Grabbing device and axial flow fan blade production line

Abstract

The utility model discloses a gripping device and an axial-flow fan blade production line, and the gripping device comprises a mounting seat which is used for being rotatably connected with an execution end of an industrial robot; the connecting assembly is connected with the mounting seat; and suction cup assemblies are mounted at the far end, away from the mounting base, of the connecting assembly and on the upper surface and the lower surface in the thickness direction of the connecting assembly correspondingly, and the suction cup assemblies are used for sucking or releasing the axial flow fan blades. By means of the suction cup assemblies which are installed at the far end of the connecting assembly and arranged on the upper surface and the lower surface in the thickness direction, the grabbing device can suck the two axial-flow fan blades, so that operation efficiency is improved, the situation that the axial-flow fan blades are stacked is avoided, potential quality hazards caused by damage of the axial-flow fan blades are reduced, and production cost is reduced. And safety accidents caused by overhigh accumulation of the axial-flow fan blades can be avoided.

Description

TECHNICAL FIELD

[0001] The utility model relates to transportation technical field especially relates to a kind of grabbing device and axial flow fan blade production line. BACKGROUND

[0002] Axial flow fan blade is the important component of air conditioner, bears the key function of driving air flow, strengthens the heat exchanger and the key function of heat exchange with outside, and is widely used on air conditioner outdoor unit. Current axial flow fan blade packing generally adopts worker packing process: single operation personnel needs to consider two production lines simultaneously, manually completes axial flow fan blade pickup, stacking, packing, packing and transfer operation.

[0003] But using above-mentioned mode, labor intensity is big, operation personnel long time operation is prone to fatigue, operation efficiency reduces, and it is easy to cause axial flow fan blade to accumulate on production line, such accumulated axial flow fan blade not only is prone to mutual collision and causes breakage quality hidden danger, and axial flow fan blade accumulation is prone to high and easy to cause safety accident. And according to after-sales data statistics often have axial flow fan blade breakage, cause the vibration of whole machine operation, lead to after-sales complaint. UTILITY MODEL CONTENTS

[0004] The utility model provides a kind of grabbing device and axial flow fan blade production line for solving the problem that worker long time operation appears fatigue in the axial flow fan blade packing process in prior art, leading to low operation efficiency, axial flow fan blade accumulation on production line.

[0005] The technical scheme of the utility model is a kind of grabbing device, comprising:

[0006] Mounting seat, the mounting seat is used to be connected with the execution end of industrial robot rotation;

[0007] Connecting assembly, the connecting assembly is connected with the mounting seat;The distal end of the connecting assembly away from the mounting seat and the upper surface and the lower surface along the thickness direction of the connecting assembly are respectively equipped with suction cup assembly, and the suction cup assembly is used to suck or release axial flow fan blade.

[0008] Further, the connecting assembly includes two interval arrangement connecting plates, and the distal end of the connecting plate away from the mounting seat and the side opposite to each other are respectively equipped with suction cup assembly.

[0009] Further, the distal end of each connecting plate is set as Y type bifurcated structure, and each bifurcated arm of the Y type bifurcated structure is respectively provided with at least one long strip-shaped through hole along its extension direction, the long axis direction of the long strip-shaped through hole coincides with the axis direction of the bifurcated arm, and the center point of any long strip-shaped through hole on each bifurcated arm collectively encloses triangle;

[0010] Each long strip-shaped through hole is detachably connected with at least one suction disc; all the suction discs in each Y-shaped bifurcated structure form the suction disc assembly.

[0011] Further, opposite sides of the connecting plate are provided with fasteners, the head width of the fastener and the width of the end of the suction disc away from the adsorption surface are both greater than the width of the long strip-shaped through hole;

[0012] The fastener is detachably connected with the end of the suction disc to clamp the bifurcated arm where the long strip-shaped through hole is located.

[0013] The utility model also proposes a production line of axial flow fan blades, the production line of axial flow fan blades includes industrial robot, the industrial robot is installed with the grabbing device as above-mentioned.

