Robot automatic flexible stamping line for metal shells of electric rice cookers

Abstract

The utility model relates to the technical field of robot automatic production lines, and discloses an electric cooker metal shell robot automatic flexible stamping line. Comprising a feeding conveying line, a positioning conveying line, a first robot, a transplanting unit, a visual recognition device, a second robot, a punching machine, a forming conveying line, a third robot, a curling machine, a curling discharging machine and a discharging conveying line. Accurate grabbing and discharging are achieved through the robot, the repeated discharging precision of products can be guaranteed, the problem that during manual operation, due to the fact that the products are not placed in place, mold pressing is easily generated, and a mold and the products are damaged is solved, and the product percent of pass is increased. The positioning conveying line and the transplanting unit are matched to adjust the position of the workpiece, the adjustment and operation time of the robot can be shortened, the multiple rotating platforms, the second robot and the punching machine are designed, the punching machining efficiency is improved, and the overall efficiency of the assembly line is improved; the problem that the overall efficiency of assembly line production is not high due to low punching efficiency in assembly line machining is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot automated production lines, in particular to a robot automated flexible stamping line for metal shells of electric rice cookers. Background Art

[0002] In recent years, the global economy has formed a system. Starting from the US subprime mortgage crisis, the global economy has fallen into a trough. Under the influence of this, my country's economic situation is facing severe tests: domestic economic growth has slowed down and continued to be sluggish.

[0003] To reverse this unfavorable situation, enterprises have implemented in-depth reforms across all aspects of their operations, including strengthening internal management, advancing science and technology, tapping into the potential of human resources, and transforming traditional systems. Consequently, reducing staff and increasing efficiency, as a reform measure to enhance enterprise vitality and improve profitability, has been adopted and accepted by state-owned enterprise managers in the current situation. This has also become a prerequisite for deepening human resources system reform and improving labor efficiency.

[0004] This is also true for the rice cooker manufacturing industry. To improve production efficiency, workers in the metal casing stamping process must maintain long, intense concentration and quickly align the notch of the product to be stamped with the die positioning points. This process, involving reaching into the hydraulic press, presents a safety hazard. This not only increases costs for the company but also causes significant fatigue and potentially life-threatening consequences for the workers. Utility Model Content

[0005] In response to the above-mentioned drawbacks, the purpose of this utility model is to propose a robot-automated flexible stamping line for the metal shell of an electric rice cooker, to carry out non-standard automation transformation of this process, to achieve automated production, and to achieve a win-win situation for both the company and its employees. To achieve this goal, this utility model adopts the following technical solutions:

[0006] A robotic automated flexible stamping line for metal shells of rice cookers, comprising a loading conveyor line, a positioning conveyor line, a first robot, a transplanting unit, a visual recognition device, a second robot, a stamping machine, a forming conveyor line, a third robot, a crimping machine, a crimping blanking machine, and a blanking conveyor line;

[0007] The output end of the loading conveyor line is connected to the input end of the positioning conveyor line, and the positioning conveyor line is provided with a first positioning device; the transferring unit is arranged on the side of the positioning conveyor line close to the punching machine, and the transferring unit includes a mounting frame and a rotating platform, and the visual recognition device is installed on the mounting frame, and the mounting frame is provided with at least two transferring stations, each of the transferring stations is respectively equipped with the rotating platform and the visual recognition device, the rotating platform is used to place and rotate the workpiece, and the visual recognition device is used to identify whether the workpiece on the transferring station needs to be rotated; the first robot is used to transfer the workpiece on the positioning conveyor line to any of the transferring stations; the second robot is used to transfer the workpiece on the transferring station to the punching machine, and the second robot is also used to transfer the workpiece after stamping to the forming conveyor line; there are at least two punching machines and the second robot; the third robot is used to transfer the workpiece on the forming conveyor line to the curling machine, and the curling unloading machine is used to transfer the workpiece in the curling machine to the unloading conveyor line.

[0008] Preferably, the rotating platform includes a rotating base plate, a rotating positioning fixture and a rotating driver; the rotating driver is installed on the transplanting unit, the output end of the rotating driver is provided with the rotating base plate, the rotating driver is used to drive the rotating base plate to rotate, the rotating base plate is used to carry the workpiece, the rotating base plate is installed with the rotating positioning fixture, and the rotating positioning fixture is used to clamp and position the workpiece.

[0009] Preferably, the rotary positioning fixture includes a positioning block, a first push plate, a second push plate assembly and a bidirectional linear drive; the positioning block and the bidirectional linear drive are respectively installed on the rotating base plate, one driving end of the bidirectional linear drive is installed with the first push plate, and the other driving end of the bidirectional linear drive is installed with the second push plate assembly, a local clamping area is formed between the positioning block and the first push plate, and an inner diameter limiting area of ​​the shell is formed between the second push plate assembly and the positioning block, the bidirectional linear drive is used to drive the first push plate to move away from or close to the positioning block, and the bidirectional linear drive is also used to drive the second push plate assembly to move close to or away from the positioning block.

