CN103203630B - modular flexible manufacturing logistics system - Google Patents
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Abstract
The present invention relates to a kind of Modular Flexible manufacturing logistics system, comprise automatic stereowarehouse and go out library unit, material tests and machine vision unit, processing of robots unit, size detecting unit, waste product sorting unit, analog quantity spray unit, robotic asssembly unit, warehouse for finished product and piler unit and system main-control unit.System main-control unit and automatic stereowarehouse go out library unit, material tests is all connected by EPA bus with piler unit with machine vision unit robot machining cell, size detecting unit, waste product sorting unit, analog quantity spray unit, robotic asssembly unit, warehouse for finished product.System main-control unit goes out each substation unit such as library unit, material tests and machine vision unit, processing of robots unit, size detecting unit, waste product sorting unit, analog quantity spray unit, robotic asssembly unit, warehouse for finished product and piler as system master station cooperation control automatic stereowarehouse, and each unit can work alone or on-line working by detachment system.
Description
Technical field
The present invention relates to manufacturing system, be specifically related to the Modular Flexible manufacturing logistics system of the transmission of a kind of integrated logistics, product manufacturing.
Background technology
Along with developing rapidly of science and technology, new product continues to bring out, and the complexity of product also increases thereupon, and the market life shortened of product, updates and accelerates, in, small lot batch manufacture occupies more and more consequence.Face this-new situation, manufacturing flexible and production efficiency must be increased substantially, shorten the production cycle, ensure product quality, reduce energy consumption, thus reduce production cost, to obtain better economic benefit.Flexible manufacturing system is arisen at the historic moment just under these circumstances.
Flexible manufacturing system is by unified management information system, material handling system and set of number controlled working equipment composition, the automated machine manufacturing system of processing object conversion can be adapted to, FMS technology is the inevitable structure of Computerized Numerical Control processing technology development, embody a national equipment manufacturing technical merit, it is by engineering design separate in enterprise in the past, the processes such as the manufacturing and management, under the support of computer and software thereof, form one and cover whole enterprise complete and organic system, to realize overall dynamic optimization, efficient overall benefit, high flexibility, and and then win the comprehensive intelligent manufacturing system of competition.But China starts late, backwardness relatively in flexible manufacturing system, along with the continuous propelling of domestic industry degree, and industrialization transition, for the demand of automation equipment, and the demand of Integration ofTechnology constantly increases.Demand for the Modular Flexible manufacturing logistics system of integrated logistics transmission, product manufacturing is more and more higher.
Summary of the invention
In view of this, the present invention aims to provide the Modular Flexible manufacturing logistics system of the transmission of a kind of integrated logistics, product manufacturing.
The object of the invention is to provide a kind of Modular Flexible manufacturing system, adopt Robotics to realize the unmanned control of production process, realize the economical and efficient of system, safe and reliable operation.Further, this system also can be used as teaching and uses, be reached for student provide one open, novelty and can the experiment porch of property of participation, and the object of teaching.
The present invention takes following technical scheme to solve the problem:
A kind of Modular Flexible manufacturing logistics system, comprises automatic stereowarehouse and goes out library unit, material tests and machine vision unit, processing of robots unit, size detecting unit, waste product sorting unit, analog quantity spray unit, robotic asssembly unit, warehouse for finished product and piler unit and system main-control unit, described automatic stereowarehouse goes out library unit, material tests and machine vision unit robot machining cell, size detecting unit, system main-control unit, waste product sorting unit, analog quantity spray unit, robotic asssembly unit and warehouse for finished product and piler unit are connected to form U-shaped arrangement mode successively, and described automatic stereowarehouse goes out library unit, material tests and machine vision unit robot machining cell, size detecting unit is located along the same line, described waste product sorting unit, analog quantity spray unit, robotic asssembly unit, warehouse for finished product and piler unit are located along the same line, and described system main-control unit and described automatic stereowarehouse go out library unit, material tests and machine vision unit robot machining cell, size detecting unit, waste product sorting unit, analog quantity spray unit, robotic asssembly unit, warehouse for finished product is all connected by EPA bus with piler unit, and described system main-control unit goes out library unit as automatic stereowarehouse described in system master station cooperation control, material tests and machine vision unit robot machining cell, size detecting unit, waste product sorting unit, analog quantity spray unit, robotic asssembly unit, warehouse for finished product and each substation unit of piler unit, each substation unit can work alone or on-line working by detachment system.
Preferably, described system main-control unit comprises the 9th aluminium alloy desktop, master control computer, first programmable logic controller (PLC), second programmable logic controller (PLC), 3rd programmable logic controller (PLC), 4th programmable logic controller (PLC), 5th programmable logic controller (PLC), first embedded control system, second embedded control system and three embedded formula control system, described master control computer is arranged on described 9th aluminium alloy desktop, described master control computer by bus respectively with described first programmable logic controller (PLC), second programmable logic controller (PLC), 3rd programmable logic controller (PLC), 4th programmable logic controller (PLC), 5th programmable logic controller (PLC), first embedded control system, second embedded control system is connected with three embedded formula control system.
