CN101745491A - Glue coating automatic turnover machine - Google Patents
Glue coating automatic turnover machine Download PDFInfo
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- CN101745491A CN101745491A CN200810229972A CN200810229972A CN101745491A CN 101745491 A CN101745491 A CN 101745491A CN 200810229972 A CN200810229972 A CN 200810229972A CN 200810229972 A CN200810229972 A CN 200810229972A CN 101745491 A CN101745491 A CN 101745491A
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Abstract
The invention discloses a glue coating automatic turnover machine, which comprises a turnover mechanism, a mechanical hand mechanism, a lifting mechanism, a distance measuring mechanism and a controller, wherein the turnover mechanism is arranged on a glue coating frame, the mechanical hand mechanism is connected with a rotating shaft and a bearing seat in the turnover mechanism through the glue coating frame, the lifting mechanism is arranged on the glue coating frame and is positioned in front of the mechanical hand mechanism, the distance measuring mechanism is arranged on the glue coating frame and is positioned under the mechanical hand mechanism, and the controller is connected with each mechanism. The invention adopts a mechanical hand for tightly clamping work pieces, the mechanical hand is provided with a clamp which consists of a clamp press plate and a clamp base, then, a servo driver is used for driving a servo motor to drive the rotating shaft for turning small combining surfaces of the work pieces to a position where the glue coating surface faces up, the distance measuring mechanism provided with a displacement sensor is used for detecting the positions of the work pieces, and the lifting mechanism provided with a tray positioning pin is used for lifting the work pieces to the glue coating positions. The invention has the characteristics of accurate turnover positioning and high automation degree.
Description
Technical field
The present invention relates to gearbox gluing technology, particularly relate to a kind of glue coating automatic turnover machine that can realize the gearbox double spread by automatic upset.
Background technology
The control method that present glue spreader generally adopts is: adopt the flat square robot to realize the automatic glue application of the big faying face of gearbox.Because automobile gearbox has a big faying face and two little faying faces, wherein two little faying faces lay respectively at gearbox about two sides, can't adopt the flat square robot to carry out automatic glue application, can only adopt gluing manually, and gearbox 2 times that in the gluing process, need manually to overturn, not only labor intensity of operating personnel is big, and efficient is low, and the gluing quality also is difficult to guarantee.Developing a kind of control method and the isolated plant that can realize the little coated face automatic glue application of gearbox by upset, is present problem demanding prompt solution.
Summary of the invention
The purpose of this invention is to provide a kind of glue coating automatic turnover machine that can realize the automatic double-sided gluing of gearbox by the upset location.
Technical scheme of the present invention is achieved in that
Switching mechanism comprises encoder, servomotor, reductor, rotating shaft, rotating shaft telescopic cylinder, bearing block, described servomotor, and its afterbody is equipped with encoder, and encoder links to each other with servo-driver by cable; Described servomotor output shaft is equipped with reductor, and links to each other with servo-driver by cable; Described reductor is installed on the gluing framework by slide rail, and the output shaft of reductor links to each other with rotating shaft; Described rotating shaft and manipulator mechanism framework are connected, and bearing block is installed on the gluing framework by slide rail, and are connected with the manipulator mechanism framework;
Described manipulator mechanism, comprise anchor clamps pressing plate, clamp base, clamping cylinder, wherein: described anchor clamps pressing plate is connected with cylinder body with the piston that clamps cylinder respectively with clamp base, and is installed together with slide block and the manipulator mechanism framework that slide unit is slidingly connected by connecting plate, warp respectively; On the described clamp base alignment pin is housed;
Lifting mechanism is positioned at manipulator mechanism the place ahead, comprises lifting cylinder, electric-air valve, supporting plate, stopper, and the cylinder body of described lifting cylinder is fixed on the gluing framework, and the piston of lifting cylinder links to each other with supporting plate; Described stopper has cylinder, is installed on the production line line body, and supporting plate is provided with the pallet alignment pin;
Range finding mechanism is positioned at the manipulator mechanism below, comprises range finding telescopic cylinder, guide rail base, guide rail, range finding fixed mount, displacement transducer, and described range finding fixed mount is installed on the gluing framework; The cylinder body of described guide rail base lower end and range finding telescopic cylinder is installed on the range finding fixed mount; The piston of range finding telescopic cylinder is connected with the guide rail lower end; Described displacement transducer is fixed on the upper end of guide rail by sensor fixation plate, and guide rail is positioned on the guide rail base and can slides up and down along guide rail base;
Control device comprises:
Industrial computer links to each other with touch-screen by usb bus;
Motion control card for the pci bus structure, has control program, with the industrial computer communication;
The interface expansion card links to each other with motion control card by cable;
Digital quantity input module links to each other with the interface expansion card by the CAN bus, and with the guidance panel that button and switch are housed with near switch and the communication of workpiece sensing switch;
The digital quantity output module links to each other with the interface expansion card by the CAN bus, links to each other with electric-air valve;
The analog quantity input module links to each other with the interface expansion card by the CAN bus, links to each other with displacement transducer;
Servo-driver, pulse input end links to each other with the interface expansion card, and output links to each other with the encoder that is disposed with servomotor respectively.