[0014] Further, the production line of axial flow fan blades further includes:

[0015] The discharge station of the storage device and the discharge station of the transmission device are arranged in the movable range of the industrial robot;

[0016] The transmission device is used for carrying and conveying the axial flow fan blade to the discharge station, so that the industrial robot adsorbs the axial flow fan blade through the grabbing device and grabs to the discharge station.

[0017] Further, a visual alignment mechanism is arranged above the discharge station, and the visual alignment mechanism is used for photographing the axial flow fan blade and grabbing the relative position coordinates;

[0018] At least one photoelectric sensing device is arranged on one side or both sides of the transmission device in the width direction.

[0019] Further, the discharge station is provided with a baffle plate, the baffle plate extends in the width direction of the transmission device, and the baffle plate is arranged above the transmission belt of the transmission device and is spaced.

[0020] Further, the storage device includes:

[0021] A power chain is arranged on one side or both sides of the transmission device in the width direction, and the power chain moves circularly in the transmission direction of the transmission device; a plurality of storage structures are arranged on the power chain and are spaced, and the storage structures pass through the discharge station.

[0022] The storage structure is used for arranging the axial flow fan blades in multiple layers in the vertical direction.

[0023] Further, the industrial robot is provided with a vacuum generating device, which communicates with the suction cup assembly through a vacuum pipeline; the vacuum generating device is used for changing the pressure of the vacuum pipeline to realize suction or release of the axial flow fan blade.

[0024] Compared with the prior art, the utility model has at least the following beneficial effects:

[0025] The suction cup assembly installed on the distal end of the connecting assembly and the upper surface and the lower surface in the thickness direction can adsorb two axial flow fan blades, thereby improving the work efficiency, avoiding the accumulation of the axial flow fan blades, and further reducing the quality risks caused by damage of the axial flow fan blades, and also avoiding safety accidents caused by excessive accumulation of the axial flow fan blades. BRIEF DESCRIPTION OF DRAWINGS

[0026] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the utility model belongs; the terms used in the specification of the application are only for the purpose of describing specific embodiments and are not intended to limit the utility model; the terms "include" and "have" in the specification and claims of the utility model and their any variants are intended to cover the non-exclusive inclusion; the terms "first", "second", etc. in the specification and claims of the utility model or the above description are used to distinguish different objects and are not used to describe a specific order.

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description; obviously, the drawings in the following description are only some embodiments of the utility model, and those skilled in the art can obtain other drawings according to these drawings without creative labor.

[0028] Figure 1 The structure schematic diagram of the grabbing device not adsorbing the axial flow fan blade for the utility model is shown in the figure;

[0029] Figure 2 The structure schematic diagram of the grabbing device adsorbing the axial flow fan blade for the utility model is shown in the figure;

[0030] Figure 3 The partial structure schematic diagram of the first axial flow fan blade production line not adsorbing the axial flow fan blade for the utility model is shown in the figure;

[0031] Figure 4 The partial structure schematic diagram of the first axial flow fan blade production line adsorbing the axial flow fan blade for the utility model is shown in the figure;

[0032] Figure 5Part structure schematic diagram of the axial flow fan blade of the third axial flow fan blade production line of the utility model.

[0033] Figure 6 Part structure schematic diagram of the axial flow fan blade of the third axial flow fan blade production line of the utility model.

