Turnover table of automatic feeding equipment for air conditioner condenser

Abstract

The utility model discloses a roll-over table of automatic feeding equipment of an air conditioner condenser, which comprises a rack, a horizontal roll-over stand is rotatably arranged on the rack, the horizontal roll-over stand is provided with a slot for downward insertion of the condenser, the rack is provided with a servo motor assembly, and the servo motor assembly drives the horizontal roll-over stand to rotate. The bottom of the slot is correspondingly provided with a reflective photoelectric switch for sensing the condenser, and one side of the slot is correspondingly provided with an identification camera for shooting the condenser; the device further comprises a control system, the control system comprises a visual identification module, the visual identification module is electrically connected with the identification camera, the control system is electrically connected with the reflective optoelectronic switch, and the control system is in control connection with the servo motor assembly. The turnover table is beneficial to safety production and improvement of production efficiency.

Description

Technical Field

[0001] The utility model relates to the field of auxiliary equipment for the production of condensers, and particularly relates to a turning table of an automatic feeding device for an air conditioner condenser. Background Art

[0002] At present, in the production process of an air conditioner condenser, it is necessary to carry out online processing on the condensers (semi-finished products) stacked horizontally on a tooling cart, that is, to place the condensers vertically on a chain conveyor line, and the chain conveyor line can convey and transfer the condensers to subsequent processes; however, since the condensers are stacked on the tooling cart by hand, it is inevitable that the condensers will be turned upside down. Therefore, a six-axis robotic arm combines with a fixture to pick up the condensers and place them on the chain conveyor line. Because the condensers are reversed, subsequent processes will go wrong. Currently, a camera is set on the above fixture. Before clamping the condensers, the camera takes a downward photo of the condensers. Since a stepped structure is formed at one end of the condensers, the camera combines with a visual recognition system to reliably determine whether the condensers are turned upside down. If the condensers are turned upside down, an alarm will be issued and the six-axis robotic arm will be paused. Workers will turn the condensers at the highest position upside down and then let the six-axis robotic arm resume work; however, the above operations not only result in high labor intensity, but also cause potential safety hazards when workers enter the moving range of the six-axis robotic arm. Sometimes, workers do not notice the alarm in time, which also leads to obvious stagnation in production. Summary of the Invention

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide a turning table of an automatic feeding device for an air conditioner condenser, which is beneficial to safe production and improving production efficiency.

[0004] The purpose of the utility model is realized by the following technical solutions.

[0005] The disclosed turning table of the automatic feeding device for an air conditioner condenser of the utility model includes a frame, a horizontal turning frame is rotatably arranged on the frame, the horizontal turning frame is provided with a slot for the condenser to be inserted downward, the frame is equipped with a servo motor assembly, the servo motor assembly drives the horizontal turning frame to rotate, a reflective photoelectric switch for sensing the condenser is correspondingly arranged at the bottom of the slot, and an identification camera for photographing the condenser is correspondingly arranged at one side of the slot; it further includes a control system, the control system includes a visual recognition module, the visual recognition module is electrically connected to the identification camera, the control system is electrically connected to the reflective photoelectric switch, and the control system is controllably connected to the servo motor assembly.

[0006] Preferably, a side-leaning positioning plate is provided inside the slot; a side-pushing mechanism is further included, the side-pushing mechanism includes a side-pushing cylinder and a side-pushing plate for pushing the condenser against the side-leaning positioning plate, the side-pushing cylinder is drivingly connected to the side-pushing plate, the control system is controllably connected to the side-pushing cylinder, and the side-leaning positioning plate is arranged on the same side as the recognition camera.

[0007] Preferably, a stroke detection plate is provided at the lower part of the horizontal turning frame, two tangential proximity switches for limiting the rotation stroke of the horizontal turning frame are provided on the bench, the stroke detection plate can correspondingly trigger the tangential proximity switches, and the control system is electrically connected to the tangential proximity switches.