Preferably, described automatic stereowarehouse goes out library unit and comprises the first aluminium alloy desktop, three-dimensional raw material storage, workpiece, four-degree-of-freedom rectangular co-ordinate robot palletizer and robot end's Pneumatic paw, described three-dimensional raw material storage and four-degree-of-freedom rectangular co-ordinate robot palletizer are arranged on described first aluminium alloy desktop, described workpiece is placed on described three-dimensional raw material storage, described robot end's Pneumatic paw is arranged on described four-degree-of-freedom rectangular co-ordinate robot palletizer, described automatic stereowarehouse goes out library unit by controlling by the first programmed logic controller, be connected with described system main-control unit bus, by system main-control unit coordination and control.
Preferably, described material tests and machine vision unit comprise the second aluminium alloy desktop, the second belt conveyor, proximity transducer and CCD NI Vision Builder for Automated Inspection, described second belt conveyor, proximity transducer and CCD NI Vision Builder for Automated Inspection are arranged on described second aluminium alloy desktop, described proximity transducer and CCD NI Vision Builder for Automated Inspection be positioned at described second belt conveyor along the line on, described material tests and machine vision unit are controlled by the first embedded control system, be connected with described system main-control unit bus, by system main-control unit coordination and control.
Preferably, described processing of robots unit comprises 3 Al alloy desktop, 3rd belt conveyor, Pneumatic manipulator, six degree of freedom desktop type parallel robot, electric main shaft in parallel and cutter and air-actuated jaw in parallel, described 3rd belt conveyor, Pneumatic manipulator, six degree of freedom desktop type parallel robot, be arranged on described 3 Al alloy desktop with air-actuated jaw in parallel, described electric main shaft in parallel and cutter are arranged on six degree of freedom desktop type parallel robot, described air-actuated jaw in parallel is arranged on the below of described electric main shaft and cutter, described processing of robots unit is controlled by the second embedded control system, be connected with described system main-control unit bus, by system main-control unit coordination and control.
Preferably, described size detecting unit comprises the 4th aluminium alloy desktop, the 4th belt conveyor, 90 degree of conveying robots, four station detection devices, hole depth checkout gear and 90 degree of transportation manipulators, described 4th belt conveyor, 90 degree of conveying robots, four station detection devices, hole depth checkout gear and 90 degree of transportation manipulators are arranged on described 4th aluminium alloy desktop, described size detecting unit is by the second PLC controls, be connected with described system main-control unit bus, by system main-control unit coordination and control.
Preferably, described waste product sorting unit comprises the 5th aluminium alloy desktop, the 5th belt conveyor, 90 degree of transportation manipulators, three pneumatic retention devices and three waste product grooves, described 5th belt conveyor, 90 degree of transportation manipulators, three pneumatic retention devices and three waste product grooves are arranged on described 5th aluminium alloy desktop, described waste product sorting unit is by the 3rd PLC controls, be connected with described system main-control unit bus, by system main-control unit coordination and control.
Preferably, described analog quantity spray unit comprises the 6th aluminium alloy desktop, the 6th belt conveyor, vacuum suction handling system, spray conveyor, color sensor and three spray equipments, described 6th belt conveyor, vacuum suction handling system, spray conveyor, color sensor and three spray equipments are arranged on described 6th aluminium alloy desktop, described analog quantity spray unit is by the 4th PLC controls, be connected with described system main-control unit bus, by system main-control unit coordination and control.
Preferably, described robotic asssembly unit comprises the 7th aluminium alloy desktop, 7th belt conveyor, twelve-station rotates material storehouse, sub-workpiece, color sensor, barcode scanner, six degree of freedom desktop type serial manipulator, robot end's Pneumatic paw and mounting plate, described 7th belt conveyor, twelve-station rotates material storehouse, color sensor, barcode scanner, six degree of freedom desktop type serial manipulator, robot end's Pneumatic paw and mounting plate are arranged on described 7th aluminium alloy desktop, described sub-workpiece is placed on twelve-station and rotates in material storehouse, described color sensor is arranged on the below that described twelve-station rotates material storehouse, described robot end's Pneumatic paw is arranged on the end of described six degree of freedom desktop type serial manipulator, described robotic asssembly unit is controlled by three embedded formula control system, be connected with described system main-control unit bus, by system main-control unit coordination and control.
Preferably, described warehouse for finished product and piler unit comprise the 8th aluminium alloy desktop, Automatic Store warehouse for finished product, piler, well formula feed bin and single armed feeding device, described Automatic Store warehouse for finished product, piler, well formula feed bin and single armed feeding device are arranged on described 8th aluminium alloy desktop, described warehouse for finished product and piler unit are by the 5th PLC controls, be connected with described system main-control unit bus, by system main-control unit coordination and control.
