → Wait for power on → Start-up complete; S12. Open the robot control system and MQTTX. Click "connection" in MQTTX to connect. Confirm the connection in the robot control system. → Connection successful. S13, Get Order → MQTTX Production Order Information → Click Send; S14. Determine the usable location of the mold → Determine the water pressure alarm value → Start production → Begin production; S2: Vibratory feeder (2) mechanism adjustment, specifically including: S21. Amplitude adjustment: Set the feeding frequency according to the workpiece size; S22. Material jamming: Press the emergency stop button, manually remove the jammed material after the emergency stop is completed, reset the emergency stop, and press the start button to continue production; S3: Servo positioning calibration, specifically including: S31. Operation path: HMI → Servo debugging → Origin return → Point teaching; S32, Execute servo homing, Z-axis automatically finds mechanical zero point; S4: Fully automated production start-up, specifically including: S41. Power-on preparation complete → The system will run according to the following steps; S42, PLC starts vibratory feeder (2) → workpiece is conveyed to the position to be gripped; S43, PLC sends positioning command → servo motor moves to material picking coordinates; S44, PLC sends a gripping permission signal to robotic arm (3) → robotic arm (3) executes the preset gripping program; S45, The robotic arm (3) completes the loading → PLC sends a processing trigger signal to the water-lifting machine (1); S46, Water-blowing machine (1) completes processing → air knife blows off the finished product and performs material sorting → cycle to step S41.

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