[0008] Preferably, a radial proximity switch for detecting the radially outer end of the stroke detection plate at the end of the flipping stroke is provided on the bench, and the control system is electrically connected to the radial proximity switch.

[0009] Preferably, the bench is connected to the bottom of the horizontal turning frame through an external gear slewing bearing, a driving gear is installed on the output rotating shaft of the servo motor assembly, and the driving gear is meshingly connected to the external gear slewing bearing.

[0010] Compared with the prior art, the beneficial effects of the present utility model are as follows: By arranging a horizontal turning frame rotatably on the bench, the horizontal turning frame is provided with a slot for the condenser to be inserted downward, the bench is equipped with a servo motor assembly, the servo motor assembly drives the horizontal turning frame to rotate, a reflective photoelectric switch for sensing the condenser is correspondingly provided at the bottom of the slot, an identification camera for photographing the condenser is correspondingly provided on one side of the slot, the visual recognition module is electrically connected to the identification camera, the control system is electrically connected to the reflective photoelectric switch, and the control system is controllably connected to the servo motor assembly. Therefore, the flipping table of the present utility model can be used to replace manual operation to flip the condenser that is turned upside down, which is beneficial to safe production and improving production efficiency. Description of the Drawings

[0011] Figure 1 It is a front three-dimensional structural schematic diagram of the flipping table of the present utility model.

[0012] Figure 2 It is a back three-dimensional structural schematic diagram of the flipping table of the present utility model.

[0013] Figure 3 It is a left-view sectional structural schematic diagram of the flipping table of the present utility model.

[0014] Figure 4 It is a top-view structural schematic diagram of the flipping table of the present utility model.

[0015] Figure 5Schematic three - dimensional structure of the automatic loading equipment for air - conditioner condensers with the turntable of the present utility model.

[0016] Figure 6 Schematic working state of the fixture clamping the stacked condensers.

[0017] Figure 7 Schematic working state of the six - axis robotic arm transferring the condenser to the turntable of the present utility model.

[0018] Figure 8 Schematic working state of the six - axis robotic arm transferring the condenser to the chain conveyor.

[0019] Label description: Bench frame 1; Servo - motor assembly 11; Driving gear 111; Horizontal turning frame 2; Slot 201; Stroke detection plate 21; Side - leaning positioning plate 22; Side - pushing mechanism 3; Side - pushing plate 31; Guide rod 3101; Side - pushing cylinder 32; Identification camera 4; Tangential proximity switch 5; External - gear slewing bearing 6; Reflective photoelectric switch 7; Radial proximity switch 8; Condenser 99; Step position 991; Fixture 98; Claw 981; Fixture camera 982; Chain conveyor 97; Six - axis robotic arm 96. Detailed implementation mode

[0020] The following further describes the present utility model with reference to the accompanying drawings.

[0021] The turntable of the automatic loading equipment for air - conditioner condensers of the present utility model, as Figures 1 to 3 shown, includes a bench frame 1. The bench frame 1 includes a bench board and a cuboid - shaped frame, and the bench board is fixedly covered on the top of the cuboid - shaped frame; A horizontal turning frame 2 is rotatably arranged on the bench frame 1, that is to say, the horizontal turning frame 2 is rotatably arranged around an axis perpendicular to the horizontal plane, and the horizontal turning frame 2 is located above the bench board. As Figure 1 and Figure 3 shown, the horizontal turning frame 2 is provided with a slot 201 for the condenser 99 to be inserted downward. In other words, the horizontal turning frame 2 has a trough - shell - like structure; As Figure 1 shown, the bench frame 1 is equipped with a servo - motor assembly 11, and the servo - motor assembly 11 drives the horizontal turning frame 2 to rotate. As Figure 3 and Figure 4 shown, a reflective photoelectric switch 7 for sensing the condenser 99 is correspondingly arranged at the bottom of the slot 201. Specifically, the bottom of the slot 201 is provided with a notch structure, so that the light emitted by the reflective photoelectric switch 7 can pass through the notch structure and irradiate the lower end of the condenser 99. As Figure 1 and Figure 3As shown, on one side (specifically, the "front side") of the slot 201, an identification camera 4 for photographing the condenser 99 is correspondingly provided. An opening structure is formed on one side of the above-mentioned slot 201, and the identification camera 4 is arranged on the front side of the above-mentioned opening structure, so that the identification camera 4 can photograph the front of the condenser 99 backward. The turntable of the automatic feeding device for the air conditioner condenser of the present utility model further includes a control system, and the control system includes a visual recognition module. The visual recognition module is a prior art. For example, reference can be made to the Chinese invention patent publication number CN109389341B "A machine vision recognition system for unmanned vending convenience stores", the Chinese invention patent publication number CN114066848B "A visual detection system for FPCA appearance defects", and the Chinese invention patent publication number CN113189004B "An on-line visual recognition detection device"; the visual recognition module is electrically connected to the identification camera 4, the control system is electrically connected to the reflective photoelectric switch 7, and the control system is controllably connected to the servo motor assembly 11.