[0034] Reference signs:

[0035] 1. Industrial robot;

[0036] 2. Storage device; 21, power chain; 22, storage structure; 221, base; 222, limiting column;

[0037] 3. Transmission device; 31, transmission belt;

[0038] 4. Visual alignment mechanism; 41, support frame; 42, photographing assembly;

[0039] 5. Photoelectric sensing device; 51, infrared sensor; 52, transmitter; 53, receiver;

[0040] 6. Blocking plate;

[0041] 7. Axial flow fan blade;

[0042] 10. Mounting seat;

[0043] 20, connecting assembly; 201, connecting plate; 202, Y-shaped bifurcated structure; 203, long strip-shaped through hole; 204, fastener;

[0044] 30, suction cup assembly; 301, suction cup; 3011, suction surface; 3012, suction cup rod. DETAILED DESCRIPTION

[0045] In order to make the technical problems, technical schemes and beneficial effects to be solved by the utility model more clear and apparent, the utility model is further described in detail below by combining with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model, and are not used to limit the utility model. Therefore, the feature indicated in the specification is used to explain one feature of one embodiment of the utility model, and is not meant to imply that each embodiment of the utility model must have the explained feature. In addition, it should be noted that the specification describes many features. Although certain features can be combined together to show possible system designs, these features can also be used in other combinations that are not explicitly explained. Therefore, unless otherwise specified, the explained combination is not intended to be limited.

[0046] The principle and structure of the utility model are described in detail below by combining with the drawings and examples.

[0047] In some embodiments, as shown in Figures 1-2 The utility model provides a kind of grabbing device, comprising:

[0048] Mounting seat 10, the mounting seat 10 is used to be rotatably connected with the execution end of industrial robot 1;In this way, industrial robot 1 can drive the grabbing device provided with mounting seat 10 to rotate 360 degrees.

[0049] Connecting assembly 20, the connecting assembly 20 is connected with the mounting seat 10;The far end of the connecting assembly 20 away from the mounting seat 10 and the upper surface and the lower surface along the thickness direction of the connecting assembly 20 are respectively provided with suction cup assembly 30, and the suction cup assembly 30 is used to adsorb or release axial flow fan blade 7.

[0050] It can be understood that the adsorption surface 3011 of each suction cup 301 in suction cup assembly 30 is away from the connecting assembly 20.The proximal end of the connecting assembly 20 is equivalent to the end of the connecting assembly 20 connected with the mounting seat 10.

[0051] In this way, the grabbing device proposed in the utility model can adsorb one axial flow fan blade 7 by suction cup assembly 30 installed at the far end of the connecting assembly 20 and along the upper surface and the lower surface in the thickness direction, and each suction cup assembly 30 can adsorb one axial flow fan blade 7, then industrial robot 1 drives the grabbing device to move to the discharge station, so that one suction cup assembly 30 adsorbs one axial flow fan blade 7, then the execution end of industrial robot 1 rotates, and further drives the whole grabbing device to rotate, so as to adsorb one axial flow fan blade 7 by another suction cup assembly 30, then industrial robot 1 moves the adsorbed two axial flow fan blades 7 to the discharge station to release axial flow fan blade 7, so as to complete the picking step of axial flow fan blade 7, which improves the work efficiency compared with manual picking, avoids the accumulation of axial flow fan blade 7, and further reduces the quality risk caused by the damage of axial flow fan blade 7, and also avoids safety accidents caused by the overhigh accumulation of axial flow fan blade 7.

[0052] And because the quality risk caused by the damage of axial flow fan blade 7 is reduced, when the whole machine (air conditioner outdoor unit) provided with axial flow fan blade 7 is running, the vibration caused by the damage of axial flow fan blade 7 is avoided, and the after-sales complaint is reduced.

[0053] In some embodiments, as shown in Figure 1 The utility model provides a kind of grabbing device, comprising:

[0054] The connecting assembly 20 includes two spaced apart connecting plates 201, and the far end of the connecting plate 201 away from the mounting seat 10 and the side opposite to each other are respectively provided with suction cup assembly 30.

[0055] It can be understood that the two connecting plates 201 are arranged along their symmetry axes. The proximal end of the connecting plate 201 corresponds to the end of the connecting plate 201 connected to the mounting seat 10. The suction surface 3011 of each suction disc 301 in the suction disc assembly 30 faces away from the connecting plate 201 where it is located.