Compared with prior art, the beneficial effect of flexiblesystem of the present invention is:
Modular Flexible manufacturing logistics system of the present invention take Robotics as core, Mechatronic Systems all-round opening, simulates the actual automatic production line operating process of industry spot completely.
Modular Flexible manufacturing logistics systems technology of the present invention is abundant in content, comprises most of industrial control field ABC, is applicable to robot and On Electro-mechanics Integration Major teachings and researches.
Modular Flexible manufacturing logistics system of the present invention has the advantage of modularization and high flexibility, can adapt to the manufacturing of different product fast.
Accompanying drawing explanation
Fig. 1 is Modular Flexible manufacturing logistics overall system of the present invention composition and the front view arranged.
Fig. 2 is the top view of Fig. 1.
Fig. 3 is the front view that automatic stereowarehouse of the present invention goes out library unit.
Fig. 4 is the top view of Fig. 1.
Fig. 5 is the front view of material tests of the present invention and machine vision unit.
Fig. 6 is the top view of Fig. 5.
Fig. 7 is the front view of processing of robots unit of the present invention.
Fig. 8 is the top view of Fig. 7.
Fig. 9 is the front view of size detecting unit of the present invention.
Figure 10 is the top view of Fig. 9.
Figure 11 is the front view of waste product sorting unit of the present invention.
Figure 12 is the top view of Figure 11.
Figure 13 is the front view of analog quantity spray unit of the present invention.
Figure 14 is the top view of Figure 13.
Figure 15 is the left view of Figure 13.
Figure 16 is the front view of robotic asssembly unit of the present invention.
Figure 17 is the top view of Figure 16.
Figure 18 be Figure 16 sit by and watch figure.
Figure 19 is the front view of warehouse for finished product of the present invention and piler unit.
Figure 20 is the top view of Figure 19.
Figure 21 is the front view of system main-control unit of the present invention.
Figure 22 is the top view of Figure 21.
Figure 23 is the control chart of Modular Flexible manufacturing logistics system of the present invention.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Refer to Fig. 1-2, the embodiment of the present invention provides a kind of Modular Flexible manufacturing logistics system, comprises automatic stereowarehouse and goes out library unit 1, material tests and machine vision unit 2, processing of robots unit 3, size detecting unit 4, waste product sorting unit 5, analog quantity spray unit 6, robotic asssembly unit 7, warehouse for finished product and piler unit 8, system main-control unit 9.
Automatic stereowarehouse goes out library unit 1, material tests and machine vision unit 2, processing of robots unit 3, size detecting unit 4, system main-control unit 9, waste product sorting unit 5, analog quantity spray unit 6, robotic asssembly unit 7, warehouse for finished product and piler unit 8 and is connected to form U-shaped arrangement mode successively.Automatic stereowarehouse goes out library unit 1, material tests and machine vision unit 2, processing of robots unit 3 and size detecting unit 4 and is located along the same line, and waste product sorting unit 5, analog quantity spray unit 6, robotic asssembly unit 7 and warehouse for finished product and piler unit 8 are located along the same line.
System main-control unit 9 and automatic stereowarehouse go out library unit 1, material tests is connected by EPA bus with piler unit 8 with machine vision unit 2, processing of robots unit 3, size detecting unit 4, waste product sorting unit 5, analog quantity spray unit 6, robotic asssembly unit 7, warehouse for finished product.System main-control unit 9 goes out each substation unit of library unit 1, material tests and machine vision unit 2, processing of robots unit 3, size detecting unit 4, waste product sorting unit 5, analog quantity spray unit 6, robotic asssembly unit 7, warehouse for finished product and piler unit 8 as master station's cooperation control automatic stereowarehouse, and each substation unit can work alone or on-line working by detachment system.
Particularly, refer to Figure 21-23, system main-control unit 9 is for the operation of control module flexible manufacturing logistics system.System main-control unit 9 comprises the 9th aluminium alloy desktop 90, master control computer 91, first programmable logic controller (PLC) (ProgrammableLogicController, i.e. PLC) the 93, second programmable logic controller (PLC) 94, the 3rd programmable logic controller (PLC) 95, the 4th programmable logic controller (PLC) 96, the 5th programmable logic controller (PLC) 97, first embedded control system 98, second embedded control system 99 and three embedded formula control system 100, master control computer 91 is arranged on described 9th aluminium alloy desktop 90
Master control computer 91 is connected with the first programmable logic controller (PLC) 93, second programmable logic controller (PLC) 94, the 3rd programmable logic controller (PLC) 95, the 4th programmable logic controller (PLC) 96, the 5th programmable logic controller (PLC) 97, first embedded control system 98, second embedded control system 99 and three embedded formula control system 100 respectively by bus.Each embedded control system can adopt PC104 bus embedded type control system, is linked be connected to master control computer 91 by PROFIBUS-DP substation.