[0022] The working principle of the turntable of the present utility model is briefly described as follows: As Figure 5 and Figure 7 shown, the tooling cart, the six-axis robotic arm 96, the turntable and the chain conveyor 97 are reasonably arranged in the factory building. The fixture 98 is installed at the end of the six-axis robotic arm 96. As Figure 5 shown (it should be noted that Figure 5 and Figure 8 the six-axis robotic arm 96 is not drawn), the condensers 99 are horizontally stacked on the tooling cart. The six-axis robotic arm 96 transfers the fixture 98 above the stack of condensers 99. As Figure 6 shown, the fixture 98 is provided with two jaws 981, and two fixture cameras 982 are arranged on one side of the fixture 98. The fixture cameras 982 first photograph the uppermost condenser 99. The shooting data of the fixture cameras 982 is analyzed through visual recognition to determine whether the uppermost condenser 99 is turned upside down (as Figure 5 and Figure 7 shown, the step position 991 of the condenser 99 can be used as a judgment reference, that is to say, there are appearance differences between the upper and lower surfaces of the condenser 99). If there is no inversion, as Figure 8 shown, the six-axis robotic arm 96 combines with the fixture 98 to directly clamp and transfer the uppermost condenser 99 to the chain conveyor 97; if the condenser 99 is turned upside down, as Figure 6 shown, the six-axis robotic arm 96 combines with the fixture 98 to clamp and transfer the uppermost condenser 99 to the turntable of the present utility model. Specifically, as Figure 3As shown, the six-axis robotic arm 96 converts the condenser 99 into an upright form and then lowers the condenser 99 into the slot 201. The bottom of the slot 201 supports the lower end of the condenser 99. The lower end of the condenser 99 triggers the reflective photoelectric switch 7, and the fixture 98 releases the condenser 99. At the same time, the control system controls the recognition camera 4 to capture one side of the condenser 99 (this "one side" is the bottom of the condenser 99 when on the tooling cart) according to the on-signal of the reflective photoelectric switch 7. The captured data of the recognition camera 4 is transmitted to the above-mentioned visual recognition module. For example, if the above-mentioned step position 991 is not captured, the above-mentioned visual recognition module determines that the condenser 99 is reversed. That is to say, the recognition camera 4 is used to make a secondary confirmation of the up-and-down reversal situation of the condenser 99 to avoid errors. Light sources for illuminating the condenser 99 can be respectively arranged on the left and right sides of the recognition camera 4. If the condenser 99 is confirmed to be up-and-down reversed after secondary confirmation, the control system controls the servo motor assembly 11 to drive the horizontal flipping frame 2 to rotate 180° around the axis perpendicular to the horizontal plane according to the signal of the above-mentioned visual recognition module, so that the condenser 99 is horizontally flipped 180°. The two jaws 981 of the fixture 98 then move closer to each other in the horizontal plane to clamp the horizontally flipped condenser 99. At this time, the original side of the condenser 99 facing the fixture 98 is changed to the side facing away from the fixture 98, as Figure 8 shown. After that, the six-axis robotic arm 96 places the condenser 99 with the correct orientation restored on the chain conveyor 97. During this period, the servo motor assembly 11 drives the horizontal flipping frame 2 to rotate 180° to reset. As can be seen from the above, by setting the flipping table of the present invention, the condenser 99 that is up-and-down reversed can be automatically flipped through the flipping table of the present invention, thus avoiding the need for workers to enter the movement range of the six-axis robotic arm 96 and the fixture 98, which is beneficial to safe production. By flipping the condenser 99 through the flipping table, it is beneficial to reduce the labor intensity of workers, improve work efficiency, and avoid the situation where workers do not timely discover that the condenser 99 is up-and-down reversed, thereby being beneficial to improving production efficiency.

