CN103337216A - Flexible production comprehensive training system integrating machinery, light, electricity, gas and liquid - Google Patents
Flexible production comprehensive training system integrating machinery, light, electricity, gas and liquid Download PDFInfo
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- CN103337216A CN103337216A CN2013101558241A CN201310155824A CN103337216A CN 103337216 A CN103337216 A CN 103337216A CN 2013101558241 A CN2013101558241 A CN 2013101558241A CN 201310155824 A CN201310155824 A CN 201310155824A CN 103337216 A CN103337216 A CN 103337216A
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Abstract
The invention relates to a flexible production comprehensive training system integrating machinery, light, electricity, gas and liquid. The flexible production comprehensive training system comprises a transmission line delivery unit, rail-type six-degree-of-freedom feeding and blanking series robot unit, a pneumatic feeding unit, a hydraulic unit, a six-degree-of-freedom parallel processing unit, an image detection handling unit, a blanking unit, a spraying and drying unit, an image processing unit, a cover assembling unit, a pin assembling unit, a detection unit, a barcode recognition unit, a sorting unit, a lifting and storing unit, a stacking and unstacking unit, a travelling crane manipulator unit and a general control unit. Each of the units has a single-machine/on-line function. Under a single machine mode, an aluminum alloy table of each of the units can be separated from the system and operates independently, and a control system of the unit control the unit to operate; under an on-line mode, the unit acts as a node in a network and dispatched by a master station; and four embedded control unit systems are all equipped with a graphic interface to display, and the rest of the units are controlled by adopting a PLC (programmable logic controller).
Description
Technical field
The present invention relates to teaching field, specifically is the simulated training system of flexible production.
Background technology
Flexible manufacturing system is made up of unified management information system, material storage-transportation system and set of number control process equipment, can adapt to the automated machine manufacturing system of processing object conversion, and english abbreviation is FMS; The FMS technology is the inevitable structure of CNC processing technology development, embodied the equipment manufacturing technology level of a country, its will be in the past separate processes such as engineering design, the manufacturing and operation control in the enterprise, under the support of computing machine and software thereof, constitute one and cover the complete of whole enterprise and organic system, realizing overall dynamic optimization, overall high benefit, high flexibility, and and then win the comprehensive intelligent manufacturing system of competition.
Along with society is urgent day by day to demands such as product diversification, low manufacturing cost and short manufacturing cycles, the FMS development is rather rapid, yet China starts late, and is backward relatively on flexible manufacturing system, continuous propelling along with the domestic industry degree, and industrialization transition, for the demand of automation equipment, and technician's demand constantly increases, for the talents reserve of automated system, seem particularly important for the teaching of automated system is universal.
Summary of the invention
The present invention seeks to provide a kind of machine photoelectricity gas-liquid integrated flexible production comprehensive training system, be core with the Robotics, realize that production and processing detects the unmanned controls of process such as conveying, use all kinds of physical constructions of diversification, the binding modules theory, be reached for the student opening is provided, but novelty and experiment porch property of participation, and the purpose of teaching.
The present invention takes following technical scheme to address the above problem:
The integrated flexible production comprehensive training system of a kind of machine photoelectricity gas-liquid, comprise the pipeline delivery unit, rail mounted six degree of freedom loading and unloading serial machine people unit, Pneumatic charging unit, hydraulic pressure unit, the six-freedom parallel machining cell, image detection carrying unit, blanking unit, spraying drying unit, graphics processing unit, add a cover assembly unit, wear the pin assembly unit, detecting unit, the bar code recognition unit, the letter sorting unit promotes the storage unit, stacking un-heaping unit, the driving manipulator unit, Master Control Unit.Native system is with the modularization theory, the Table top type closed loop configuration adopts the pipeline of diversification to pass through each sensor feedback and locating device etc. under the master control scheduling, according to work tempo, be implemented in stopping and operation of each work station, cooperate all types of mechanical arms, at sensor technology, vision technique information flow feedback realizes the letter sorting to workpiece or pallet down, assembling, processing, carrying, actions such as warehouse-in.
Aspect control, native system carries out height, efficiently integrated by the PROFIBUS-DP fieldbus with all unit PLC control system, embedded control system, and each unit adopts the dual system mode of operation: manual mode/online mode.Under manual mode, can the independent control unit motion.Under the online mode, this center is dispatched by main website as a node on the fieldbus.
Compared with prior art, the beneficial effect of tutoring system of the present invention is: native system adopts the diversification structure technology, and machine photoelectricity gas-liquid is one, is configured as platform with modularization theory desktop, and Robotics is core, makes up a flexible production comprehensive training system.
Be example with the pipeline, see accompanying drawing 2 for details, native system has comprised band conveyor, cylinder corner conveyor, round belt corner conveyor, pneumatic corner round belt machine, has been with conveyors commonly used such as conveyor synchronously.
Be example with the mechanical drive, native system has been mixed the chain transmission, band synchronously, and gear comprises all kinds of kinds of drive commonly used such as cylindrical gear, bevel gear, partial gear, Geneva mechanism, ball-screw again.
With the artificial example of machine, native system has comprised industrial serial machine people commonly used, parallel robot and has possessed the multi freedom degree mechanical hand of specific function, mechanical pneumatic or mechanical pneumatic combining form according to production line.
Be example with motor and speed reduction unit, all kinds of motors commonly used such as that native system has comprised is servo, stepping, direct current, worm type of reduction gearing, gear reducer, harmonic speed reducer etc.
Except above-mentioned, also comprise and use various kinds of sensors device, multidisciplinary technology application etc.
By this system, make the student can understand basic composition and the ultimate principle of automated production control practice teaching system by experiment, for the student provides opening, but novelty and experiment porch property of participation, allow the student grasp application and development and the integrated technology of electromechanical integration technology and logistlcs technology comprehensively, help the student to remove each ingredient of recognition system from the entire system angle, thereby grasp composition, function and the control principle of Mechatronic control system.Can promote the student in the study of aspects such as Machine Design, electric automatization, control automatically, Robotics, computer technology, sensor technology, Numeric Control Technology, logistics management, and to motor-driven and control technology, the design of PLC control system and the training that application, computer network communication technology and technical ability such as field bus technique, advanced language programming obtain reality, motivate students' interest in learning, the student all can comprehensively be improved at aspects such as the design of machine photoelectricity gas-liquid integral system, assembling, debugging capabilitys.