9th aluminium alloy desktop 90 being also provided with the first belt conveyor 101, first belt conveyor 101 is connected between size detecting unit 4 and waste product sorting unit 5, for workpiece is sent to waste product sorting unit 5 from size detecting unit 4.
Refer to Fig. 3-4, automatic stereowarehouse goes out library unit 1 and comprises the first aluminium alloy desktop 10, three-dimensional raw material storage 11, workpiece 12, four-degree-of-freedom rectangular co-ordinate robot palletizer 13 and robot end's Pneumatic paw 14.Three-dimensional raw material storage 11 and four-degree-of-freedom rectangular co-ordinate robot palletizer 13 are arranged on the first aluminium alloy desktop 10, and workpiece 12 is placed on three-dimensional raw material storage 11, and robot end's Pneumatic paw 14 is arranged on four-degree-of-freedom rectangular co-ordinate robot palletizer 13.Wherein, three-dimensional raw material storage 11 is four row six row, adopts aluminium alloy extrusions to build, installs detecting sensor, in order to detect in the lattice of storehouse with or without workpiece 12 in the storehouse lattice of three-dimensional raw material storage 11.Four-degree-of-freedom rectangular co-ordinate robot palletizer 13 comprises three cover electric linear platforms and a set of electric rotary table, is built by connecting plate.Three cover electric linear platforms are all by driving stepper motor, and ball guide screw nat transmission, line slideway supports.Electric rotary table is by driving stepper motor, and worm and gear slows down and exports.Certainly, stepper motor is also replaceable is AC servo motor, can be combined.Automatic stereowarehouse goes out library unit 1 and is controlled by the first programmable logic controller (PLC) 93, is connected with system main-control unit 9 bus, by system main-control unit 9 coordination and control.Alternatively, it is also replaceable for be connected with embedded control system that automatic stereowarehouse goes out library unit 1, and automatic stereowarehouse goes out the configurable man-machine interface operation of library unit 1 and monitoring.
Refer to Fig. 5-6, material tests and machine vision unit 2 comprise the second aluminium alloy desktop 20, second belt conveyor 21, proximity transducer 22 and CCD NI Vision Builder for Automated Inspection 23.Second belt conveyor 21, proximity transducer 22 and CCD NI Vision Builder for Automated Inspection 23 are arranged on the second aluminium alloy desktop 20.Proximity transducer 22 and CCD NI Vision Builder for Automated Inspection 23 be positioned at the second belt conveyor 21 along the line on.Second belt conveyor 21 aluminium alloy type profile framework is built, and adopts direct current generator to connect worm type of reduction gearing transmission, the second belt conveyor 21 is provided with diffuse electric transducer and pneumatic power positioner.Proximity transducer 22 adopts inductance type transducer, can detect metal and non-metallic material.CCD NI Vision Builder for Automated Inspection 23 adopts aluminium alloy post to support, and is positioned at the side of the second belt conveyor 21.CCD NI Vision Builder for Automated Inspection 23 comprises video frequency collection card.Material tests and machine vision unit 2 are controlled by the first embedded control system 98, are connected with system main-control unit 9 bus, by system main-control unit 9 coordination and control.First embedded control system 98 adopts Windows sequence of maneuvers system, and the first embedded control system 98 is the embedded control system of Based PC 104 bus.The video frequency collection card of CCD NI Vision Builder for Automated Inspection 23 is installed in this first embedded control system 98.
Refer to Fig. 7-8, processing of robots unit 3 comprises 3 Al alloy desktop 30, the 3rd belt conveyor 31, Pneumatic manipulator 32, six degree of freedom desktop type parallel robot 33, electric main shaft in parallel and cutter 34 and air-actuated jaw in parallel 35.3rd belt conveyor 31, Pneumatic manipulator 32, six degree of freedom desktop type parallel robot 33, air-actuated jaw in parallel 35 are arranged on 3 Al alloy desktop 30.Electric main shaft in parallel and cutter 34 are arranged on six degree of freedom desktop type parallel robot 33.Build at the 3rd belt conveyor 31 aluminium alloy type profile framework, adopt direct current generator to connect worm type of reduction gearing transmission, the 3rd belt conveyor 31 is provided with diffuse electric transducer and pneumatic power positioner.Pneumatic manipulator 32 comprises a set of cylinder of setting a table, two cover Rodless cylinder and end Pneumatic paws, and Pneumatic manipulator 32 is built into cylindrical coordinates robot pattern, and cylinder is all provided with magnetic sensor.Six degree of freedom desktop parallel robot 33 adopts full AC servo motor or full driving stepper motor, and six degree of freedom desktop parallel robot 33 is PSS slide block type parallel institution, adopts ball guide screw nat transmission, and drivening rod connects movable platform.Electric main shaft in parallel and cutter 34 are arranged in movable platform, and adopt direct current deceleration, electric main shaft and cutter 34 can chips.Air-actuated jaw 35 in parallel is arranged on the below of electric main shaft and cutter 34.Processing of robots unit 3 is controlled by the second embedded control system 99, is connected with system main-control unit 9 bus, by system main-control unit 9 coordination and control.Second embedded control system 99 adopts Windows sequence of maneuvers system, and the second embedded control system 99 is the embedded control system of Based PC 104 bus.