[0023] Furthermore, as Figure 2 shown, a side-leaning positioning plate 22 is provided inside the slot 201. The side-leaning positioning plate 22 can be made of nylon plate, as Figure 2As shown in the figure, the turntable of the present utility model further includes a side-pushing mechanism 3. The side-pushing mechanism 3 includes a side-pushing cylinder 32 and a side-pushing plate 31 for pushing and attaching the condenser 99 against the side-leaning positioning plate 22. The side-pushing cylinder 32 is drivingly connected to the side-pushing plate 31. Specifically, a number of guide rods 3101 are installed at the rear side of the side-pushing plate 31, and a number of linear bearings are installed at the rear part of the horizontal turning frame 2. The guide rods 3101 are adaptively connected to the corresponding linear bearings described above, so that the side-pushing plate 31 can move back and forth with high rigidity. The side-pushing cylinder 32 is installed at the rear part of the horizontal turning frame 2, and the piston rod of the side-pushing cylinder 32 is installed and connected to the side-pushing plate 31; the control system is control-connected to the side-pushing cylinder 32; as Figure 2 and Figure 3 shown, the side-leaning positioning plate 22 is arranged on the same side as the recognition camera 4. In other words, the side-pushing plate 31 is arranged on the opposite side of the side-leaning positioning plate 22. As Figure 3 shown, when the six-axis robotic arm 96 places the condenser 99 into the slot 201, the lower end of the condenser 99 triggers the reflective photoelectric switch 7. The control system correspondingly controls the side-pushing cylinder 32 to push the side-pushing plate 31 towards the condenser 99 according to the on-signal of the reflective photoelectric switch 7. The side-pushing plate 31 contacts the rear of the condenser 99 and pushes the condenser 99 forward against the side-leaning positioning plate 22. Then the recognition camera 4 takes a picture of the condenser 99, and the control system then controls the servo motor assembly 11 to drive the horizontal turning frame 2 to rotate. The fixture 98 clamps the condenser 99, and then the control system controls the side-pushing cylinder 32 to drive the side-pushing plate 31 to move backward and reset away from the condenser 99; by setting the side-leaning positioning plate 22 to position the condenser 99 and the side-leaning positioning plate 22 being arranged on the same side as the recognition camera 4, on the one hand, the distance between the recognition camera 4 and the condenser 99 is the same every time a picture is taken, which is beneficial to obtaining accurate shooting data and beneficial to the accurate judgment of the above-mentioned vision recognition module. On the other hand, when the fixture 98 clamps the condenser 99, the relative position between the condenser 99 and the fixture 98 is accurate, which is beneficial to the condenser 99 being accurately transferred to the chain plate line 97. Since the side-pushing mechanism 3 is provided, as Figure 3 shown, the slot 201 can be set to have a larger width in the front-back direction, so that the condenser 99 can be easily inserted into the slot 201. Then the side-pushing plate 31 clamps the condenser 99 behind the side-leaning positioning plate 22 (equivalent to the slot 201 being narrowed), and the condenser 99 can be accurately positioned.