Description of drawings
Fig. 1 is system global structure arrangenent diagram of the present invention;
Fig. 2 a-d is all kinds of conveyor construction synoptic diagram;
Fig. 2 a is the band conveyor synoptic diagram;
Fig. 2 b is pneumatic corner round belt machine synoptic diagram;
Fig. 2 c is fillet corner conveyor synoptic diagram;
Fig. 2 d is the band conveyor synoptic diagram;
Fig. 3 a is Pneumatic charging cellular construction front view;
Fig. 3 b is Pneumatic charging cellular construction vertical view;
Fig. 4 is rail mounted six degree of freedom loading and unloading serial machine people unit and capping unit station layout thereof;
Fig. 5 a is blanking cellular construction front view;
Fig. 5 b is blanking cellular construction vertical view;
Fig. 6 a is for adding a cover the cellular construction front view;
Fig. 6 b is for adding a cover the cellular construction side view;
Fig. 7 a is for wearing pin cellular construction front view;
Fig. 7 b is for wearing pin cellular construction vertical view;
Fig. 8 is the detecting unit structural representation;
Fig. 9 is bar code recognition cellular construction synoptic diagram;
Figure 10 is letter sorting cellular construction synoptic diagram;
Figure 11 a is for promoting landing account meta structure front view;
Figure 11 b is for promoting landing account meta structure vertical view;
Figure 12 is stacking un-heaping cellular construction synoptic diagram;
Figure 13 is driving manipulator unit structural representation;
1--pipeline delivery unit, 2--rail mounted six degree of freedom loading and unloading serial machine people unit, 3--Pneumatic charging unit, the 4--band conveyor, the 5--hydraulic pressure unit, 6--six-freedom parallel machining cell, 7--image detection carrying unit, 8--detects carrying unit conveying robot, 9--blanking unit, 10--sprays drying unit, 11-cylinder corner conveyor, the 12--graphics processing unit, 13--adds a cover assembly unit, and 14--wears the pin assembly unit, 15-round belt corner conveyor, the 16--detecting unit, 17--bar code recognition unit, 18--sorts the unit, and 19--promotes the storage unit, 20-go out to put in storage conveying robot, 21--stacking un-heaping unit, 22-right-angle steering corner round belt conveyor, 23-synchronously are with conveyor, 24-driving mechanical arm, 25-Master Control Unit
Embodiment
Below in conjunction with accompanying drawing, the embodiment of inventing is described in further detail:
Described pipeline delivery unit 1 comprise band conveyor 4, cylinder corner conveyor 11, round belt corner conveyor 15, pneumatic corner round belt machine 22 partly or entirely, be distributed in each desktop, input and output are to each work station; Carry closed loop with the 24 formation work of driving mechanical arm, cylinder corner conveyor 11 adopts bevel gear wheel to mesh a plurality of bevel pinion structures, and roller conveyor also comprises chain drive structure.
Cylinder corner conveyor 11 drives bevel gear wheel 2-1 by the DC speed-reducing 2-3 in the corner inboard vertical with conveyor surface and that arrange and rotates, and then a plurality of bevel pinion 2-2 of drive and bevel gear wheel engagement rotate, bevel pinion 2-2 rotates the live-roller that drives corner on the pipeline and rotates, realize the transmission of corner, this transmission two ends, corner connection chain drive mechanism, chain drive structure drives each live-roller by chain drive 2-4 and rotates, simultaneously be provided with stop means 2-5 in chain drive structure conveyor surface both sides, be provided with photoelectric sensor 2-6 in the chain drive structure frame, for detection of conveyor surface whether workpiece arranged.
Pneumatic corner round belt machine 22, being 90 degree by rotary cylinder 2-8 drive section bar support 2-7 back and forth horizontally rotates, section bar support 2-7 is provided with DC speed-reducing 2-3, the round belt transmission 2-9 that drives on the conveyor surface by synchronous band transmission 2-10 moves, and aluminium section bar support 2-7 is provided with photoelectric sensor 2-6 and is used for judging whether workpiece is arranged on the conveyor surface.
Round belt corner conveyor 15, drive round belt 2-12 motion by round belt wheel 2-11 and finish the conveying motion, carry entrance to be provided with stop means 2-5, support is provided with swelling device 2-14 and is used for tensioner round belt 2-12, corner is provided with round belt power wheel 2-13, round belt power wheel 2-13 circumference overlaps with outside round belt fillet, is used for finishing workpiece at the corner of conveyor surface.
Band conveyor 4, band 2-17 realizes workpiece conveying on the conveyor surface by being with transmission 2-15 to drive synchronously synchronously to go up the DC speed-reducing 2-3 that arranges by aluminium section bar support 2-7, and band conveyor is provided with photoelectric sensor 2-6, stop means 2-5, inductance type proximity transducer 2-16.
Described rail mounted six degree of freedom loading and unloading serial machine people unit 2 adopts band and guide rail fit form synchronously, six degree of freedom serial machine people is fixed on the guide rail slide block by web joint, realize the running fix of each station according to the photoelectric sensor location, the unit adopts and controls based on PC104 bus embedded type motion controller, this unit is across 4 desktops, and station comprises four one of them station of station rotating disk in following Pneumatic charging unit 3 output stations, hydraulic pressure unit 5 work stations, six-freedom parallel machining cell 6 work stations and the image detection carrying unit 7.
Rail mounted six degree of freedom loading and unloading serial machine people unit 2 is arranged on the aluminium alloy desktop of Pneumatic charging unit 3, pipeline delivery unit 1, image detection carrying unit 7 compositions, six degree of freedom serial machine people 4-1 is being with the track 4-2 that forms with guide rail to move synchronously, and rail mounted six degree of freedom loading and unloading serial machine people unit 2 opposite sides are provided with hydraulic pressure unit 5, six-freedom parallel machining cell 6.
Described Pneumatic charging unit 3 is made up of base, well formula feed mechanism, pusher, belt transmission mechanism, material guide device, electrically-controlled valve, mounting bracket etc., pusher is positioned at well formula feed mechanism one side, belt transmission mechanism is installed on the pusher offside, and installs by material guide device at transport sector.
Described Pneumatic charging unit is connected with band conveyor 3-4 by base 3-7 is set on the aluminium section bar support, base 3-7 is provided with well formula feed mechanism 3-1, the lower end base of well formula feed mechanism is provided with correlation sensor 3-6, passes through the pushing block 3-3 of pusher cylinder 3-2 and promotion thereof, pushing block can push to the workpiece of supplying in the well formula feed mechanism on the band conveyor, and band conveyor is provided with material guide device 3-5 and correlation sensor 3-6.
The correlation sensor detects workpiece situation in place in the feed bin in the described Pneumatic charging unit, the action of pusher cylinder is pushed into band conveyor transportation station with workpiece, band conveyor delay voltage, workpiece is transported to another transportation station, the correlation sensor detects workpiece and arrives the transportation station on the band conveyor, and next beat order of master control is waited in the break-off of Pneumatic charging unit.
Directly form by moving cylinder, clamping positioning mechanism, timer and mechanical adjusting lever mechanism, C formed steel construction etc. by hydraulic pressure for described hydraulic pressure machining cell 5.Machinery adjusting lever mechanism is ball-screw and track combination, adjusts manually.Clamping positioning mechanism adopts pneumatic pinch to be combined with sensor feedback.Serial machine people holding workpiece is delivered to hydraulic pressure machining cell 5 corresponding stations through track, six degree of freedom serial machine people places automated exchanged cutter station in the hydraulic pressure machining cell 5 with workpiece by terminal pneumatic chuck, judge that through the diffuse reflection sensor workpiece is in place, pneumatic pinch detent mechanism action clamping and positioning workpiece, hydraulic pressure is moving cylinder action directly, after the punch process, pneumatic pinch detent mechanism cylinder return.
Described six-freedom parallel machining cell 6 mainly is made up of parallel robot machining center, clamping cylinder, photoelectric sensor, electronic machining spindle, pilot relay module, mounting bracket etc.The parallel robot machining center is modular construction, each shaft step motor driving, ball-screw and line slideway fit structure, be connected to terminal output stage by connecting rod and Hooke's hinge, electric main shaft is installed on the output stage, the clamping cylinder is realized its robotization clamping location by sensor feedback.