[0010] Preferably, the first positioning device is provided with a limit baffle and a limit clamp, the limit baffle is perpendicular to the conveying direction of the positioning conveyor line, the limit baffle is used to limit the movement of the workpiece along the conveying direction of the positioning conveyor line, and the limit clamp is used to adjust the position of the workpiece so that the workpiece is centered in the width direction of the positioning conveyor line.

[0011] Preferably, the first robot includes a transplanting auxiliary fixture, the transplanting auxiliary fixture is connected to the end output part of the first robot, and the transplanting auxiliary fixture is used to clamp the workpiece;

[0012] The transplanting auxiliary fixture includes a first clamping plate, a second clamping plate, a third clamping plate, a first direction driver and a second direction driver, the first clamping plate and the second clamping plate are arranged in parallel with each other, and a first workpiece peripheral clamping area is formed between the first clamping plate and the second clamping plate, and the first workpiece peripheral clamping area is used to accommodate the entire workpiece; the third clamping plate is arranged on the clamp mounting plate and is perpendicular to the first clamping plate and the second clamping plate; the first direction driver is used to drive the first clamping plate and the second clamping plate to move away from or close to each other, and the output end of the second direction driver is provided with a fourth clamping plate, and the second direction driver is used to drive the fourth clamping plate to move away from or close to the third clamping plate; a first workpiece local accommodating area is formed between the fourth clamping plate and the third clamping plate; the driving directions of the first direction driver and the second direction driver are perpendicular to each other.

[0013] Preferably, the second robot includes a fixture mounting plate, an insertion fixture assembly and a removal fixture assembly, the fixture mounting plate is connected to the end output part of the second robot, the insertion fixture assembly and the removal fixture assembly are respectively arranged at both ends of the fixture mounting plate; the insertion fixture assembly is used to clamp the unstamped workpiece and to prevent the unstamped workpiece from being deformed during the transfer process; the removal fixture assembly is used to clamp the workpiece after stamping.

[0014] Preferably, the placing fixture assembly includes a fifth clamping plate, a sixth clamping plate, a seventh clamping plate, a third directional driver and a fourth directional driver, the fifth clamping plate and the sixth clamping plate are arranged relatively parallel to the clamp mounting plate, a workpiece peripheral clamping area is formed between the fifth clamping plate and the sixth clamping plate, and the workpiece peripheral clamping area is used to accommodate the entire workpiece; the seventh clamping plate is arranged on the clamp mounting plate and is perpendicular to the fifth clamping plate and the sixth clamping plate; the third directional driver is used to drive the fifth clamping plate and the sixth clamping plate to move away from or towards each other, the output end of the fourth directional driver is provided with an eighth clamping plate, and the fourth directional driver drives the eighth clamping plate to move away from or close to the seventh clamping plate; a workpiece local accommodating area is formed between the eighth clamping plate and the seventh clamping plate; the driving directions of the third directional driver and the fourth directional driver are perpendicular to each other;

[0015] The fifth and sixth clamping plates are respectively provided with a first elastic member, a first suction cup is provided at the end of the first elastic member, a first through hole is provided on the first suction cup, and the first through hole is connected to an external vacuum pump through an air pipe.

[0016] Preferably, the third robot is further used to clamp the workpiece for curling in the curling machine, and the third robot includes a curling auxiliary fixture, the curling auxiliary fixture is connected to the end output part of the third robot, and the curling auxiliary fixture is used to clamp the workpiece;

[0017] The curling auxiliary clamp includes a ninth clamp, a tenth clamp and a fifth direction driver, the ninth clamp and the tenth clamp are arranged in parallel with each other, the fifth direction driver is used to drive the ninth clamp and the tenth clamp to move away from or close to each other, and a plurality of second elastic members are respectively provided on the ninth clamp and the tenth clamp, a second suction cup is provided at the end of the second elastic member, a second through hole is provided on the second suction cup, and the second through hole is connected to an external vacuum pump through an air pipe.

[0018] Preferably, the curling blanking machine includes a blanking frame, a first telescopic cylinder, a second telescopic cylinder, a rotary cylinder and several third suction cups. The blanking frame is arranged between the downstream conveyor line and the curling machine, the first telescopic cylinder is arranged on the blanking frame, the rotary cylinder is arranged at the end output part of the first telescopic cylinder, the second telescopic cylinder is arranged at the rotation output part of the rotary cylinder, and the suction cup group is arranged at the end output part of the second telescopic cylinder; the first telescopic cylinder is used to move the rotary cylinder so that the position of the workpiece on the curling machine or the position where the workpiece on the blanking conveyor belt is put down is located on the rotation plane of the rotary cylinder, the rotary cylinder is used to rotate the second telescopic cylinder so that the position of the workpiece on the curling machine or the position where the workpiece on the blanking conveyor belt is put down is located on the output straight line of the second telescopic cylinder, the second telescopic cylinder is used to drive the suction cup group away from or close to the curling machine, the second telescopic cylinder is also used to drive the suction cup group away from or close to the blanking conveyor line, the suction cup group is connected to an external vacuum pump, and the suction cup group is used to adsorb the workpiece to be unloaded.