Refer to Fig. 9-10, size detecting unit 4 comprises the 4th aluminium alloy desktop 40, the 4th belt conveyor 41,90 degree of conveying robot 42, four station detection devices 43, hole depth checkout gear 44 and 90 degree of transportation manipulators 45.4th belt conveyor 41,90 degree conveying robot 42, four station detection device 43, hole depth checkout gear 44 and 90 degree of transportation manipulators 45 are arranged on the 4th aluminium alloy desktop 40.4th belt conveyor 41 aluminium alloy type profile framework is built, and adopts direct current generator to connect worm type of reduction gearing transmission, the 4th belt conveyor 41 is provided with diffuse electric transducer and pneumatic power positioner.90 degree of conveying robots 42 adopt driving stepper motor, are exported by connection harmonic speed reducer and Bevel Gear Transmission, and the end of 90 degree of conveying robots 42 installs lifting guide pillar cylinder and Pneumatic paw instrument.Four station detection devices 43 adopt driving stepper motor, are exported by direct-connected harmonic speed reducer, are provided with the sensor for detecting with or without workpiece 12 below the station of four station detection devices 43.Hole depth checkout gear 44 is for detecting the hole depth of workpiece 12.90 degree of transportation manipulators 45 adopt driving stepper motor, and export by connecting harmonic speed reducer, the end of 90 degree of transportation manipulators 45 installs lifting guide pillar cylinder and Pneumatic paw instrument.Size detecting unit 4 is controlled by the second programmable logic controller (PLC) 94, is connected with system main-control unit 9 bus, by system main-control unit 9 coordination and control.The configurable man-machine interface operation of size detecting unit 4 and monitoring.
Refer to Figure 11-12, waste product sorting unit 5 comprises the 5th aluminium alloy desktop 50, the 5th belt conveyor 51,90 degree of transportation manipulators 52, three pneumatic retention devices 53 and three waste product grooves 54.The pneumatic retention device 53 of 5th belt conveyor 51,90 degree transportation manipulator 52, three and three waste product grooves 54 are arranged on the 5th aluminium alloy desktop 50.5th belt conveyor 51 aluminium alloy type profile framework is built, and adopts direct current generator to connect worm type of reduction gearing transmission, the 5th belt conveyor 51 is provided with diffuse electric transducer and pneumatic power positioner.90 degree of transportation manipulators 52 adopt driving stepper motor, and export by connecting harmonic speed reducer, the end of 90 degree of transportation manipulators 52 installs lifting guide pillar cylinder and Pneumatic paw instrument.Waste product sorting unit 5 is controlled by the 3rd programmable logic controller (PLC) 95, is connected with system main-control unit 9 bus, by system main-control unit 9 coordination and control.The configurable man-machine interface operation of waste product sorting unit 5 and monitoring.
Refer to Figure 13-15, analog quantity spray unit 6 comprises the 6th aluminium alloy desktop 60, the 6th belt conveyor 61, vacuum suction handling system 62, spray conveyor 63, color sensor 64 and three spray equipments 65.6th belt conveyor 61, vacuum suction handling system 62, spray conveyor 63, color sensor 64 and three spray equipments 65 are arranged on the 6th aluminium alloy desktop 60.6th belt conveyor 61 aluminium alloy type profile framework is built, and adopts direct current generator to connect worm type of reduction gearing transmission, the 6th belt conveyor 61 is provided with diffuse electric transducer and pneumatic power positioner.The main body of vacuum suction handling system 63 is electric linear platform, adopts driving stepper motor, and by ball guide screw nat transmission, linear axis supports, and the output movable platform of vacuum suction handling system 63 installs lifting guide pillar cylinder and end vacuum cup.Spray conveyor 63 adopts driving stepper motor, drives movable platform to run by toothed belt transmission.Spray conveyor 63 adopts linear axis to support, and utilizes photoelectric sensor to limit three place's operation stations.Color sensor 64 is for detecting the color of workpiece 12.Three place's spray equipments 65 adopt pneumatic spray gun pattern, can realize spraying operation.Analog quantity spray unit 6 is controlled by the 4th programmable logic controller (PLC) 96, is connected with system main-control unit 9 bus, by system main-control unit 9 coordination and control.The configurable man-machine interface operation of analog quantity spray unit 6 and monitoring.