Six degree of freedom serial machine people grasps workpiece from above-mentioned station, be delivered to machining cell 6 corresponding stations in parallel through track, six degree of freedom serial machine people places pneumatic clamping platform in the machining cell 6 in parallel with workpiece by terminal pneumatic chuck, judge that through photoelectric sensor workpiece is in place, pneumatic clamping platform action, realization clamps the location of workpiece, the six-freedom parallel machining center is started working under system's control, electronic main shaft is fixed in the six-degree-of-freedom parallel robot end, realizes boring and Milling Process to workpiece.After the completion of processing, parallel robot resets, pneumatic clamping platform return, and six degree of freedom serial machine people grasps workpiece by terminal pneumatic chuck.
Described image detection carrying unit 7 mainly comprises four station rotating disks, displacement sensor component, ccd image acquisition component, mechanical arm carrying assembly and lower floor's belt conveyor line etc.Displacement sensor component and ccd image acquisition component are positioned at four station rotating disks top, and whole four station rotating disks are installed on the aluminium alloy desktop of belt conveyor line top, and mechanical arm carrying assembly is positioned at the belt conveyor line side.Its function is inspection, image acquisition and the carrying function of finishing former procedures, lower floor's pipeline is mainly used in the circulation transportation of pallet, and the effect of four station rotating disks is that the workpiece that the serial machine people transports is transferred to displacement transducer, vision CCD and handling machinery hand position successively.
Described conveying robot adopts pneumoelectric to mix control, the Z axle is that stepper motor drives, ball-screw and rail engaging structure, on the slide block fixedly rotary cylinder around the Z axle carry out 180 the rotation, the rotary cylinder output terminal fixedly has slim guide rod cylinder to finish the X-axis feeding of paw, and the equipment end is equipped with Pneumatic paw and realizes the carrying action.
Described blanking unit 9 is made up of Geneva mechanism 5-1, the 5-5 of bevel gear drive mechanism, synchronous pulley transmission, pusher rotating disk 5-3, blanking platform 5-2, photoelectric sensor 5-4, Fibre Optical Sensor 5-8, DC speed-reducing 5-6, slot type optoelectronic switch 5-7, mounting bracket etc.By Geneva mechanism and all kinds of mechanical drive, realize geneva motion, be specially: drive Geneva mechanism 5-1 by DC speed-reducing 5-6 and realize intermittent movement, again intermittent movement is conducted to the pusher rotating disk of blanking platform 5-2 by the 5-5 of bevel gear drive mechanism, the blanking platform is layered structure, the pusher rotating disk rotates with respect to the blanking platform, go to the blanking port place realize workpiece from the last process blanking to belt line top tray station.When the rotation of pusher rotating disk made that workpiece is pushed into blanking platform blanking port, workpiece fell to pallet, and the diffuse reflection sensor detects workpiece and is in tray position.Pallet pipeline of living in starts under unit control system, changes next unit over to.
Described spraying drying unit 10 by spray booth, heating arrangement, temperature sensor, simulation shower nozzle, cooling fan, AC voltage adjusting module, intelligent temperature display instrument, touch-screen, add heat indicator, photoelectric sensor, inductance sensor, stop that cylinder, DC speed-reducing etc. form, realization sprays the back heating, drying earlier to workpiece solidifies and cooling procedure, controls each process flow in real time by each sensor feedback.
Described graphics processing unit 12 is by light source, camera lens, CCD camera, image process controller, operation keyboard, compositions such as display, by vision sensor finish to the absorption of the image of workpiece and with standard form back output detection architecture relatively, input to follow-up unit.
The described assembly unit 13 of adding a cover is by chute type work rest 6-1, worm type of reduction gearing 6-5, pivot arm 6-10, synchronizing wheel band 6-4, DC speed-reducing 6-6, the backgauge cylinder, telescopic cylinder 6-3, vacuum cup 6-2, photoelectric sensor 6-9, capacitive transducer 6-7, inductance sensor, mechanical limit switch, electrically-controlled valve 6-8, mounting brackets etc. constitute two assemblies, discharging assembly and the making-up unit of vacuum suction mechanical arm, wherein the discharging assembly is positioned on the chute type work rest by workpiece, after bottom workpieces was left by the mechanical arm extracting, workpiece was realized its automatic filling under the gravity effect.The vacuum suction mechanical arm adopts direct current generator to cooperate output through the rotation of the rocking arm of band control synchronously with worm type of reduction gearing, terminal rotation output terminal fixedly has telescopic cylinder and vacuum cup, and guarantee that vacuum cup remains vertically downward, realize the carrying assembling action between two stations.
When band conveyor is transported to pallet and exemplar when adding cap unit (seeing accompanying drawing 6 for details), photoelectric sensor is sensed exemplar, by the backgauge cylinder exemplar is limited on the normal place, exemplar lid on the inductance type proximity transducer induction chute type work rest, DC speed-reducing and worm-gear speed reducer drive the full wind-up rotary oscillation to the top of exemplar lid, band transmission synchronously realizes the vertical state of vacuum cup and telescopic cylinder, grasp the exemplar lid by telescopic cylinder and vacuum cup, rotary oscillation by full wind-up moves to the exemplar lid top of exemplar and places the exemplar lid then, finishes the assembly work of adding a cover to exemplar.Pallet delivery assembling workpiece is delivered to next unit.
The described pin assembly unit 14 of wearing is made up of hopper 7-4, grooved cutting agency, partial gear gear train 7-2, DC speed-reducing 7-1, backgauge cylinder 7-6, blanking cylinder 7-5, ejector pin cylinder 7-8, photoelectric sensor 7-14, Fibre Optical Sensor 7-13, inductance type transducer 7-9, electrically-controlled valve 7-10, mounting bracket 7-7 etc.DC speed-reducing cooperates with the partial gear gear train makes the grooved cutting agency intermittently rotate, bearing pin is filled to grooved cutting agency blanking floral disc groove place automatically in the hopper under the gravity effect, and rotate next station of arrival, release to finish by cylinder and wear the pin action.When band conveyor with pallet and workpiece, when the workpiece lid is transported to and wears pin unit (seeing accompanying drawing 7 for details), photoelectric sensor is sensed workpiece, by the backgauge cylinder with workspace limits on normal place, DC speed-reducing drives the partial gear rotation, by the transmission of partial gear and turning to of bevel gear 7-12, transmit motion on the blanking floral disc 7-3, place bearing pin to the standard station, by the blanking cylinder bearing pin in the hopper is pushed on the blanking floral disc simultaneously, by the ejector pin cylinder bearing pin is pushed in the pilot hole of workpiece and workpiece lid then.
Described detecting unit 16 is made up of touch-screen, backgauge cylinder, detection cylinder, photoelectric sensor, Fibre Optical Sensor, color mark sensor, inductance sensor, electrically-controlled valve, mounting bracket etc., enters follow-up unit by each sensor feedback information to master control.
Described bar code recognition unit 17 is made up of backgauge cylinder, inductance sensor, photoelectric sensor 9-4, labelling machine 9-3 and bar-code identification system etc., by assembly decals and bar-code identification are gone into the library information pre-treatment.Labelling machine 9-4 is installed on the frame by labelling machine support 9-1, and the scanner of bar code identification system is installed on the scanner fixed station 9-2, and workpiece is by band conveyor 9-5 transmission.