[0019] Preferably, a sensor is further included, and the sensor is used to detect whether the workpiece is in a specified operating position range.

[0020] The technical solution provided by the utility model may have the following beneficial effects:

[0021] The use of robots for precise gripping and unloading ensures the accuracy of repeated unloading of products and prevents die-stamping, making the automated production line suitable for the production of flexible shells of various shapes. This solves the problem of manual operation, which can easily lead to die-stamping due to improper placement of products, resulting in damage to the mold and product, and improves the product qualification rate. By using positioning conveyor lines and transfer units to coordinate the position of the workpiece and assist the robot in achieving precise gripping, the robot's adjustment and calculation time can be reduced. At the same time, the design of multiple rotating platforms, a second robot, and a punching machine can improve the efficiency of the stamping process to match the production rhythm of upstream processes and subsequent hemming processing, improve the overall efficiency of the assembly line, and solve the problem of low overall efficiency of the assembly line production caused by low stamping efficiency during assembly line processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of an embodiment of the present invention.

[0023] Figure 2 This is a structural diagram of a transplanting unit according to an embodiment of the present invention.

[0024] Figure 3 This is a schematic structural diagram of a rotating platform according to an embodiment of the present invention.

[0025] Figure 4 This is a structural schematic diagram of a transplanting auxiliary clamp according to an embodiment of the present invention.

[0026] Figure 5 This is a structural schematic diagram of a stamping auxiliary clamp according to an embodiment of the present invention.

[0027] Figure 6 This is a structural schematic diagram of a curling auxiliary clamp according to an embodiment of the present invention.

[0028] Figure 7 This is a structural schematic diagram of a curling blanking machine according to an embodiment of the present invention.

[0029] Figure 8 It is a top view of an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0031] In the description of the present invention, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore should not be understood as limiting the present invention. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more such features, and are used to distinguish between the described features, without distinction of order or importance.

[0032] In the description of the present invention, unless otherwise specified, “a plurality of” means two or more.

[0033] In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0034] The following describes embodiments of the present utility model in conjunction with the accompanying drawings.

[0035] A robotic automated flexible stamping line for metal shells of rice cookers, comprising a loading conveyor line 1, a positioning conveyor line 5, a first robot 11, a transplanting unit 3, a visual recognition device 31, a second robot 12, a punching machine 4, a forming conveyor line, a third robot 13, a crimping machine 6, a crimping blanking machine 7, and a blanking conveyor line;

[0036] The output end of the feeding conveyor line 1 is connected to the input end of the positioning conveyor line 5, and the positioning conveyor line 5 is provided with a first positioning device; the transferring unit 3 is arranged on the side of the positioning conveyor line 5 close to the punching machine 4, and the transferring unit 3 includes a mounting frame 33 and a rotating platform 32, and the visual recognition device 31 is installed on the mounting frame. The mounting frame 33 is provided with at least two transferring stations, and each of the transferring stations is respectively equipped with the rotating platform 32 and the visual recognition device 31, and the rotating platform 32 is used to place and rotate the workpiece, and the visual recognition device 31 is used to identify Whether the workpiece on the transfer station needs to be rotated; the first robot 11 is used to transfer the workpiece on the positioning conveyor line 5 to any of the transfer stations; the second robot 12 is used to transfer the workpiece on the transfer station to the punching machine 4, and the second robot 12 is also used to transfer the workpiece after stamping to the forming conveyor line; there are at least two punching machines 4 and the second robot 12; the third robot 13 is used to transfer the workpiece on the forming conveyor line to the curling machine 6, and the curling blanking machine 7 is used to transfer the workpiece in the curling machine 6 to the blanking conveyor line.

[0037] During the stamping production process, manual labor will inevitably become distracted due to long hours of work, which will result in the product not being placed properly, causing damage to both the mold and the product. The use of robots to achieve precise grasping and placing of materials can ensure the accuracy of repeated placing of products and prevent die pressing. This solves the problem of damage to the mold and product caused by die pressing due to improper placement of products during manual operation, thereby improving the product qualification rate.

[0038] By using the positioning conveyor line 5 and the transfer unit 3 to adjust the position of the workpiece and assist the robot in achieving precise grasping, the adjustment and calculation time of the robot can be reduced. At the same time, multiple rotating platforms 32, the second robot 12 and the punching machine 4 are designed to improve the efficiency of the stamping process to match the production rhythm of the upstream process and the subsequent curling process, improve the overall efficiency of the assembly line, and solve the problem of low overall efficiency of the assembly line production caused by low stamping efficiency in the assembly line processing.