[0056] In this way, the gripping device can adsorb two axial flow fan blades 7, thereby improving work efficiency, avoiding the accumulation of axial flow fan blades 7, and thereby reducing the quality risks caused by damage to the axial flow fan blades 7, and also avoiding safety accidents caused by excessive accumulation of axial flow fan blades 7.

[0057] In some embodiments, as shown in Figure 1 The distal end of each connecting plate 201 is provided with a Y-shaped bifurcated structure 202. Each bifurcated arm of the Y-shaped bifurcated structure 202 is provided with at least one long strip-shaped through hole 203 along its extension direction. The long axis direction of the long strip-shaped through hole 203 coincides with the axis direction of the bifurcated arm where it is located. The center points of any long strip-shaped through hole 203 on each bifurcated arm collectively form a triangle.

[0058] Each long strip-shaped through hole 203 is detachably connected with at least one suction disc 301. All suction discs 301 in each Y-shaped bifurcated structure 202 form the suction disc assembly 30.

[0059] It should be noted that the plate material between the starting end of the connecting plate 201 and the corresponding Y-shaped bifurcated structure 202 is rectangular. The Y-shaped bifurcated structure 202 proposed in this embodiment includes a central intersection point and three bifurcated arms evenly distributed at 120° with the intersection point as the origin. Of course, the angle between adjacent bifurcated arms is not limited to 120°, but can also be selected as other angles according to actual conditions, which is not limited herein. The center point connecting line of the long strip-shaped through hole 203 on any two bifurcated arms is not collinear with the axis direction of any one bifurcated arm.

[0060] In this embodiment, one long strip-shaped through hole 203 is provided in the axis direction of each bifurcated arm. The center points of the three long strip-shaped through holes 203 are located on the same circle with the central intersection point as the center, and the center points of the three long strip-shaped through holes 203 collectively form an equilateral triangle. Of course, two or more long strip-shaped through holes 203 can also be provided on each bifurcated arm according to actual conditions, which is not limited herein.

[0061] In this way, the suction cups 301 are matched with the suction points of the axial flow fan blades 7 through the arrangement of all the suction cups 301 of each suction cup assembly 30, so that the suction cup assembly 30 can better and more stably suck the axial flow fan blades 7. Of course, because the models of the axial flow fan blades 7 are different, the diameters, thicknesses and other sizes of the axial flow fan blades 7 are also different, and therefore, the position of the suction cup 301 on the long strip-shaped through hole 203 is adjusted through the detachable connection between the long strip-shaped through hole 203 and the corresponding suction cup 301, so as to improve the flexibility and adaptability of the grabbing device and meet the requirements of sucking different models of axial flow fan blades 7.

[0062] Specifically, as shown in Figure 1 the embodiment provides a specific structure of the detachable structure.

[0063] The opposite side of the connecting plate 201 is provided with a fastener 204, and the head width of the fastener 204 and the width of the end of the suction cup 301 away from the suction surface 3011 are greater than the width of the long strip-shaped through hole 203.

[0064] The end of the fastener 204 is detachably connected with the suction cup 301 to clamp the bifurcated arm where the long strip-shaped through hole 203 is located.

[0065] It should be noted that the fastener 204 is preferably a locking bolt. The suction cup 301 further comprises a suction cup rod 3012, and the suction cup rod 3012 is provided with a suction surface 3011 at the starting end.

[0066] When the suction cup rod 3012 is placed on the surface of one long strip-shaped through hole 203 corresponding to the other connecting plate 201, then the fastener 204 is inserted into the corresponding long strip-shaped through hole 203 from the space between the two connecting plates 201, and is bolted and tightened with the end of the suction cup rod 3012, so that the long strip-shaped through hole 203 is clamped by the head of the fastener 204 and the end of the suction cup rod 3012, thereby completing the fixation. When it is necessary to adjust the position of the suction cup 301 on the corresponding long strip-shaped through hole 203, the fastener 204 can be loosened first, and then the suction cup 301 is slid to the predetermined position on the corresponding long strip-shaped through hole 203, and then the fastener 204 is tightened.