When workpiece moves to bar code recognition unit (seeing accompanying drawing 9 for details) with conveyor, the electric inductor that diffuses is sensed workpiece, stop that cylinder blocks the location workpiece, conveying belt stops, labelling machine carries out labelled work to workpiece, after finishing workpiece is transported to barcode scanner station place, bar code is identified read and import warehouse management system.
Described letter sorting unit 18 is by letter sorting mechanical arm and equipment of conveyer, compositions such as waste recovery device.Wherein sorting mechanical arm is two degrees of freedom cylinder conveying robot, and Rodless cylinder connects guide rod cylinder and terminal scale tone folder, judges carrying, the waste product letter sorting that realizes two station places according to detecting unit 16 testing results.
Described lifting is stored in a warehouse unit 19 by three-dimensional storehouse frame and is gone out to put in storage mechanical arm and forms.
Four layer of three row of three-dimensional storehouse frame, every layer is equipped with a band conveyor 11-8, band conveyor 11-8 is turned round by band 11-3 drive synchronously by DC speed-reducing 11-2, judge according to diffuse reflection sensor 11-1 whether workpiece is in place, adjust the diffuse reflection sensor and can adjust every layer of storage bit quantity according to actual conditions in right amount.
Go out to put in storage mechanical arm four-degree-of-freedom is arranged, first is the translation pair, adopt ball-screw 11-14 and guide rail 11-13 fit structure, drive ball-screw 11-14 by servomotor 11-16 and realize its to-and-fro movement, ball screw two ends frame is provided with slot type optoelectronic switch 11-15 control two ends extreme position, mobile between each row's station, Y-direction; Second is the translation pair for degree of freedom, adopt chain transmission 11-5 and rail engaging structure, attached counter weight device, it moves between each layer station by reductor 10 controls by stepper motor 11-9, frame is provided with slot type optoelectronic switch 11-17 control two ends extreme position, Z-direction; Three degree of freedom is the translation pair, and ball-screw and rail engaging structure or realized by straight line Rodless cylinder 11-6 warehouse-in switching translation, X-direction; The 4th degree of freedom is revolute, and rotary cylinder 11-11 and Pneumatic paw 11-12 around the rotation of Z axle, realize terminal work pose conversion and clamping.
When arriving out warehouse-in conveying robot carrying station, the location is stretched out in positioning cylinder work, out of service according to this desktop of sensor feedback conveyor, going out to put in storage mechanical arm starts working, before this, each row of three-dimensional storehouse frame, each layer, whether each biographies sensor is judged has workpiece in place, under system's control, control out the warehouse-in mechanical arm and be carried to through terminal Pneumatic paw 11-12 clamping assembling workpiece that a band conveyor 11-8 places on the position on the frame of three-dimensional storehouse, band conveyor turns round subsequently, carry the assembling workpiece to position in storehouse, position in storehouse is determined the position by diffuse reflection sensor 11-1 feedback.Mechanical arm resets, and pallet continues to flow into stacking un-heaping unit.
Described stacking un-heaping unit 21 mainly is made up of stacking un-heaping mechanical arm and pallet temporary library, two degree of freedom of stacking un-heaping mechanical arm wherein, be the translation pair, first degree of freedom adopts band 12-7 and guide rail 12-4 fit structure synchronously, along the band conveyor direction; Second degree of freedom adopts ball-screw 12-2 and rail engaging structure, integral body is located on the upright supports 12-3, by stepper motor 12-1 control ball-screw, along arranging perpendicular to the surface level Z-direction, Pneumatic paw 12-9 is installed on two shaft ends, and the aluminium alloy pedestal makes mechanical arm be installed on the synchronous band conveyor.Be with conveyor that the interim thesaurus of pallet is installed synchronously at this simultaneously, be installed on the mechanical arm below.Under this unit controls, make mechanical arm finish extracting and the placement action to pallet.
Start working under master control is controlled according to work tempo in stacking un-heaping unit (seeing accompanying drawing 12 for details), the pallet temporary library detects pallet situation in place by the electric transducer 12-5 that diffuses in the unit, and stacking un-heaping mechanical arm will grasp and be placed into the band conveyor station with pallet among the pallet temporary library 12-6.Judge that by inductance type transducer 12-8 the palletized transport station is in place, the belt feeder running is carried pallet through pneumatic corner conveyor 22(and is seen accompanying drawing 1 for details), round belt conveyor 23, arrive driving mechanical arm 24(and see accompanying drawing 13 for details) the carrying station, judge situation in place and cylinder location through sensor, this desktop band conveyor shuts down
24 actions of driving mechanical arm, the gas gripper is got pallet and is placed next station along guide rail.Judge that through sensor pallet is in place, this station belt feeder running, round belt corner conveyor (seeing accompanying drawing 1 for details) through below, Pneumatic charging unit, and the band conveyor at sign 4 places arrives blanking unit 9(always and sees accompanying drawing 5 for details) in transfer station under the blanking platform blanking port, judge in place and positioning cylinder work by sensor, this desktop conveyor quits work.
Temporary stacking and the un-heaping output action of pallet realized in stacking un-heaping unit, has in front and describes in detail, and this is a concrete implementing procedure of work tempo cycle period.
Described driving mechanical arm 24, the driving mechanical arm is gantry bridge architecture, and an output station top tray on the pipeline is carried to an input station on the pipeline, constitutes the structure closed loop with pipeline.The driving mechanical arm has two degree of freedom, is the translation pair, and first degree of freedom is to be with 13-5 and guide rail 13-4 fit structure synchronously, and is mobile on the two station straight lines; Second degree of freedom is guide rod cylinder 13-3, and end is equipped with Pneumatic paw 13-2, realizes extracting and placement to pallet, and frame is planer-type aluminium alloy post 13-1.
Described Master Control Unit carries out each unit controls by the profibus bus highly efficiently integrated, carries out communication by profibus-dp substation card and each unit.
As shown in Figure 1: system powers on and starts, the pipeline delivery unit under master control control according to the work tempo entry into service, the correlation sensor detects workpiece situation in place in the feed bin in the Pneumatic charging unit (seeing accompanying drawing 3 for details), the action of pusher cylinder is pushed into band conveyor transportation station with workpiece, band conveyor delay voltage, workpiece is transported to another transportation station, the correlation sensor detects workpiece and arrives the transportation station on the band conveyor, and next beat order of master control is waited in the break-off of Pneumatic charging unit.
In the Pneumatic charging cell operation, start working under master control is controlled according to work tempo in stacking un-heaping unit (seeing accompanying drawing 12 for details), the pallet temporary library detects pallet situation in place by the electric transducer that diffuses in the unit, and stacking un-heaping mechanical arm grasps and be placed into the band conveyor station with pallet in the pallet temporary library.Judge that by inductance type transducer the palletized transport station is in place, the belt feeder running is carried pallet through pneumatic corner conveyor 22(and is seen accompanying drawing 1 for details), round belt conveyor 23, arrive driving mechanical arm 24(and see accompanying drawing 13 for details) the carrying station, judge situation in place and cylinder location through sensor, this desktop band conveyor shuts down, 24 actions of driving mechanical arm, and the gas gripper is got pallet and is placed next station along guide rail.Judge that through sensor pallet is in place, this station band conveyor running, round belt corner conveyor (seeing accompanying drawing 1 for details) through below, Pneumatic charging unit, and the band conveyor at sign 4 places arrives blanking unit 9(always and sees accompanying drawing 5 for details) in transfer station under the blanking platform blanking port, judge in place and positioning cylinder work by sensor, this desktop conveyor quits work.