[0024] Further, as Figure 1 and Figure 2As shown, a travel detection plate 21 is provided at the lower part of the horizontal flipping frame 2. The travel detection plate 21 specifically protrudes horizontally from the horizontal flipping frame 2. There are two tangential proximity switches 5 on the bench 1 for limiting the rotation travel of the horizontal flipping frame 2. The travel detection plate 21 can correspondingly trigger the tangential proximity switches 5. The control system is electrically connected to the tangential proximity switches 5. In other words, the tangential proximity switches 5 are used to limit the rotation travel of the horizontal flipping frame 2 to 180°, so that the condenser 99 just rotates 180°. As Figure 2 shown, the travel detection plate 21 is located at a position where it can just trigger one of the tangential proximity switches 5 on the left. As Figure 4 shown, the servo motor assembly 11 drives the horizontal flipping frame 2 to rotate clockwise, causing the travel detection plate 21 to leave one of the tangential proximity switches 5 on the left. When the horizontal flipping frame 2 rotates 180°, the travel detection plate 21 just triggers one of the tangential proximity switches 5 at the right position. And the control system controls the rotation travel of the horizontal flipping frame 2 through a program. The setting of the tangential proximity switches 5 serves as an insurance. That is to say, when the travel detection plate 21 triggers the tangential proximity switches 5, the control system determines that the horizontal flipping frame 2 has rotated to the travel limit position according to the signals of the corresponding tangential proximity switches 5, and the control system makes the horizontal flipping frame 2 stop rotating, thus avoiding the cumulative error of the servo motor assembly 11 causing the horizontal flipping frame 2 to rotate beyond the set travel range. As Figure 4 shown, the "tangential" in the tangential proximity switches 5 means that when the tangential proximity switches 5 are triggered by the travel detection plate 21, the detection end face of the tangential proximity switches 5 is approximately perpendicular to the rotation tangent of the horizontal flipping frame 2.

[0025] Furthermore, as Figure 4 shown, a radial proximity switch 8 for detecting the outer radial end of the travel detection plate 21 at the end of the flipping travel (of the travel detection plate 21) is provided on the bench 1. The control system is electrically connected to the radial proximity switch 8. The "radial" in the radial proximity switch 8 means that when the radial proximity switch 8 is triggered by the travel detection plate 21, the detection end face of the radial proximity switch 8 is approximately perpendicular to the rotation radius direction of the horizontal flipping frame 2. As Figure 4As shown, the horizontal flipping frame 2 rotates clockwise at a relatively high speed. When the outer end of the stroke detection plate 21 sweeps past the radial proximity switch 8, the radial proximity switch 8 is triggered by the outer end of the stroke detection plate 21. The control system then correspondingly controls the servo motor assembly 11 to significantly decelerate according to the signal of the radial proximity switch 8. Shortly afterwards, the servo motor assembly 11 rotates the stroke detection plate 21 to the tangential proximity switch 5 at the trigger right position according to the program. Since the horizontal flipping frame 2 has significantly decelerated, it is further possible to avoid the horizontal flipping frame 2 exceeding the stroke limit position, that is, it is beneficial to accurately horizontally flip the condenser 99. After the six-axis robotic arm 96 removes the condenser 99 in the slot 201, the control system controls the servo motor assembly 11 to drive the horizontal flipping frame 2 to rotate back 180° at a slower speed. Since the reset speed of the horizontal flipping frame 2 basically does not affect the production efficiency, the slow reset of the horizontal flipping frame 2 is beneficial to accurately reset the horizontal flipping frame 2.