[0067] In some embodiments, as shown in Figures 3-4 the utility model further provides an axial flow fan blade production line, and the axial flow fan blade production line comprises an industrial robot 1, and the industrial robot 1 is installed with the grabbing device.

[0068] It can be understood that the execution end of the industrial robot 1 is provided with a flange, and at this time the mounting seat 10 of the grabbing device is equivalent to the flange, so that the flange of the industrial robot 1 and the mounting seat 10 are circumferentially positioned through a torsion-resistant key groove structure (not shown, the same below), which allows the execution end of the grabbing device on the industrial robot 1 to realize 360° continuous rotation, so that the industrial robot 1 can more flexibly adsorb the axial flow fan blade 7 through the grabbing device, thereby improving the work efficiency, avoiding the accumulation of the axial flow fan blade 7, and further reducing the quality risks caused by the damage of the axial flow fan blade 7, and also avoiding safety accidents caused by the accumulation of the axial flow fan blade 7.

[0069] In some embodiments, as shown in Figure 3 The axial flow fan blade production line further comprises:

[0070] A feeding station of a storage device 2 and a discharging station of a conveying device 3 arranged within the activity range of the industrial robot 1;

[0071] The conveying device 3 is used to carry and convey the axial flow fan blade 7 to the discharging station, so that the industrial robot 1 adsorbs the axial flow fan blade 7 through the grabbing device and grabs to the feeding station.

[0072] It can be understood that the axial flow fan blade production line is provided with a main control unit (not shown); the conveying device 3 comprises a circulating rotating transmission belt 31, and one end of the transmission belt 31 along the conveying direction and away from the activity range of the industrial robot 1 is a feeding station, and the axial flow fan blade 7 can be placed on the transmission belt 31 at the feeding station through another industrial robot arm or manually; and the other end of the transmission belt 31 along the conveying direction and close to the activity range of the industrial robot 1 is a discharging station.

[0073] Therefore, when the axial flow fan blade production line starts, the main control unit first controls the transmission belt 31 to rotate circularly, so as to continuously convey the axial flow fan blade 7 at the feeding station to the discharging station, and then the main control unit controls the industrial robot 1 to move to the discharging station and adsorb two axial flow fan blades 7, and then the industrial robot 1 moves the adsorbed axial flow fan blades 7 to the storage device 2 for storage, thereby completing the picking step and the stacking step of the axial flow fan blade 7; and then the operating personnel completes the subsequent boxing step and the transportation step.

[0074] Therefore, through the automatic process of the industrial robot 1, the storage device 2 and the conveying device 3, the work efficiency of the axial flow fan blade production line is improved, the accumulation of the axial flow fan blade 7 is avoided, and further the quality risks caused by the damage of the axial flow fan blade 7 are reduced, and also safety accidents caused by the accumulation of the axial flow fan blade 7 are avoided.

[0075] It should be noted that the industrial robot 1 proposed in the embodiment is preferably a mechanical arm, and the power transmission mode of the mechanical arm includes a linkage driving mode using a cylinder and a hydraulic rod, or a driving mode through a motor, which is not limited here.

[0076] In some embodiments, to ensure that the industrial robot 1 can accurately position and adsorb the axial flow fan blade 7 on the discharge station through the grabbing device, as shown in the figure, a visual positioning mechanism 4 is arranged above the discharge station, which is used to take a photo of the axial flow fan blade 7 and grab the relative position coordinates. Figure 3

[0077] At least one photoelectric sensing device 5 is arranged on one side or both sides of the discharge station along the width direction of the transmission belt 31.

[0078] It should be noted that the visual positioning mechanism 4 includes a support frame 41 and a photographing assembly 42 arranged on the support frame 41. The support frame 41 is a downward open U-shaped frame, the transmission belt 31 passes through the internal space of the support frame 41 along the conveying direction, and the top wall of the support frame 41 corresponds to the transmission belt 31 on the discharge station and is provided with the photographing assembly 42, which is used to take a photo of the axial flow fan blade 7 passing through the discharge station and grab the relative position coordinates and transmit them to the main control unit. The photographing assembly 42 is a CCD camera or a CMOS image sensor.