According to work tempo, be delivered to the process of above-mentioned transfer station from stacking un-heaping unit at pallet, when Pneumatic charging unit workpiece arrives band conveyor transportation station, rail mounted six degree of freedom loading and unloading serial machine people unit 2(sees accompanying drawing 4 for details) start working, robot is delivered to the station of Pneumatic charging unit correspondence through track, six degree of freedom serial machine people work, workpiece on the Pneumatic charging unit band conveyor transportation station is grasped by terminal pneumatic chuck, robot is delivered to hydraulic pressure machining cell 5 corresponding stations through track, six degree of freedom serial machine people places automated exchanged cutter station in the hydraulic pressure machining cell 5 with workpiece by terminal pneumatic chuck, judge that through the diffuse reflection sensor workpiece is in place, pneumatic pinch detent mechanism action clamping and positioning workpiece, hydraulic pressure is moving cylinder action directly, after the punch process, pneumatic pinch detent mechanism cylinder return, six degree of freedom serial machine people grasps workpiece from above-mentioned station, robot is delivered to machining cell 6 corresponding stations in parallel through track, six degree of freedom serial machine people places pneumatic clamping platform in the machining cell 6 in parallel with workpiece by terminal pneumatic chuck, judge that through photoelectric sensor workpiece is in place, pneumatic clamping platform action, realization clamps the location of workpiece, the six-freedom parallel machining center is started working under system's control, electronic main shaft is fixed in the six-degree-of-freedom parallel robot end, realizes boring and Milling Process to workpiece.After the completion of processing, parallel robot resets, pneumatic clamping platform return, and six degree of freedom serial machine people grasps workpiece by terminal pneumatic chuck, be delivered to image detection carrying unit 7 corresponding stations through track, workpiece be placed in the image detection carrying unit 7 place station in the four station rotating disks.Realize four stations rotation location by optoelectronic switch.Judge workpiece placement station situation in place by the diffuse reflection sensor in the four station rotating disks, the running of four station rotating disks, detect station depth size, CCD vision-based detection station shape color detection through displacement transducer successively, relevant information is sent to master control, information flow enters lower unit, and the running of four station rotating disks makes workpiece stop to the corresponding carrying of this unit mechanical arm (seeing accompanying drawing 4 for details) station.This unit mechanical arm adopts pneumoelectric to mix control, by mechanical switch and magnetic sensor location, realizes the workpiece handling of above-mentioned carrying station is placed station (seeing accompanying drawing 5 for details) to four station pusher rotating disks of blanking unit.At this moment, pallet has been delivered to transfer station under the blanking platform blanking port by conveyor, the sensor feedback signal pallet is in place, it is in place that four station pusher rotating disks are placed the station workpiece, DC speed-reducing drives output to four station pusher rotating disks by Geneva mechanism, column gear transmission, bevel gear drive, synchronous band in the blanking unit, when the rotation of pusher rotating disk made that workpiece is pushed into blanking platform blanking port, workpiece fell to pallet, and the diffuse reflection sensor detects workpiece and is in tray position.Pallet pipeline of living in starts under unit control system, changes next unit over to.
When workpiece is transported to the spraying drying unit with conveying belt, the electric transducer that diffuses is sensed workpiece, stop that cylinder blocks location tray and workpiece, the solenoid control conveyor is out of service, the 1# spray gun carries out spraying work to workpiece, after the spraying stipulated time, releasing stops cylinder, and the operation conveying belt is delivered to the 2# spray gun with workpiece, repeats previous step, by the 2# spray gun workpiece is carried out the timing spraying, after spraying finished, conveying belt transported workpiece to the drying station place, stops a period of time, by heating tube workpiece is carried out heating, drying and handle, and by the intelligent temperature display instrument, touch-screen is monitored the state of temperature of workpiece.After finishing workpiece is delivered to next unit.
Passage in transit cylinder corner conveyor (seeing accompanying drawing 2 for details), straight line portion roller conveyor are by reductor and chain transmission, and corner is that DC speed-reducing drives bevel gear wheel dish and four bevel pinion engaged transmission, realizes the corner function.
When workpiece moves to graphics processing unit with conveyor, the electric inductor that diffuses is sensed workpiece, stop that cylinder blocks the location workpiece, conveying belt stops, the CCD camera carries out image to workpiece to be handled and is shown on the LCD, by vision sensor finish to the absorption of the image of workpiece and with standard form back output testing result relatively, offer follow-up unit and use.
When band conveyor is transported to pallet and exemplar when adding cap unit (seeing accompanying drawing 6 for details), photoelectric sensor is sensed exemplar, by the backgauge cylinder exemplar is positioned on the normal place, exemplar lid on the inductance type proximity transducer induction chute type work rest, DC speed-reducing and worm-gear speed reducer drive the full wind-up rotary oscillation to the top of exemplar lid, band transmission synchronously realizes the vertical state of vacuum cup and telescopic cylinder, grasp the exemplar lid by telescopic cylinder and vacuum cup, rotary oscillation by full wind-up moves to the exemplar lid top of exemplar and places the exemplar lid then, finishes the assembly work of adding a cover to exemplar.Pallet delivery assembling workpiece is delivered to next unit.
When band conveyor with pallet and exemplar, when the exemplar lid is transported to and wears pin unit (seeing accompanying drawing 7 for details), photoelectric sensor is sensed exemplar, by the backgauge cylinder exemplar is positioned on the normal place, DC speed-reducing drives the partial gear rotation, by the transmission of partial gear and turning to of bevel gear, transmit motion on the blanking floral disc, the placement positioning pin is to the standard station, by the blanking cylinder register pin in the hopper is pushed on the blanking floral disc simultaneously, by the ejector pin cylinder register pin is pushed in the pilot hole of exemplar and exemplar lid then.Pallet delivery assembling workpiece is delivered to next unit.
Passage in transit round belt corner conveyor (seeing accompanying drawing 2 for details) adopts the round belt tensioning from the closed loop, drives the corner dial rotation, and pallet is realized its corner function through out-of-date for 90 ° with dial rotation.
When workpiece is delivered to detecting unit (seeing accompanying drawing 8 for details), sense workpiece by photoelectric sensor, stop that cylinder is positioned at workpiece on the standard station, conveyor is out of service, the detection cylinder drives color mark sensor, Fibre Optical Sensor moves near the workpiece, by the register pin on the Fibre Optical Sensor detection workpiece, color mark sensor detects the color of workpiece, and whether detect assembly qualified.After finishing, detection enters next unit.
When workpiece moves to bar code recognition unit (seeing accompanying drawing 9 for details) with conveyor, the electric inductor that diffuses is sensed workpiece, stop that cylinder blocks workpiece, conveyor stops, labelling machine carries out labelled work to workpiece, after finishing workpiece is transported to barcode scanner station place, bar code is identified read and import warehouse management system.