[0026] Furthermore, as Figure 1 and Figure 3 shown, the bench 1 is connected to the bottom of the horizontal flipping frame 2 through an external gear slewing bearing 6. The external gear slewing bearing 6 belongs to the prior art. For example, reference can be made to the "External Gear Slewing Bearing" with the Chinese utility model patent publication number CN201448360U. Specifically, the inner ring of the external gear slewing bearing 6 is installed on the table board of the bench 1 through corresponding screws, and the outer ring of the external gear slewing bearing 6 is installed on the bottom of the horizontal flipping frame 2 through corresponding screws. A driving gear 111 is installed on the output rotating shaft of the servo motor assembly 11, and the driving gear 111 is meshed and connected with the external gear slewing bearing 6. Specifically, the output rotating shaft of the servo motor assembly 11 is erected, the servo motor assembly 11 is located below the above-mentioned table board, and the above-mentioned table board is formed with an avoidance hole. The output rotating shaft of the servo motor assembly 11 passes upward through the above-mentioned avoidance hole, and the driving gear 111 is installed on the upper end of the output rotating shaft of the servo motor assembly 11 through a flat key, so that the driving gear 111 can be located above the above-mentioned table board. Specifically, the driving gear 111 is meshed with the tooth shape on the outer ring of the external gear slewing bearing 6. Thus, when the output rotating shaft of the servo motor assembly 11 rotates, the driving gear 111 rotates synchronously, and the driving gear 111 drives the outer ring of the external gear slewing bearing 6 and the horizontal flipping frame 2 to rotate reversely and synchronously; by setting the external gear slewing bearing 6, the transmission structure and the rotating support structure are combined together, thereby simplifying the structure of the flipping table and facilitating the manufacture of the flipping table.

Claims

1. The tipping table of an automatic loading device for an air conditioner condenser, characterized in that: It includes a bench (1), on which a horizontal flipping frame (2) is rotatably provided. The horizontal flipping frame (2) is provided with a slot (201) for the condenser (99) to be inserted downward. The bench (1) is equipped with a servo motor assembly (11), and the servo motor assembly (11) drives the horizontal flipping frame (2) to rotate. A reflective photoelectric switch (7) for sensing the condenser (99) is correspondingly provided at the bottom of the slot (201), and an identification camera (4) for photographing the condenser (99) is correspondingly provided at one side of the slot (201); it further includes a control system, the control system includes a visual recognition module, the visual recognition module is electrically connected to the identification camera (4), the control system is electrically connected to the reflective photoelectric switch (7), and the control system is control-connected to the servo motor assembly (11).

2. The tipping table of the automatic loading equipment for the air conditioner condenser according to claim 1, characterized in that: A side-leaning positioning plate (22) is provided inside the slot (201); it further includes a side-pushing mechanism (3), the side-pushing mechanism (3) includes a side-pushing cylinder (32) and a side-pushing plate (31) for pushing the condenser (99) against the side-leaning positioning plate (22), the side-pushing cylinder (32) is drivingly connected to the side-pushing plate (31), the control system is control-connected to the side-pushing cylinder (32), and the side-leaning positioning plate (22) is arranged on the same side as the identification camera (4).

3. The tilting table of the automatic loading device for the air conditioner condenser according to claim 1 or 2, characterized in that: A travel detection plate (21) is provided at the lower part of the horizontal flipping frame (2), and two tangential proximity switches (5) for restricting the rotation travel of the horizontal flipping frame (2) are provided on the bench (1). The travel detection plate (21) can correspondingly trigger the tangential proximity switches (5), and the control system is electrically connected to the tangential proximity switches (5).

4. The tilting table of the automatic loading device for the air conditioner condenser according to claim 3, wherein: A radial proximity switch (8) for detecting the radial outer end of the travel detection plate (21) at the end of the flipping travel is provided on the bench (1), and the control system is electrically connected to the radial proximity switch (8).

5. The tilting table of the automatic loading device for the air conditioner condenser according to claim 1 or 2, characterized in that: The bench (1) is connected to the bottom of the horizontal flipping frame (2) through an external gear slewing bearing (6). A driving gear (111) is installed on the output rotating shaft of the servo motor assembly (11), and the driving gear (111) is meshed and connected to the external gear slewing bearing (6).

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