[0079] In the embodiment, one photoelectric sensing device 5 is arranged on each side of the transmission belt 31 along the width direction, and the photoelectric sensing device 5 includes an infrared sensor 51. When the axial flow fan blade 7 reaches the sensing area of the infrared sensor 51, the infrared sensor 51 will send a stop electric signal to the main control unit. The installation height (H) of the infrared sensor 51 and the diameter (Φ) of the axial flow fan blade 7 satisfy the relationship H = 0.6Φ + 10mm, and the detection response time is ≤15ms.

[0080] ​In this way, when the axial flow fan blade 7 is conveyed to the discharging station by the transmission belt 31 and reaches the sensing area of the infrared sensor 51, the infrared sensor 51 sends a stop electrical signal to the main control unit, and then the main control unit controls the transmission belt 31 to stop rotating, so that all the axial flow fan blades 7 are uniformly stopped at the position of the infrared sensor 51, that is, the central axis of the axial flow fan blade 7 is aligned with the reference line between the two infrared sensors 51 (error ≤ ±0.5 mm), and the axial flow fan blade 7 is ensured to be in a stationary state, so that the photographing assembly 42 photographs the axial flow fan blade 7 in the stationary state and transmits the relative position coordinates to the main control unit, and then the main control unit controls the industrial robot 1 to effectively identify the pose data of the axial flow fan blade 7, which includes the fan blade suction point, the central point coordinates, the blade inclination angle, etc., and then the main control unit controls the gripping device to rotate, so that the direction of the suction surface 3011 of the suction disc assembly 30 at the end of the gripping device coincides with the normal direction of the suction point of the axial flow fan blade 7, and then the main control unit drives the gripping device to move along the coincided normal direction until the suction surface 3011 contacts and completes the suction locking with the suction point of the axial flow fan blade 7, so as to achieve the purpose of accurate positioning.

[0081] Of course, in other embodiments, as shown in Figure 5 The photoelectric sensing device 5 in the present embodiment includes a transmitter 52 and a receiver 53, and the discharging station is provided with the transmitter 52 and the receiver 53 on both sides along the width direction of the transmission belt 31; the transmitter 52 emits a light beam of a specific wavelength (850-940 nm), and the receiver 53 is configured with a photodiode array, which includes at least three groups of receiving units to form a redundant detection area; when the axial flow fan blade 7 blocks or reflects the light beam, the photoelectric current of the receiver 53 will change by μA level, which is converted into an identifiable electrical signal by an amplifying circuit and transmitted to the main control unit.

[0082] In other embodiments, in order to further prevent the axial flow fan blade 7 from falling off the transmission belt 31 in the discharging station, as shown in Figure 6 The discharging station is provided with a blocking plate 6, which extends along the width direction of the transmission device 3 and is arranged in a spaced manner above the transmission belt 31 of the transmission device 3.

[0083] It should be noted that the spacing height of the blocking plate 6 and the transmission belt 31 in the vertical direction is lower than the height of the axial flow fan blade 7, so as to prevent the axial flow fan blade 7 from passing through the blocking plate 6.

[0084] In some embodiments, as shown in Figure 3 The storage device 2 includes:

[0085] A power chain 21 is arranged on one side or both sides of the width direction of the conveying device 3, and the power chain 21 moves in a circulating manner along the conveying direction of the conveying device 3; a plurality of storage structures 22 are arranged on the power chain 21 at intervals, and the storage structures 22 pass through the feeding station;

[0086] The storage structure 22 is used for arranging the axial flow fan blades 7 in a vertically multi-layer stacked manner.

[0087] It should be noted that the storage structure 22 comprises a base 221, and three limiting columns 222 are vertically arranged on the base 221, the three limiting columns 222 are distributed in a triangular manner, and the axial flow fan blades 7 in the embodiment have three blades, and each blade can pass out from between any two adjacent limiting columns 222.