Then, workpiece moves to letter sorting unit (seeing accompanying drawing 10 for details) with conveyor, carries out sorting work according to the detecting unit testing result.Testing result is defective, then starting pawl by two-dimentional machinery luck in the letter sorting unit separates workpiece with pallet, and with workpiece handling to this unit band conveyor feed station, judge that through sensor workpiece is in place, the belt feeder running, through the pneumatic guide piece that stops, the workpiece transportation is also accurately slipped into the waste recovery device.Pallet is then along with conveyor is transported to stacking un-heaping unit.The qualified next unit that then flows directly into of testing result.About above-mentioned two-dimentional machinery hand, the used action element of two-dimentional machinery hand all is cylinder, and it mainly finishes the carrying action of exemplar.X-axis uses Rodless cylinder to realize the carrying of exemplar, Y-axis uses guide rod cylinder to realize, what the clamping of exemplar was used is that scale tone presss from both sides to realize, when being delivered to station, workpiece stops under the sensor effect that the cylinder action is located, and transmit signal to guide rod cylinder and descending, the back magnetic switch that puts in place transmits signal to the scale tone folder and will carry in the exemplar clamping also, under magnetic switch detects signal being passed to Rodless cylinder after putting in place also slides left, the time-delay back gas pawl of passing through under the back-guiding rod cylinder of putting in place opens, and repeats above-mentioned action playback then.Realize its grasp handling function.
Specification product with pallet under conveyor delivery, flow into and promote storage unit (seeing accompanying drawing 11 for details), when arriving out warehouse-in mechanical arm carrying station, the location is stretched out in positioning cylinder work, out of service according to this desktop of sensor feedback conveyor, going out to put in storage mechanical arm starts working, before this, three-dimensional storehouse each layer of frame, whether each biographies sensor is judged has workpiece in place, under system control, to control out the warehouse-in mechanical arm and be carried on the frame of three-dimensional storehouse a belt feeder through terminal Pneumatic paw clamping assembling workpiece and place on the position, belt feeder turns round subsequently, carry the assembling workpiece to position in storehouse, position in storehouse is determined the position by the diffuse reflection sensor feedback.Mechanical arm resets, and pallet continues to flow into stacking un-heaping unit (seeing accompanying drawing 12 for details).
Temporary stacking and the un-heaping output action of pallet realized in stacking un-heaping unit, has in front and describes in detail, and this is a concrete implementing procedure of work tempo cycle period.
Logistics system characteristics of the present invention: comprise piler equipment, three-dimensional depot equipment, robotization pipeline device, robot device, visual detection equipment, industrial decals recognition system and corresponding auxiliary device in the system, and all kinds of technology such as various kinds of sensors, industrial bus system, PLC technology, vision technique, robot, realize that the production and processing assembling detects the unmanned automatically working of warehouse-in, efficient high yield, simulate industry spot fully, and adopt the structure of diversification, that control etc. makes is light, mechanical, electrical, gas, all kinds of technology of liquid are rubbed and is one.
1. native system carries out height, efficiently integrated by the PROFIBUS-DP fieldbus with all unit plc control system, embedded control system, realize network scheduling and control, identical with the industry spot form, control through master control, realize every operations such as robotization transportation, process and assemble, detection, letter sorting, warehouse-in of logistics system, every operation is monitored in real time and upgrade by every sensor and recognition system.
2. native system is equipped with each robotlike to realize robotization, as six degree of freedom serial machine people, six-degree-of-freedom parallel robot, all kinds of conveying robots according to the real work needs, or it is pneumatic, or machinery, or mechanical pneumatic combining form, take full advantage of Robotics and cooperate diversification robotization pipeline to realize various actions such as unmanned assembling processing conveying.
2. adopting windows operating system aspect the control software, have good interactive graphics operation interface, directly efficient, real-time and multitask there are very strong tenability, can finish multitask and short terminal response time is arranged.And have the very strong memory block defencive function of function, be convenient to student's hands-on and system maintainability.
3. the unit in the system has " online/unit " two kinds of operator schemes.The software and hardware of all units all can the detachment system independent operation, and available stand-alone device is platform, carries out the research and development of single technology, easily expansion.
4. soft, the hardware components of system is reserved extending space, and the user side can increase EM equipment module on the original system basis, and can easily be integrated in the system, for very advantage has been created in user side's secondary development and expansion teaching.
5. system integration information management software, communication by computing machine and each unit and sensor and integrated, the state of each link in the system is presented on the operation interface, makes the operator pass through computing machine and understand the operating mode of each link of system, state, service data at any time, grasp system running state.Each plc unit is equipped with touch-screen and controls in real time, and all the other four embedded control system unit are equipped with display and mouse etc., and are swift and convenient to operate.
7. system's mechanical ﹠ electrical technology all-round opening is equipped with perfect guide book of experiment, can easily develop motion or the control function of oneself, excites learning interest.
Claims (6)
1. integrated flexible production comprehensive training system of machine photoelectricity gas-liquid, include following part or all of unit: pipeline delivery unit (1), rail mounted six degree of freedom loading and unloading serial machine people unit (2), Pneumatic charging unit (3), hydraulic pressure unit (5), six-freedom parallel machining cell (6), image detection carrying unit (7), blanking unit (9), spraying drying unit (10), graphics processing unit (12) is added a cover assembly unit (13), wears pin assembly unit (14), detecting unit (16), bar code recognition unit (17), letter sorting unit (18) promotes storage unit (19), stacking un-heaping unit (21), driving manipulator unit (24), Master Control Unit (25) is characterized in that: rail mounted six degree of freedom loading and unloading serial machine people unit (2) wherein, six degree of freedom series connection machining cell (6), image detection carrying unit (7), graphics processing unit (12) is embedded unit control system.