Described control program flow process is: behind the parameter initialization, judge that pallet arrives the gluing station not, if pallet no show gluing station then jumps to and judges that gluing finishes not step; If pallet arrives the gluing station, the control stopper is blocked in the gluing station with pallet; Detect then whether workpiece is arranged on the pallet, if workpiece is arranged, then control lifting mechanism and rise pallet, if no workpiece is then controlled stopper pallet is let pass; After the pallet rising puts in place, send rotate instruction, rotating shaft is rotated to initial position together with manipulator mechanism to servo-driver; Controlling rotating shaft telescopic cylinder drive manipulator mechanism then stretches out, stretch out put in place after, control clamps cylinders retract, workpiece is clamped, the control pallet descends, after detecting the pallet dropping signal, send the rotating shaft rotate instruction, workpiece is rotated to A coated face position, the range finding telescopic cylinder stretches out, the measured value of displacement transducer and pre-set parameter value are compared, judge that detection is qualified not, if defective, can not carry out gluing, and sending alarm signal, the result that will find range is saved in the variable then, jumps to rotating shaft and forwards the initial position step to; If qualified, then can carry out A face gluing, after judging that A face gluing finishes, send the rotating shaft rotate instruction, make rotating shaft rotate to B coated face position, stop back startup glue spreader and carry out B face gluing; After judging that B face gluing is finished, after rotating shaft rotated to initial position, pallet rose; Pallet rise put in place after, control anchor clamps pressing plate and clamp base are unclamped, the manipulator mechanism withdrawal, pallet descends, stopper descends, with pallet next station of letting pass.
Lifting mechanism also comprises rising pallet putting in place descending near switch and pallet and puts in place near switch, is installed in the lifting cylinder upper and lower end of lifting mechanism respectively, links to each other with digital quantity input module;
Workpiece sensing switch, transmitting terminal are installed online body inboard, and receiving terminal is installed online external side, links to each other with digital quantity input module;
Pallet arrives station near switch, installs on the online body, links to each other with digital quantity input module;
Pallet rising electric-air valve and pallet decline electric-air valve are installed on the gluing framework, communicate by the gas circuit of tracheae with the lifting cylinder, and link to each other with the digital quantity output module;
Stopper decline electric-air valve is installed on the gluing framework, links to each other by the gas circuit of tracheae with the stopper cylinder, and links to each other with the digital quantity output module.
Manipulator mechanism comprises also that anchor clamps unclamp to put in place to clamp near switch and tool and puts in place near switch, is installed in the clamping cylinder front and back ends of manipulator mechanism respectively, links to each other with digital quantity input module;
Clamp electric-air valve and anchor clamps unclamp electric-air valve, are installed in respectively on the gluing framework, link to each other with the gas circuit that clamps cylinder by tracheae, and link to each other with the digital quantity output module.