[0088] When the main control unit controls the power chain 21 to move in a circulating manner by the motor, and the storage structure 22 passes through the feeding station, the main control unit will turn off the motor to stop the movement of the power chain 21, so as to ensure that the storage structure 22 is located at the feeding station, so that after the industrial robot 1 adsorbs the axial flow fan blade 7 from the discharging station, the industrial robot 1 moves to the storage structure 22 to arrange and place the axial flow fan blade 7 in a vertically multi-layer stacked manner, and when the storage amount of the storage structure 22 in the feeding station reaches the upper limit, the main control unit starts the motor again to move the next empty storage structure 22 to the feeding station, so as to form a cycle.

[0089] In some embodiments, in order to ensure that the grabbing device can accurately adsorb or release the axial flow fan blade 7, a vacuum generating device (not shown, the same throughout the text) is arranged in the industrial robot 1, and the vacuum generating device communicates with the suction disc assembly 30 through a vacuum pipeline; the vacuum generating device is used for changing the pressure of the vacuum pipeline to realize the suction or release of the axial flow fan blade 7.

[0090] It can be understood that the vacuum pipeline can pass through the fastener 204 and the suction disc rod 3012 in sequence and then communicate with the adsorption surface 3011, or the vacuum pipeline can pass into the adsorption surface 3011 from the side wall of the suction disc rod 3012.

[0091] Therefore, when the grabbing device adsorbs the axial flow fan blade 7, the main control unit starts the vacuum generating device to form negative pressure in the vacuum pipeline, so that the suction disc assembly 30 is tightly attached to the adsorption point on the axial flow fan blade 7 to avoid slipping; when the grabbing device releases the axial flow fan blade 7, the vacuum generating device switches to a blowing mode to eliminate residual adsorption force through a positive airflow to ensure that the axial flow fan blade 7 stably separates from the grabbing device.

[0092] The working process of the axial flow fan blade production line is as follows:

[0093] After the axial flow fan blade 7 is completed by injection molding, it is placed in the feeding station of the transmission belt 31, and then the transmission belt 31 transports it to the discharging station, and then the main control unit controls the transmission belt 31 to stop rotating by using the infrared sensor 51, and then the visual alignment mechanism 4 takes a photo of the axial flow fan blade 7 located below it and transmits it to the main control unit, and then the main control unit captures the pose data of the corresponding axial flow fan blade 7 according to the photo, and then the main control unit compensates the position deviation of the industrial robot 1 according to the position data, so as to ensure that the orientation of the suction surface 3011 of the suction disc assembly 30 at the end of the grabbing device coincides with the normal direction of the suction point of the axial flow fan blade 7, and then the main control unit drives the grabbing device to move along the coincided normal direction until the suction surface 3011 contacts the suction point of the axial flow fan blade 7, while the main control unit adjusts the suction force of the suction disc 301 through the vacuum generating device, so as to control the air pressure difference between the suction disc 301 and the suction point of the axial flow fan blade 7, thereby enabling the suction disc 301 to suck the axial flow fan blade 7 and realize the grabbing of the axial flow fan blade 7.

[0094] Then the industrial robot 1 moves the sucked axial flow fan blade 7 to the storage structure 22 on the discharging station and releases it, so as to ensure that the axial flow fan blade 7 is arranged in multiple layers in the vertical direction in the storage structure 22, and when the storage amount of the storage structure 22 in the discharging station reaches the upper limit, the main control unit controls the power chain 21 to move the next empty storage structure 22 to the discharging station, thereby realizing the stacking of the axial flow fan blade 7.

[0095] Obviously, the above-described embodiments are only some embodiments of the present application, not all embodiments, and the preferred embodiments of the present application are given in the drawings, but do not limit the patent scope of the present application. The present application can be realized in many different forms, and conversely, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive. Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or equivalently replace some technical features. Any equivalent structure made by using the contents of the present application specification and drawings, directly or indirectly applied to other related technical fields, is also within the patent protection scope of the present application.