[0039] like Figure 1 and Figure 8In one embodiment, the workpiece is manually placed on the loading conveyor line 1, and the loading conveyor line 1 moves the workpiece to the positioning conveyor line 5. After positioning by the first positioning device, the first robot 11 transfers the workpiece on the positioning conveyor line 5 to the rotating platform 32 on the mounting frame 33 of the transfer unit 3. After the visual recognition device 31 identifies and cooperates with the rotating platform 32 to rotate and adjust the position of the workpiece, the second robot 12 transfers the workpiece on the rotating platform 32 to the mold of the punching machine 4. After the stamping process of the workpiece is completed, the second robot 12 transfers the workpiece in the punching machine 4 to the forming conveyor line, and the forming conveyor line moves the workpiece into the grasping range of the third robot 13. The third robot 13 transfers the workpiece on the forming conveyor line to the curling machine 6. After the curling process of the workpiece is completed, the curling unloading machine transfers the workpiece in the curling machine 6 to the unloading conveyor line, and the unloading conveyor line transfers the workpiece to the downstream process.

[0040] In one embodiment, two punching machines 4, two second robots 12, and two rotating platforms 32 are provided to achieve a production cycle of six seconds per workpiece. Before the automation upgrade, the qualified product rate for manual operation was 95%. After the automation upgrade, the qualified product rate for robot-assisted operation was 98%.

[0041] Preferably, the rotating platform 32 includes a rotating base plate 321, a rotating positioning fixture 322 and a rotating driver 323; the rotating driver 323 is installed on the transplanting unit 3, and the output end of the rotating driver 323 is provided with the rotating base plate 321, the rotating driver 323 is used to drive the rotating base plate 321 to rotate, the rotating base plate 321 is used to carry the workpiece, the rotating base plate 321 is installed with the rotating positioning fixture 322, and the rotating positioning fixture 322 is used to clamp and position the workpiece.

[0042] like Figure 2 and Figure 3 In one embodiment, a pneumatic rotary positioning fixture 322 is provided on the rotating platform 32. After the workpiece is placed on the rotating platform 32, the rotary positioning fixture 322 clamps the workpiece, and then cooperates with the visual recognition device 31 to identify the position information of the workpiece, and calculates the angle of rotation required for the workpiece to be adjusted to the preset position. Thereafter, the rotating platform 32 rotates the corresponding angle to complete the adjustment of the workpiece position.

[0043] This structure ensures that the workpiece is clamped at a correct angle and placed into the die of the punching machine 4, thereby improving the product qualification rate.

[0044] When the metal shell of the rice cooker is produced, the workpiece is a flexible ring-shaped metal ring, and a product feature is set on the workpiece. The appearance of the product feature of different models of workpieces during production is different. The visual recognition device 31 is pre-recorded with a photo of the product feature of the identified workpiece. By taking a photo of the workpiece and comparing the photo taken with the pre-recorded photo, the position information of the identified workpiece is identified and calculated, and the adjustment data required to adjust the workpiece to the preset position is calculated. Thereafter, the visual recognition device 31 transmits the adjustment data to the position adjustment unit 32, and the position adjustment unit 32 adjusts the position of the workpiece according to the received adjustment data.

[0045] Preferably, the rotation positioning fixture 322 includes a positioning block 3221, a first push plate 3222, a second push plate assembly 3223 and a bidirectional linear actuator 3224; the positioning block 3221 and the bidirectional linear actuator 3224 are respectively installed on the rotating base plate 321, one driving end of the bidirectional linear actuator 3224 is installed with the first push plate 3222, and the other driving end of the bidirectional linear actuator 3224 is installed with the second push plate assembly 3223, a local clamping area is formed between the positioning block 3221 and the first push plate 3222, and an inner diameter limiting area of ​​the shell is formed between the second push plate assembly 3223 and the positioning block 3221, and the bidirectional linear actuator 3224 is used to drive the first push plate 3222 to move away from or close to the positioning block 3221, and the bidirectional linear actuator 3224 is also used to drive the second push plate assembly 3223 to move close to or away from the positioning block 3221.

[0046] By adopting this structure, during the production of the metal shell of the rice cooker, when the flexible ring-shaped workpiece is placed on the rotating platform 32, the workpiece is sleeved on the outside of the first push plate 3222 and the push panel 3223b, and the local clamping area formed by the positioning block 3221 and the first push plate 3222 holds one end of the workpiece where the product feature is preset. In the shell inner diameter limiting area formed between the second push plate assembly 3223 and the positioning block 3221, the first push plate 3222 and the push panel 3223b respectively support the two opposite sides of the inside of the annular workpiece, stabilize the overall shape of the workpiece so as to cooperate with the visual recognition device 31 for photographic recognition, and at the same time cooperate with the position adjustment unit 32 to accurately adjust the position of the workpiece, thereby solving the problem that the flexible ring-shaped workpiece is difficult to maintain a stable shape and thus leads to inaccurate recognition.