2. the integrated flexible production comprehensive training system of machine photoelectricity gas-liquid according to claim 1 is characterized in that: have a unit that satisfies following restriction in the said system at least:
Described pipeline delivery unit (1) comprise band conveyor (4), cylinder corner conveyor (11), round belt corner conveyor (15), pneumatic corner round belt machine (22) partly or entirely, be distributed in each desktop, input and output are to each work station;
Described rail mounted six degree of freedom loading and unloading serial machine people unit (2) adopt band and guide rail fit form synchronously, six degree of freedom serial machine people is fixed on the guide rail slide block by web joint, realize the running fix of each station according to the photoelectric sensor location, the unit adopts and controls based on PC104 bus embedded type motion controller, this unit is across 4 desktops, and station comprises following Pneumatic charging unit (3) output station, hydraulic pressure unit (5) work station, four one of them station of station rotating disk in six-freedom parallel machining cell (6) work station and the image detection carrying unit (7);
Described Pneumatic charging unit (3) is made up of base, well formula feed mechanism, pusher, belt transmission mechanism, material guide device, electrically-controlled valve, mounting bracket etc., pusher is positioned at well formula feed mechanism one side, belt transmission mechanism is installed on the pusher offside, and installs by material guide device at transport sector;
Directly form by moving cylinder, clamping positioning mechanism, timer and mechanical adjusting lever mechanism, C formed steel construction etc. by hydraulic pressure for described hydraulic pressure machining cell (5), machinery adjusting lever mechanism is ball-screw and track combination, and clamping positioning mechanism adopts pneumatic pinch to be combined with sensor feedback;
Described six-freedom parallel machining cell (6) mainly is made up of parallel robot machining center, clamping cylinder, photoelectric sensor, pilot relay module, mounting bracket etc., the parallel robot machining center is modular construction, each shaft step motor driving, ball-screw and line slideway fit structure, Hooke's hinge is connected to terminal output stage, install by electric main shaft on the output stage, the clamping cylinder is realized its robotization clamping location by sensor feedback;
Described image detection carrying unit (7) mainly comprises four station rotating disks, displacement sensor component, ccd image acquisition component, mechanical arm carrying assembly and lower floor's belt conveyor line etc., displacement sensor component and ccd image acquisition component are positioned at four station rotating disks top, whole four station rotating disks are installed on the aluminium alloy desktop of belt conveyor line top, and mechanical arm carrying assembly is positioned at the belt conveyor line side; Described conveying robot adopts pneumoelectric to mix control, the Z axle is that stepper motor drives, ball-screw and rail engaging structure, on the slide block fixedly rotary cylinder around Z carry out 180 the rotation, the rotary cylinder output terminal fixedly has slim guide rod cylinder to finish the X-axis feeding of paw, and the equipment end is equipped with Pneumatic paw and realizes the carrying action;
Described blanking unit (9) is by Geneva mechanism and all kinds of mechanical drive, realizes geneva motion, and the blanking platform is layered structure, and the pusher rotating disk rotates with respect to the blanking platform, go to the blanking port place realize workpiece from the last process blanking to belt line top tray station;
Described spraying drying unit (10) by spray booth, heating arrangement, temperature sensor, simulation shower nozzle, cooling fan, AC voltage adjusting module, intelligent temperature display instrument, touch-screen, add heat indicator, photoelectric sensor, inductance sensor, stop that cylinder, DC speed-reducing etc. form, realization sprays the back heating, drying earlier to workpiece solidifies and cooling procedure, controls each process flow in real time by each sensor feedback;
Described graphics processing unit (12) is made up of light source, camera lens, CCD camera, image process controller, operation keyboard, display etc., by vision sensor finish to the absorption of the image of workpiece and with standard form back output testing result relatively, input to follow-up unit;
The described assembly unit (13) of adding a cover comprises discharging assembly and two assemblies of vacuum suction mechanical arm assembling, wherein the discharging assembly is positioned on the chute type work rest by workpiece, after bottom workpieces is left by the mechanical arm extracting, workpiece is realized its automatic filling under the gravity effect, the vacuum suction mechanical arm adopts direct current generator to drive worm type of reduction gearing output through the rotation of the rocking arm of band control synchronously, terminal rotation output terminal fixedly has telescopic cylinder and vacuum cup, and guarantee that telescopic cylinder remains vertically downward, realize the carrying assembling action between two stations;
The described pin assembly unit (14) of wearing makes the grooved cutting agency intermittently rotate by DC speed-reducing drive partial gear gear train, bearing pin is filled to grooved cutting agency blanking floral disc groove place automatically in the hopper under the gravity effect, and rotate next station of arrival, release to finish by cylinder and wear the pin action;
Described detecting unit (16) is made up of touch-screen, backgauge cylinder, detection cylinder, photoelectric sensor, Fibre Optical Sensor, color mark sensor, inductance sensor, electrically-controlled valve, mounting bracket etc., enters follow-up unit by each sensor feedback information to master control;
Described bar code recognition unit (17) is by going into the library information pre-treatment to assembly decals and bar-code identification;
Described letter sorting unit (18) is by two-dimentional machinery hand and equipment of conveyer, and compositions such as waste recovery device are judged carrying, the waste product letter sorting that realizes two station places according to detecting unit (16) testing result;
Described lifting is stored in a warehouse unit (19) by three-dimensional storehouse frame and is gone out to put in storage mechanical arm and forms;
Described stacking un-heaping unit (21) mainly is made up of stacking un-heaping mechanical arm and pallet temporary library, two degree of freedom of stacking un-heaping mechanical arm wherein, be the translation pair, be with conveyor that the interim thesaurus of pallet is installed synchronously simultaneously, be installed on the mechanical arm below, under this unit controls, make mechanical arm finish extracting and the placement action to pallet
Described driving mechanical arm (24), the driving mechanical arm is gantry bridge architecture, an output station top tray on the pipeline is carried to an input station on the pipeline, constitute the structure closed loop with pipeline, the driving mechanical arm has two degree of freedom, be the translation pair, the terminal installation by Pneumatic paw realized extracting and placement to pallet.
3. the integrated flexible production comprehensive training system of machine photoelectricity gas-liquid according to claim 1, it is characterized in that: above-mentioned each unit possesses unit/online function, under single cpu mode, but each unit aluminium alloy desktop detachment system independent operating can be controlled this cell operation by the control system of this unit; Under the online mode, this unit is dispatched by main website as a node in the network; Four embedded control unit systems all dispose graphical interface display, and all the other each unit adopt plc control.
4. according to the integrated flexible production comprehensive training system of the described machine photoelectricity of one of claim 1-3 gas-liquid, it is characterized in that: described Master Control Unit (25) carries out each unit control system by the profibus bus highly efficiently integrated, carries out communication by profibus-dp substation card and each unit.
5. the integrated flexible production comprehensive training system of machine photoelectricity gas-liquid according to claim 4, it is characterized in that: the control system main website adopts Siemens S7-300, slave station adopts the S7-200 series of PLC, embedded unit adopts X86 series embedded system, use the ProfiBus-DP bus to carry out communication between main website and the slave station, slave station is mainly used in control and driving arrangement layer, and the signal of scene feedback gathered, each slave station data is gathered by the S7-300 main website, coordinate each station operation, and for the watchdog routine of host computer provides data, simultaneity factor also is furnished with ethernet communication module and touch-screen, can finish the integrated of system's control network.