Refer to Figure 16-18, robotic asssembly unit 7 comprises the 7th aluminium alloy desktop 70, the 7th belt conveyor 71, twelve-station rotation material storehouse 72, sub-workpiece 73, color sensor 74, barcode scanner 75, six degree of freedom desktop type serial manipulator 76, robot end's Pneumatic paw 77 and mounting plate 78.7th belt conveyor 71, twelve-station rotate material storehouse 72, color sensor 74, barcode scanner 75, six degree of freedom desktop type serial manipulator 76, robot end's Pneumatic paw 77 and mounting plate 78 and are arranged on the 7th aluminium alloy desktop 70.Sub-workpiece 73 is placed on twelve-station and rotates in material storehouse 72.7th belt conveyor 71 aluminium alloy type profile framework is built, and adopts direct current generator to connect worm type of reduction gearing transmission, the 7th belt conveyor 71 is provided with diffuse electric transducer and pneumatic power positioner.Twelve-station rotates material storehouse 72 and adopts driving stepper motor, is exported by direct-connected harmonic speed reducer.Color sensor 74 is arranged on the below that twelve-station rotates material storehouse 72, for detecting the colouring information state of assembling sub-workpiece 73.Six degree of freedom desktop type serial manipulator 76 adopts step-servo motor combination drive, is articulated type serial manipulator.Robot end's Pneumatic paw 77 is arranged on the end of six degree of freedom desktop type serial manipulator 76.Robotic asssembly unit 7 is controlled by three embedded formula control system 100, is connected with system main-control unit 9 bus, by system main-control unit 9 coordination and control.Three embedded formula control system 100 adopts Windows sequence of maneuvers system, and three embedded formula control system 100 is the embedded control system of Based PC 104 bus.
Refer to Figure 19-20, warehouse for finished product and piler unit 8 comprise the 8th aluminium alloy desktop 80, Automatic Store warehouse for finished product 81, piler 82, well formula feed bin 83 and single armed feeding device 84.Automatic Store warehouse for finished product 81, piler 82, well formula feed bin 83 and single armed feeding device 84 are arranged on the 8th aluminium alloy desktop 80.Automatic Store warehouse for finished product 81 is four row six row, adopts aluminium alloy extrusions to build, installs detecting sensor, in order to detect in the lattice of storehouse with or without workpiece 12 in the storehouse lattice of Automatic Store warehouse for finished product 81.The sub-workpiece of assembling placed by well formula feed bin 83, and well formula feed bin 83 adopts stainless steel tube cylinder to release the sub-workpiece of assembling successively.Single armed feeding device 84 adopts driving stepper motor, and by harmonic speed reducer transmission, rocker structure, end vacuum suction system carries out material loading.Described piler 82 adopts aluminium alloy type profile framework, is respectively ball guide screw nat and toothed belt transmission, adopts line slideway to support by two cover stepper drive electric linear platforms.The end of single armed feeding device 84 installs guide rod cylinder and Pneumatic paw instrument.Warehouse for finished product and piler unit 8 are controlled by the 5th programmable logic controller (PLC) 97, are connected with system main-control unit 9 bus, by system main-control unit 9 coordination and control.Warehouse for finished product and the configurable man-machine interface of piler unit 8 operate and monitoring.
Modular Flexible manufacturing logistics system of the present invention has following characteristics:
1, Modular Flexible manufacturing logistics system take Robotics as core, the multiple industrial machine in normal service people pattern such as integrated series robot, parallel robot, Cartesian robot, pneumatic robot, pneumoelectric hybrid machine people.
2, Modular Flexible manufacturing logistics system comprises the control of robot cell's embedded system, windows operating system.System compact is small and exquisite, has very strong tenability to real-time and multitask, can complete multitask and have shorter interrupt response time.And there is the very strong memory block defencive function of function, be convenient to hands-on and system maintainability.
3, each unit in Modular Flexible manufacturing logistics system has " online/unit " two kinds of operator schemes.The software and hardware of all units all can detachment system independent operation, and available stand-alone device is platform, carries out the research and development of single technology, easily expands.
4, Modular Flexible manufacturing logistics system is by industry standard design, by network communications technology, all unit module devices in system is carried out the integrated of height, identical with industry spot form.
5, the soft and hardware part of Modular Flexible manufacturing logistics system reserves extending space, open interface, and user side can increase EM equipment module on my Corporation system basis, and can easily be integrated in system, for secondary development and expansion create very advantage.
6, Modular Flexible manufacturing logistics system integration information management, by each cell sensor communication, the state of link each in system is presented on operation interface, makes operator understand operating mode, state, the service data of each link of system at any time by computer, grasp system running state.