[0047] The driving end of the bidirectional linear actuator 3224 connected to the second push plate assembly 3223 is installed with a mounting base 3224a; the second push plate assembly 3223 includes an L-shaped plate 3223a, a push panel 3223b and a fixing member, one surface of the L-shaped plate 3223a is installed with the push panel 3223b, and the other surface of the L-shaped plate 3223a is provided with an adjustment long hole, the length direction of the adjustment long hole is parallel to the driving direction of the bidirectional linear actuator 3224, and the mounting base 3224a is provided with a There is a limiting groove, the length direction of the limiting groove is parallel to the driving direction of the bidirectional linear actuator 3224, the L-shaped plate 3223a has a plate surface with an adjustment long hole which can be slidably set in the limiting groove, the fixing part is connected to the mounting base plate 3224a through the adjustment long hole, and the fixing part is used to fix the L-shaped plate 3223a on the mounting base plate 3224a; the pushing panel 3223b and the positioning block 3221 and the first pushing plate 3222 are distributed along the same straight line and parallel to each other.

[0048] By adjusting the different positions of the straight adjustment long hole on the L-shaped plate 3223a through which the fixing part passes, the preset distance between the first push plate 3222 and the push panel 3223b can be conveniently adjusted, which is suitable for workpieces of different sizes and reduces the adjustment time required for production changeovers.

[0049] Preferably, the first positioning device is provided with a limit baffle 51 and a limit clamp 52, the limit baffle 51 is perpendicular to the conveying direction of the positioning conveyor line 5, the limit baffle 51 is used to limit the movement of the workpiece along the conveying direction of the positioning conveyor line 5, and the limit clamp 52 is used to adjust the position of the workpiece so that the workpiece is centered in the width direction of the positioning conveyor line 5.

[0050] In one embodiment, the workpiece is manually placed into the loading conveyor line 1 in a specified general direction and range, the loading conveyor line 1 moves the workpiece to one end of the positioning conveyor line 5, and the positioning conveyor line 5 moves the workpiece at one end to the limit baffle 51 at the other end, and then the limit clamp 52 clamps to center the workpiece along the width direction of the positioning conveyor line 5.

[0051] By adopting this structure, the position of the workpiece is adjusted in the surface plane direction of the positioning conveyor line 5 to ensure that the position of the workpiece is within the clamping range of the first robot 11 and the adjustment range of the rotating platform 32, thereby solving the problem of the position deviation of the workpiece exceeding the production operation range during the transfer process.

[0052] Preferably, the first robot 11 includes a transplanting auxiliary fixture 21, the transplanting auxiliary fixture 21 is connected to the end output part of the first robot 11, and the transplanting auxiliary fixture 21 is used to clamp the workpiece;

[0053] The transplanting auxiliary fixture 21 includes a first clamping plate 211, a second clamping plate 212, a third clamping plate 213, a first direction driver and a second direction driver, the first clamping plate 211 and the second clamping plate 212 are arranged in parallel with each other, and a first workpiece peripheral clamping area is formed between the first clamping plate 211 and the second clamping plate 212, and the first workpiece peripheral clamping area is used to accommodate the entire workpiece; the third clamping plate 213 is arranged on the fixture mounting plate 22 and is perpendicular to the first clamping plate 211 and the second clamping plate 212; the first direction driver is used to drive the first clamping plate 211 and the second clamping plate 212 to move away from or close to each other, and the output end of the second direction driver is provided with a fourth clamping plate 214, and the second direction driver is used to drive the fourth clamping plate 214 to move away from or close to the third clamping plate 213; a first workpiece local accommodating area is formed between the fourth clamping plate 214 and the third clamping plate 213; the driving directions of the first direction driver and the second direction driver are perpendicular to each other.

[0054] like Figure 4 When producing the metal shell of the rice cooker, the workpiece is a flexible ring-shaped metal ring before stamping. The first direction driver is a large-stroke cylinder, and the second direction driver is a small-stroke cylinder. The first clamping plate 211 and the second clamping plate 212 are respectively connected to the output rods on both sides of the large-stroke cylinder, the fourth clamping plate 214 is connected to the output rod of the small-stroke cylinder, and the third clamping plate 213 is a fixed plate. The first clamping plate 211 and the second clamping plate 212 cooperate to clamp the outer side of the metal ring, and the third clamping plate 213 and the fourth clamping plate 214 clamp one side of the metal ring. This structure is compatible with multiple specifications of products and adapts to multiple products of different widths to meet the production needs of different models of rice cooker metal shells, solving the problem that there is no universal clamping tool for different models of flexible ring-shaped metal rings.

[0055] Preferably, the second robot 12 includes a fixture mounting plate 22, a placement fixture assembly 221 and a removal fixture assembly 222, the fixture mounting plate 22 is connected to the end output part of the second robot 12, the placement fixture assembly 221 and the removal fixture assembly 222 are respectively arranged at both ends of the fixture mounting plate 22; the placement fixture assembly 221 is used to clamp the unstamped workpiece and to prevent the unstamped workpiece from being deformed during the transfer process; the removal fixture assembly 222 is used to clamp the workpiece after stamping.