Claims

1. A gripping device, characterized in that The utility model relates to a kind of industrial robot's suction device, including: Mounting seat (10), the mounting seat (10) is used to rotate with the execution end of industrial robot (1) connection; Connecting assembly (20), the connecting assembly (20) is connected with the mounting seat (10);The upper surface and the lower surface of the connecting assembly (20) along the thickness direction of the connecting assembly (20) are respectively provided with suction disc assembly (30) on the distal end of the connecting assembly (20) away from the mounting seat (10), and the suction disc assembly (30) is used to suck or release axial flow fan blade.

2. The gripping device according to claim 1, characterized in that The connecting assembly (20) includes two spaced apart connecting plates (201), and the distal end of the connecting plate (201) away from the mounting seat (10) and the opposite side are respectively provided with suction disc assembly (30).

3. The gripping device according to claim 2, characterized in that The distal end of each connecting plate (201) is provided as Y type bifurcation structure (202), and each bifurcated arm of the Y type bifurcation structure (202) is respectively provided with at least one long strip-shaped through hole (203) along its extension direction, and the long axis direction of the long strip-shaped through hole (203) coincides with the axis direction of the bifurcated arm where it is located, and the center points of any long strip-shaped through hole (203) on each bifurcated arm jointly enclose a triangle; Each long strip-shaped through hole (203) is detachably connected with at least one suction disc (301), and all suction discs (301) in each Y type bifurcation structure (202) form the suction disc assembly (30).

4. The gripping device according to claim 3, characterized in that The opposite side of the connecting plate (201) is provided with fastener (204), and the head width of the fastener (204) and the width of the end of the suction disc (301) away from the adsorption surface (3011) are both greater than the width of the long strip-shaped through hole (203). The end of the suction disc (301) is detachably connected with the fastener (204) to clamp the bifurcated arm where the long strip-shaped through hole (203) is located.

5. A production line for axial flow impellers, characterized in that it comprises: The axial flow fan blade production line includes an industrial robot (1), and the industrial robot (1) is provided with the grabbing device according to any one of claims 1-4.

6. The axial fan blade production line according to claim 5, wherein The axial flow fan blade production line further includes: A feeding station of a storage device (2) and a discharging station of a conveying device (3) arranged within the activity range of the industrial robot (1); The conveying device (3) is used to carry and convey the axial flow fan blade to the discharging station, so that the industrial robot (1) adsorbs the axial flow fan blade through the grabbing device and grabs to the feeding station.

7. The axial fan blade production line according to claim 6, wherein A visual alignment mechanism (4) is arranged above the discharging station, and the visual alignment mechanism (4) is used to take a photo of the axial flow fan blade and grab the relative position coordinates. At least one photoelectric sensing device (5) is arranged on one side or both sides of the discharging station along the width direction of the conveying device (3).

8. The axial fan blade production line according to claim 6, wherein The discharging station is provided with a baffle (6), and the baffle (6) extends along the width direction of the conveying device (3), and the baffle (6) is arranged above the transmission belt (31) of the conveying device (3) and is spaced apart.

9. The axial fan blade production line according to claim 6, wherein The storage device (2) includes: A power chain (21) is arranged on one side or both sides of the width direction of the conveying device (3), and the power chain (21) moves in a circulating manner along the conveying direction of the conveying device (3); a plurality of storage structures (22) are arranged on the power chain (21) at intervals, and the storage structures (22) pass through the material feeding station; The storage structure (22) is used for arranging the axial flow fan blades in a vertical direction in a multi-layer stacked manner.

10. The axial fan blade production line according to claim 5, wherein The industrial robot (1) is provided with a vacuum generating device, the vacuum generating device communicates with the suction cup assembly (30) through a vacuum pipeline; the vacuum generating device is used for changing the pressure of the vacuum pipeline, realizing the suction or release of the axial flow fan blade.

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