7, the mechanical & electrical technology all-round opening of Modular Flexible manufacturing logistics system, easily can develop oneself motion or controlling functions.Further, Modular Flexible manufacturing logistics system is applied widely, and the teaching equipment that also can be used as electro-mechanical system uses, and motivates students' interest in learning.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. a Modular Flexible manufacturing logistics system, is characterized in that: comprise automatic stereowarehouse and go out library unit (1), material tests and machine vision unit (2), processing of robots unit (3), size detecting unit (4), waste product sorting unit (5), analog quantity spray unit (6), robotic asssembly unit (7), warehouse for finished product and piler unit (8) and system main-control unit (9), described automatic stereowarehouse goes out library unit (1), material tests and machine vision unit (2) processing of robots unit (3), size detecting unit (4), system main-control unit (9), waste product sorting unit (5), analog quantity spray unit (6), robotic asssembly unit (7) and warehouse for finished product and piler unit (8) are connected to form U-shaped arrangement mode successively, and described automatic stereowarehouse goes out library unit (1), material tests and machine vision unit (2) processing of robots unit (3), size detecting unit (4) is located along the same line, described waste product sorting unit (5), analog quantity spray unit (6), robotic asssembly unit (7), warehouse for finished product and piler unit (8) are located along the same line, and described system main-control unit (9) and described automatic stereowarehouse go out library unit (1), material tests and machine vision unit (2) processing of robots unit (3), size detecting unit (4), waste product sorting unit (5), analog quantity spray unit (6), robotic asssembly unit (7), warehouse for finished product is all connected by EPA bus with piler unit (8), and described system main-control unit (9) goes out library unit (1) as automatic stereowarehouse described in system master station cooperation control, material tests and machine vision unit (2) processing of robots unit (3), size detecting unit (4), waste product sorting unit (5), analog quantity spray unit (6), robotic asssembly unit (7), warehouse for finished product and each substation unit of piler unit (8), each substation unit can work alone or on-line working by detachment system.
2. Modular Flexible manufacturing logistics system according to claim 1, is characterized in that: described system main-control unit (9) comprises the 9th aluminium alloy desktop (90), master control computer (91), the first programmable logic controller (PLC) (93), second programmable logic controller (PLC) (94), 3rd programmable logic controller (PLC) (95), 4th programmable logic controller (PLC) (96), 5th programmable logic controller (PLC) (97), first embedded control system (98), second embedded control system (99) and three embedded formula control system (100), described master control computer (91) is arranged on described 9th aluminium alloy desktop (90), described master control computer (91) by bus respectively with described first programmable logic controller (PLC) (93), second programmable logic controller (PLC) (94), 3rd programmable logic controller (PLC) (95), 4th programmable logic controller (PLC) (96), 5th programmable logic controller (PLC) (97), first embedded control system (98), second embedded control system (99) is connected with three embedded formula control system (100).
3. Modular Flexible manufacturing logistics system according to claim 2, it is characterized in that: described automatic stereowarehouse goes out library unit (1) and comprises the first aluminium alloy desktop (10), three-dimensional raw material storage (11), workpiece (12), four-degree-of-freedom rectangular co-ordinate robot palletizer (13) and robot end's Pneumatic paw (14), described three-dimensional raw material storage (11) and four-degree-of-freedom rectangular co-ordinate robot palletizer (13) are arranged on described first aluminium alloy desktop (10), described workpiece (12) is placed on described three-dimensional raw material storage (11), described robot end's Pneumatic paw (14) is arranged on described four-degree-of-freedom rectangular co-ordinate robot palletizer (13), described automatic stereowarehouse goes out library unit (1) and is controlled by the first programmable logic controller (PLC) (93), be connected with described system main-control unit (9) bus, by system main-control unit (9) coordination and control.
4. Modular Flexible manufacturing logistics system according to claim 2, it is characterized in that: described material tests and machine vision unit (2) comprise the second aluminium alloy desktop (20), second belt conveyor (21), proximity transducer (22) and CCD NI Vision Builder for Automated Inspection (23), described second belt conveyor (21), proximity transducer (22) and CCD NI Vision Builder for Automated Inspection (23) are arranged on described second aluminium alloy desktop (20), described proximity transducer (22) and CCD NI Vision Builder for Automated Inspection (23) be positioned at described second belt conveyor (21) along the line on, described material tests and machine vision unit (2) are controlled by the first embedded control system (98), be connected with described system main-control unit (9) bus, by system main-control unit (9) coordination and control.