[0056] In the production of rice cooker metal shell, the workpiece before stamping is a flexible ring-shaped metal ring, such as Figure 5With this structure, the placing fixture assembly 221 is responsible for clamping the workpiece that lacks rigidity before stamping, and the removing fixture assembly 222 is responsible for removing the workpiece that has rigidity after stamping. The second robot 12 simultaneously uses the placing fixture assembly and the removing fixture assembly installed at both ends of the fixture mounting plate 22 to quickly place and remove the workpiece.

[0057] Preferably, the placing clamp assembly 221 includes a fifth clamping plate 223, a sixth clamping plate 224, a seventh clamping plate 225, a third directional driver and a fourth directional driver, the fifth clamping plate 223 and the sixth clamping plate 224 are arranged relatively parallel to the clamp mounting plate 22, the fifth clamping plate 223 and the sixth clamping plate 224 form a workpiece peripheral clamping area between the fifth clamping plate 223 and the sixth clamping plate 224, and the workpiece peripheral clamping area is used to accommodate the entire workpiece; the seventh clamping plate 225 is arranged on the clamp mounting plate 22 and is perpendicular to the fifth clamping plate 223 and the sixth clamping plate 224; the third directional driver is used to drive the fifth clamping plate 223 and the sixth clamping plate 224 to move away from or close to each other, the output end of the fourth directional driver is provided with an eighth clamping plate, and the fourth directional driver drives the eighth clamping plate to move away from or close to the seventh clamping plate 225; a workpiece local accommodating area is formed between the eighth clamping plate and the seventh clamping plate 225; the driving directions of the third directional driver and the fourth directional driver are perpendicular to each other;

[0058] The fifth clamping plate 223 and the sixth clamping plate 224 are respectively provided with a first elastic member 226 , a first suction cup 227 is provided at the end of the first elastic member 226 , and a first through hole is provided on the first suction cup 227 , and the first through hole is connected to an external vacuum pump through an air pipe.

[0059] like Figure 5 This structure prevents the workpiece from being deformed due to uneven force by simultaneously clamping the workpiece locally and sucking the periphery, which affects the workpiece transfer process and the quality of the final product, and solves the problem that the workpiece is difficult to be stably clamped due to insufficient rigidity before stamping.

[0060] Preferably, the third robot 13 is further used to clamp the workpiece for curling in the curling machine 6. The third robot 13 includes a curling auxiliary fixture 23. The curling auxiliary fixture 23 is connected to the end output part of the third robot 13 and is used to clamp the workpiece.

[0061] The curling auxiliary clamp 23 includes a ninth clamping plate 231, a tenth clamping plate 232 and a fifth direction driver. The ninth clamping plate 231 and the tenth clamping plate 232 are arranged in parallel with each other. The fifth direction driver is used to drive the ninth clamping plate 231 and the tenth clamping plate 232 to move away from or close to each other. A plurality of second elastic members 233 are respectively provided on the ninth clamping plate 231 and the tenth clamping plate 232. A second suction cup 234 is provided at the end of the second elastic member 233. A second through hole is provided on the second suction cup 234. The second through hole is connected to an external vacuum pump through an air pipe.

[0062] Before the automation transformation, during the curling process of the rice cooker shell, the workpiece being processed was the metal ring of the rice cooker shell. The metal ring was fixed by hand and the curling machine 6 was operated to curl the metal ring at the same time. Manual operation was prone to misoperation and accidental pressure on the hand.

[0063] like Figure 6 The ninth clamping plate 231 and the tenth clamping plate 232 cooperate with the suction structure of the second elastic member 233 and the second suction cup 234 to stably clamp the workpiece. The third robot 13 cooperates with the curling auxiliary fixture 23 to clamp the workpiece for curling processing, thereby solving the problem of hand pressure caused by manual misoperation during the curling process.

[0064] Preferably, the curling blanking machine 7 includes a blanking frame 71, a first telescopic cylinder 72, a second telescopic cylinder 73, a rotary cylinder 74 and a plurality of third suction cups 75. The blanking frame is arranged between the downstream conveyor line and the curling machine 6. The first telescopic cylinder 72 is arranged on the blanking frame 71. The rotary cylinder 74 is arranged at the end output part of the first telescopic cylinder 72. The second telescopic cylinder 73 is arranged at the rotary output part of the rotary cylinder 74. The suction cup group 75 is arranged at the end output part of the second telescopic cylinder 73. The first telescopic cylinder 72 is used to move the rotary cylinder 74 so that the curling The position of the workpiece on the machine 6 or the position where the workpiece on the unloading conveyor belt is put down is located on the rotation plane of the rotating cylinder 74. The rotating cylinder is used to rotate the second telescopic cylinder 73 so that the position of the workpiece on the curling machine 6 or the position where the workpiece on the unloading conveyor belt is put down is located on the output straight line of the second telescopic cylinder 73. The second telescopic cylinder 73 is used to drive the suction cup group 75 away from or close to the curling machine 6. The second telescopic cylinder 73 is also used to drive the suction cup group 75 away from or close to the unloading conveyor line. The suction cup group 75 is connected to an external vacuum pump, and the suction cup group 75 is used to adsorb the workpiece to be unloaded.