6. the integrated flexible production comprehensive training system of machine photoelectricity gas-liquid according to claim 2, it is characterized in that: one of said units further satisfies following feature:
Described pipeline delivery unit (1) comprise band conveyor (4), cylinder corner conveyor (11), round belt corner conveyor (15), pneumatic corner round belt machine (22) partly or entirely;
Described cylinder corner conveyor (11) adopts bevel gear wheel to mesh a plurality of bevel pinion structures, and roller conveyor also comprises chain drive structure; Driving bevel gear wheel (2-1) by the direct current generator in the corner inboard (2-3) vertical with conveyor surface and that arrange rotates, and then a plurality of bevel pinions (2-2) of drive and bevel gear wheel engagement rotate, bevel pinion (2-2) rotates the live-roller that drives corner on the pipeline and rotates, realize the transmission of corner, this transmission two ends, corner connection chain drive mechanism, chain drive structure drives each live-roller by chain drive (2-4) and rotates, simultaneously be provided with stop means (2-5) in chain drive structure conveyor surface both sides, be provided with photoelectric sensor (2-6) in the chain drive structure frame, for detection of conveyor surface whether workpiece arranged;
Described pneumatic corner round belt machine (22), being (90) degree by rotary cylinder (2-8) drive section bar support (2-7) back and forth horizontally rotates, section bar support (2-7) is provided with DC speed-reducing (2-3), move by the round belt transmission (2-9) that synchronous band transmission (2-10) drives on the conveyor surface, aluminium section bar support (2-7) is provided with photoelectric sensor (2-6) and is used for judging whether workpiece is arranged on the conveyor surface;
Described round belt corner conveyor (15), drive round belt (2-12) motion by round belt wheel (2-11) and finish the conveying motion, carry entrance to be provided with stop means (2-5), support is provided with swelling device (2-14) and is used for tensioner round belt (2-12), corner is provided with round belt power wheel (2-13), round belt power wheel (2-13) circumference overlaps with outside round belt fillet, is used for finishing workpiece at the corner of conveyor surface;
Described band conveyor (4), go up the DC speed-reducing (2-3) that arranges by aluminium section bar support (2-7) and be with transmission (2-15) to drive workpiece conveying on the conveyor surface of band (2-17) realization synchronously by synchronous, band conveyor is provided with photoelectric sensor (2-6), stop means (2-5), inductance type proximity transducer (2-16);
Described rail mounted six degree of freedom loading and unloading serial machine people unit (2) are arranged on the aluminium alloy table top of Pneumatic charging unit (3), pipeline delivery unit (1), image detection carrying unit (7) composition, six degree of freedom serial machine people (4-1) is in track (4-2) motion of band and guide rail composition synchronously, and rail mounted six degree of freedom loading and unloading serial machine people unit (2) opposite side is provided with hydraulic pressure unit (5), six-freedom parallel machining cell (6);
Described Pneumatic charging unit (3) is connected with band conveyor (3-4) by base (3-7) is set on the aluminium section bar support, base (3-7) is provided with well formula feed mechanism (3-1), the pushing block (3-3) that the lower end base of well formula feed mechanism is provided with correlation sensor (3-6), passes through pusher cylinder (3-2) and promote, pushing block can push to the workpiece of supplying in the well formula feed mechanism on the band conveyor, and band conveyor is provided with material guide device (3-5) and correlation sensor (3-6);
Described blanking unit (9) is made up of Geneva mechanism (5-1), bevel gear drive mechanism (5-5), synchronous pulley transmission, pusher rotating disk (5-3), blanking platform (5-2), photoelectric sensor (5-4), Fibre Optical Sensor (5-8), DC speed-reducing (5-6), slot type optoelectronic switch (5-7), mounting bracket etc.; By Geneva mechanism and all kinds of mechanical drive, realize geneva motion, drive Geneva mechanism (5-1) by DC speed-reducing (5-6) and realize intermittent movement, again intermittent movement is conducted to the pusher rotating disk of blanking platform (5-2) by bevel gear drive mechanism (5-5), the blanking platform is layered structure, the pusher rotating disk rotates with respect to the blanking platform, go to the blanking port place realize workpiece from the last process blanking to belt line top tray station;
The described assembly unit (13) of adding a cover constitutes discharging assembly and two assemblies of vacuum suction mechanical arm assembling by chute type work rest (6-1), worm type of reduction gearing (6-5), pivot arm (6-10), synchronizing wheel band (6-4), DC speed-reducing (6-6), backgauge cylinder, telescopic cylinder (6-3), vacuum cup (6-2), photoelectric sensor (6-9), capacitive transducer (6-7), inductance sensor, mechanical limit switch, electrically-controlled valve (6-8), mounting bracket etc.;
The described pin assembly unit (14) of wearing is made up of hopper (7-4), grooved cutting agency, partial gear gear train (7-2), DC speed-reducing (7-1), backgauge cylinder (7-6), blanking cylinder (7-5), ejector pin cylinder (7-8), photoelectric sensor (7-14), Fibre Optical Sensor (7-13), inductance type transducer (7-9), electrically-controlled valve (7-10), mounting bracket (7-7) etc.;
Described bar code recognition unit (17) is made up of backgauge cylinder, inductance sensor, photoelectric sensor (9-4), labelling machine (9-3) and bar-code identification system etc., by assembly decals and bar-code identification are gone into the library information pre-treatment; Labelling machine (9-4) is installed on the frame by labelling machine support (9-1), and the scanner of bar code identification system is installed on the scanner fixed station (9-2), and workpiece is by band conveyor (9-5) transmission;
Letter sorting unit (18), by two-dimentional machinery hand (10-2) Pneumatic paw in the letter sorting unit workpiece is separated with pallet, and with workpiece handling to this unit band conveyor (10-1) feed station, judge that through sensor (10-4) workpiece is in place, the belt feeder running, through the pneumatic guide piece (10-6) that stops, the workpiece transportation is also accurately slipped into waste recovery device (10-5); Letter sorting unit configuration touch-screen (10-7) operation control;
The three-dimensional storehouse frame of described lifting storage unit (19), be four layer of three row, every layer is equipped with a band conveyor (11-8), band conveyor (11-8) is turned round by band (11-3) drive synchronously by DC speed-reducing (11-2), judge according to diffuse reflection sensor (11-1) whether workpiece is in place, adjust the diffuse reflection sensor and can adjust every layer of storage bit quantity according to actual conditions in right amount;
The mechanical arm that goes out to put in storage of described lifting storage unit (19) has four-degree-of-freedom, first is the translation pair, adopt ball-screw (11-14) and guide rail (11-13) fit structure, drive ball-screw (11-14) by servomotor (11-16) and realize its to-and-fro movement, ball screw two ends frame is provided with slot type optoelectronic switch (11-15) control two ends extreme position, mobile between each row's station, Y-direction; Second is the translation pair for degree of freedom, adopt chain transmission (11-5) and rail engaging structure, attached counter weight device, control its motion by stepper motor (11-9) by reductor (11-10), mobile between each layer station, frame is provided with slot type optoelectronic switch (11-17) control two ends extreme position, Z-direction; Three degree of freedom is the translation pair, and ball-screw and rail engaging structure or realized by straight line Rodless cylinder (11-6) warehouse-in switching translation, X-direction; The 4th degree of freedom is revolute, and rotary cylinder (11-11) and Pneumatic paw (11-12) around the rotation of Z axle, are realized terminal work pose conversion and clamping;
Described stacking un-heaping unit (21) mainly is made up of stacking un-heaping mechanical arm and pallet temporary library, two degree of freedom of stacking un-heaping mechanical arm wherein, be the translation pair, first degree of freedom adopts band (12-7) and guide rail (12-4) fit structure synchronously, along the band conveyor direction; Second degree of freedom adopts ball-screw (12-2) and rail engaging structure, integral body is located on the upright supports (12-3), by stepper motor (12-1) control ball-screw, the edge is perpendicular to the surface level Z-direction, Pneumatic paw (12-9) is installed on two shaft ends, and the aluminium alloy pedestal makes mechanical arm be installed on the synchronous band conveyor; Be with conveyor that the interim thesaurus of pallet is installed synchronously at this simultaneously, be installed on the mechanical arm below; Under this unit controls, make mechanical arm finish extracting and the placement action to pallet;
Described driving mechanical arm (24), the driving mechanical arm is gantry bridge architecture, and an output station top tray on the pipeline is carried to an input station on the pipeline, constitutes the structure closed loop with pipeline; The driving mechanical arm has two degree of freedom, is the translation pair, and first degree of freedom is to be with (13-5) and guide rail (13-4) fit structure synchronously, and is mobile on the two station straight lines; Second degree of freedom is guide rod cylinder (13-3), and terminal the installation by Pneumatic paw (13-2) realized extracting and placement to pallet, and frame is planer-type aluminium alloy post (13-1).
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