5. Modular Flexible manufacturing logistics system according to claim 2, it is characterized in that: described processing of robots unit (3) comprises 3 Al alloy desktop (30), 3rd belt conveyor (31), Pneumatic manipulator (32), six degree of freedom desktop type parallel robot (33), electric main shaft in parallel and cutter (34) and air-actuated jaw in parallel (35), described 3rd belt conveyor (31), Pneumatic manipulator (32), six degree of freedom desktop type parallel robot (33), air-actuated jaw (35) in parallel is arranged on described 3 Al alloy desktop (30), described electric main shaft in parallel and cutter (34) are arranged on six degree of freedom desktop type parallel robot (33), described air-actuated jaw in parallel (35) is arranged on the below of described electric main shaft and cutter (34), described processing of robots unit (3) is controlled by the second embedded control system (99), be connected with described system main-control unit (9) bus, by system main-control unit (9) coordination and control.
6. Modular Flexible manufacturing logistics system according to claim 2, it is characterized in that: described size detecting unit (4) comprises the 4th aluminium alloy desktop (40), 4th belt conveyor (41), 90 degree of conveying robots (42), four station detection devices (43), hole depth checkout gear (44) and 90 degree of transportation manipulators (45), described 4th belt conveyor (41), 90 degree of conveying robots (42), four station detection devices (43), hole depth checkout gear (44) and 90 degree of transportation manipulators (45) are arranged on described 4th aluminium alloy desktop (40), described size detecting unit (4) is controlled by the second programmable logic controller (PLC) (94), be connected with described system main-control unit (9) bus, by system main-control unit (9) coordination and control.
7. Modular Flexible manufacturing logistics system according to claim 2, it is characterized in that: described waste product sorting unit (5) comprises the 5th aluminium alloy desktop (50), 5th belt conveyor (51), 90 degree of transportation manipulators (52), three pneumatic retention devices (53) and three waste product grooves (54), described 5th belt conveyor (51), 90 degree of transportation manipulators (52), three pneumatic retention devices (53) and three waste product grooves (54) are arranged on described 5th aluminium alloy desktop (50), described waste product sorting unit (5) is controlled by the 3rd programmable logic controller (PLC) (95), be connected with described system main-control unit (9) bus, by system main-control unit (9) coordination and control.
8. Modular Flexible manufacturing logistics system according to claim 2, it is characterized in that: described analog quantity spray unit (6) comprises the 6th aluminium alloy desktop (60), 6th belt conveyor (61), vacuum suction handling system (62), spray conveyor (63), color sensor (64) and three spray equipments (65), described 6th belt conveyor (61), vacuum suction handling system (62), spray conveyor (63), color sensor (64) and three spray equipments (65) are arranged on described 6th aluminium alloy desktop (60), described analog quantity spray unit (6) is controlled by the 4th programmable logic controller (PLC) (96), be connected with described system main-control unit (9) bus, by system main-control unit (9) coordination and control.
9. Modular Flexible manufacturing logistics system according to claim 2, it is characterized in that: described robotic asssembly unit (7) comprises the 7th aluminium alloy desktop (70), 7th belt conveyor (71), twelve-station rotates material storehouse (72), sub-workpiece (73), color sensor (74), barcode scanner (75), six degree of freedom desktop type serial manipulator (76), robot end's Pneumatic paw (77) and mounting plate (78), described 7th belt conveyor (71), twelve-station rotates material storehouse (72), color sensor (74), barcode scanner (75), six degree of freedom desktop type serial manipulator (76), robot end's Pneumatic paw (77) and mounting plate (78) are arranged on described 7th aluminium alloy desktop (70), described sub-workpiece (73) is placed on twelve-station and rotates in material storehouse (72), described color sensor (74) is arranged on the below that described twelve-station rotates material storehouse (72), described robot end's Pneumatic paw (77) is arranged on the end of described six degree of freedom desktop type serial manipulator (76), described robotic asssembly unit (7) is controlled by three embedded formula control system (100), be connected with described system main-control unit (9) bus, by system main-control unit (9) coordination and control.
10. Modular Flexible manufacturing logistics system according to claim 2, it is characterized in that: described warehouse for finished product and piler unit (8) comprise the 8th aluminium alloy desktop (80), Automatic Store warehouse for finished product (81), piler (82), well formula feed bin (83) and single armed feeding device (84), described Automatic Store warehouse for finished product (81), piler (82), well formula feed bin (83) and single armed feeding device (84) are arranged on described 8th aluminium alloy desktop (80), described warehouse for finished product and piler unit (8) are controlled by the 5th programmable logic controller (PLC) (97), be connected with described system main-control unit (9) bus, by system main-control unit (9) coordination and control.
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Address after: 215121 No. 128, Fang Zhou road, Suzhou Industrial Park, Jiangsu, China Patentee after: JIANGSU HUIBO ROBOTICS TECHNOLOGY CO., LTD. Address before: 215121, Jiangsu, Suzhou Industrial Park, Jinji Lake Road, 99, Northwest District, Suzhou City, 09 Patentee before: Suzhou BoShi Robotics Technology Co., Ltd. |