[0065] like Figure 7In one embodiment, due to the requirements of the next process, the product needs to be flipped 180 degrees for unloading. By adopting this structure, the placement position of the workpiece after unloading can be flexibly adjusted to meet the production requirements of subsequent processes.

[0066] Preferably, a sensor 8 is further included, and the sensor 8 is used to detect whether the workpiece is in a specified operating position range.

[0067] In one embodiment, the sensor 8 is an infrared sensor, and infrared sensors are respectively provided on the fixture, the rotating platform 32, the punching machine 4 and the curling machine 6. The infrared sensor is used to detect whether the workpiece is within the specified operating range, thereby solving the problem of being unable to timely detect the position displacement or falling of the workpiece during the production process in automated production.

[0068] Preferably, the first robot 11 is a four-axis robot, and the second robot 12 and the third robot 13 are six-axis robots.

[0069] Other structures and operations according to the embodiments of the present invention are known to those skilled in the art and will not be described in detail here.

[0070] Throughout this specification, references to terms such as "embodiment" and "example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0071] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and purpose of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A flexible robotic automated stamping line for metal shells of rice cookers, characterized by: It includes a loading conveyor line, a positioning conveyor line, a first robot, a transplanting unit, a visual recognition device, a second robot, a punching machine, a forming conveyor line, a third robot, a crimping machine, a crimping unloading machine and an unloading conveyor line; The output end of the loading conveyor line is connected to the input end of the positioning conveyor line, and the positioning conveyor line is provided with a first positioning device; the transferring unit is arranged on the side of the positioning conveyor line close to the punching machine, and the transferring unit includes a mounting frame and a rotating platform, and the visual recognition device is installed on the mounting frame, and the mounting frame is provided with at least two transferring stations, each of the transferring stations is respectively equipped with the rotating platform and the visual recognition device, the rotating platform is used to place and rotate the workpiece, and the visual recognition device is used to identify whether the workpiece on the transferring station needs to be rotated; the first robot is used to transfer the workpiece on the positioning conveyor line to any of the transferring stations; the second robot is used to transfer the workpiece on the transferring station to the punching machine, and the second robot is also used to transfer the workpiece after stamping to the forming conveyor line; there are at least two punching machines and the second robot; the third robot is used to transfer the workpiece on the forming conveyor line to the curling machine, and the curling unloading machine is used to transfer the workpiece in the curling machine to the unloading conveyor line.

2. The rice cooker metal shell robotic automated flexible stamping line according to claim 1, characterized in that: The rotating platform includes a rotating base plate, a rotating positioning fixture and a rotating driver; The rotary driver is installed on the transplanting unit, and the output end of the rotary driver is provided with the rotary base plate. The rotary driver is used to drive the rotary base plate to rotate, and the rotary base plate is used to carry the workpiece. The rotary base plate is installed with the rotary positioning fixture, and the rotary positioning fixture is used to clamp and position the workpiece.

3. The rice cooker metal shell robotic automated flexible stamping line according to claim 2, characterized in that: The rotary positioning fixture includes a positioning block, a first push plate, a second push plate assembly and a bidirectional linear drive; the positioning block and the bidirectional linear drive are respectively installed on the rotating base plate, one driving end of the bidirectional linear drive is installed with the first push plate, and the other driving end of the bidirectional linear drive is installed with the second push plate assembly, a local clamping area is formed between the positioning block and the first push plate, and an inner diameter limiting area of ​​the shell is formed between the second push plate assembly and the positioning block, the bidirectional linear drive is used to drive the first push plate to move away from or close to the positioning block, and the bidirectional linear drive is also used to drive the second push plate assembly to move close to or away from the positioning block.

4. The rice cooker metal shell robotic automated flexible stamping line according to claim 1, characterized in that: The first positioning device is provided with a limit baffle and a limit clamp. The limit baffle is perpendicular to the conveying direction of the positioning conveyor line. The limit baffle is used to limit the movement of the workpiece along the conveying direction of the positioning conveyor line. The limit clamp is used to adjust the position of the workpiece so that the workpiece is centered in the width direction of the positioning conveyor line.

5. The rice cooker metal shell robotic automated flexible stamping line according to claim 1, characterized in that: The first robot includes a transplanting auxiliary fixture, the transplanting auxiliary fixture is connected to the end output part of the first robot, and the transplanting auxiliary fixture is used to clamp the workpiece; The transplanting auxiliary fixture includes a first clamping plate, a second clamping plate, a third clamping plate, a first direction driver and a second direction driver, the first clamping plate and the second clamping plate are arranged in parallel with each other, a first workpiece peripheral clamping area is formed between the first clamping plate and the second clamping plate, and the first workpiece peripheral clamping area is used to accommodate the entire workpiece; the third clamping plate is arranged on the fixture mounting plate and is perpendicular to the first clamping plate and the second clamping plate; the first direction driver is used to drive the first clamping plate and the second clamping plate to move away from or towards each other, the output end of the second direction driver is provided with a fourth clamping plate, and the second direction driver is used to drive the fourth clamping plate to move away from or towards the third clamping plate; a first workpiece local accommodating area is formed between the fourth clamping plate and the third clamping plate; The driving directions of the first direction driver and the second direction driver are perpendicular to each other.

6. The rice cooker metal shell robotic automated flexible stamping line according to claim 1, characterized in that: The second robot includes a fixture mounting plate, an insertion fixture assembly and a removal fixture assembly. The fixture mounting plate is connected to the end output part of the second robot. The insertion fixture assembly and the removal fixture assembly are respectively arranged at both ends of the fixture mounting plate; the insertion fixture assembly is used to clamp unstamped workpieces and to prevent unstamped workpieces from being deformed during the transfer process; the removal fixture assembly is used to clamp workpieces after stamping.

7. The rice cooker metal shell robotic automated flexible stamping line according to claim 6, characterized in that: The placing fixture assembly includes a fifth clamping plate, a sixth clamping plate, a seventh clamping plate, a third directional driver and a fourth directional driver, the fifth clamping plate and the sixth clamping plate are arranged relatively parallel to the clamp mounting plate, a workpiece peripheral clamping area is formed between the fifth clamping plate and the sixth clamping plate, and the workpiece peripheral clamping area is used to accommodate the entire workpiece; the seventh clamping plate is arranged on the clamp mounting plate and is perpendicular to the fifth clamping plate and the sixth clamping plate; the third directional driver is used to drive the fifth clamping plate and the sixth clamping plate to move away from or close to each other, the output end of the fourth directional driver is provided with an eighth clamping plate, and the fourth directional driver drives the eighth clamping plate to move away from or close to the seventh clamping plate; a workpiece local accommodating area is formed between the eighth clamping plate and the seventh clamping plate; The driving directions of the third direction driver and the fourth direction driver are perpendicular to each other; The fifth and sixth clamping plates are respectively provided with a first elastic member, a first suction cup is provided at the end of the first elastic member, a first through hole is provided on the first suction cup, and the first through hole is connected to an external vacuum pump through an air pipe.

8. The rice cooker metal shell robotic automated flexible stamping line according to claim 1, characterized in that: The third robot is further used to clamp the workpiece to perform curling processing on the curling machine. The third robot includes a curling auxiliary fixture, which is connected to the end output part of the third robot and is used to clamp the workpiece; The curling auxiliary clamp includes a ninth clamp, a tenth clamp and a fifth direction driver, the ninth clamp and the tenth clamp are arranged in parallel with each other, the fifth direction driver is used to drive the ninth clamp and the tenth clamp to move away from or close to each other, and a plurality of second elastic members are respectively provided on the ninth clamp and the tenth clamp, a second suction cup is provided at the end of the second elastic member, a second through hole is provided on the second suction cup, and the second through hole is connected to an external vacuum pump through an air pipe.

9. The rice cooker metal shell robotic automated flexible stamping line according to claim 1, characterized in that: The curling blanking machine includes a blanking frame, a first telescopic cylinder, a second telescopic cylinder, a rotary cylinder and several third suction cups. The blanking frame is arranged between the downstream conveyor line and the curling machine, the first telescopic cylinder is arranged on the blanking frame, the rotary cylinder is arranged at the end output part of the first telescopic cylinder, the second telescopic cylinder is arranged at the rotation output part of the rotary cylinder, and the suction cup group is arranged at the end output part of the second telescopic cylinder; the first telescopic cylinder is used to move the rotary cylinder so that the position of the workpiece on the curling machine or the position where the workpiece on the blanking conveyor belt is lowered is located on the rotation plane of the rotary cylinder, the rotary cylinder is used to rotate the second telescopic cylinder so that the position of the workpiece on the curling machine or the position where the workpiece on the blanking conveyor belt is lowered is located on the output straight line of the second telescopic cylinder, the second telescopic cylinder is used to drive the suction cup group away from or close to the curling machine, the second telescopic cylinder is also used to drive the suction cup group away from or close to the blanking conveyor line, the suction cup group is connected to an external vacuum pump, and the suction cup group is used to adsorb the workpiece to be unloaded.

10. The automated flexible stamping line for metal shells of rice cookers according to any one of claims 1 to 9, characterized in that: The device further comprises a sensor for detecting whether the workpiece is in a specified operating position range.

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