Switching mechanism also comprises: manipulator stretches out to put in place and puts in place near switch near switch and manipulator withdrawal, is installed in the front and back ends of the rotating shaft telescopic cylinder of switching mechanism respectively, links to each other with digital quantity input module;
Rotating shaft is just spacing negative spacing near switch near switch and rotating shaft, is installed in respectively on the switching mechanism gluing framework, links to each other with digital quantity input module;
The rotating shaft initial point is installed in the bearing block top near switch, near manipulator mechanism one end, links to each other with digital quantity input module;
Manipulator stretches out electric-air valve and manipulator withdrawal electric-air valve, is installed in respectively on the gluing framework, communicates by the gas circuit of tracheae with the rotating shaft telescopic cylinder, and links to each other with the digital quantity output module.
Range finding mechanism also comprises: range finding is risen to put in place and is put in place near switch with finding range to descend near switch, is installed in the upper and lower end of range finding telescopic cylinder respectively, links to each other with digital quantity input module;
Range finding rising electric-air valve and range finding decline electric-air valve are installed in respectively on the gluing framework, link to each other by the gas circuit of tracheae with the range finding telescopic cylinder, and link to each other with the digital quantity output module;
Displacement transducer, described displacement transducer are fixed on the upper end of guide rail by sensor fixation plate; Sensor fixation plate is connected with the piston of range finding telescopic cylinder, and described displacement transducer signal output is connected with the analog quantity input module.
Described is contactless magnetic switch near switch; Described workpiece sensing switch is the correlation infrared switch; Rubber washer is equipped with in described anchor clamps pressing plate inboard.
The present invention has following advantage:
1. the present invention is simple in structure, switching mechanism of the present invention, and the rotation location is fast, accurately.(position error dr＜± 0.05mm).
2. the present invention can show the position of switching mechanism in real time on touch-screen, cooperates the flat square robot coating system to finish the operation of workpiece double spread.
3, the present invention has the prescription editting function, can realize the operation of multiple gearbox body upset gluing.
4, the present invention has state demonstration and warning function, the state of display device operation in real time and warning automatically.
Description of drawings
Fig. 1 is apparatus of the present invention machinery side view.
Fig. 2 is apparatus of the present invention range finding mechanism machine drawing.
Fig. 3 is apparatus of the present invention machinery front elevation.
Fig. 4 is a control device theory diagram of the present invention.
Fig. 5 is a control program flow chart of the present invention.
The specific embodiment
Describe the present invention in detail below in conjunction with following examples and accompanying drawing.
As shown in Figure 1, glue coating automatic turnover machine of the present invention comprises switching mechanism, manipulator mechanism, lifting mechanism, range finding mechanism, control device.
Described control device is by industrial computer, motion control card, interface expansion card, digital quantity input module D/I, digital quantity output module D/O, analog quantity input module A/I, electric-air valve, constitute near switch, displacement transducer, servo-driver, servomotor, encoder.Wherein said motion control card is the pci bus structure, is inserted in the industrial computer; Be furnished with touch-screen, link to each other with industrial computer by usb bus, it act as demonstration various parameters and equipment state, fault alarm, recipe download, accepts operational order etc.; Described interface expansion card links to each other with motion control card by cable; Described digital quantity input module D/I, digital quantity output module D/O, analog quantity input module A/I link to each other with the interface expansion card by the CAN bus; The guidance panel that button and switch be housed with link to each other with digital quantity input module D/I near switch, be used for manual mode of operation and manual switching, crawl and detect the signal that puts in place of cylinder, the spacing and Zero-point switch of switching mechanism etc.; Described digital quantity output module D/O links to each other with electric-air valve, is used for the flexible of control cylinder; Described analog quantity input module A/I links to each other with displacement transducer, is used to detect the position of switching mechanism; Described servo-driver input links to each other with the interface expansion card, and the servo-driver output links to each other with servomotor; Described servo-driver links to each other with encoder by cable, is used to detect the flip angle of switching mechanism;
Industrial computer, motion control card (having control program), interface expansion card, digital quantity input module D/I, digital quantity output module D/O, analog quantity input module A/I are commercial product.
Described switching mechanism spacingly is made up of near switch 18 near switch 17, rotating shaft are negative near switch 7, rotating shaft are just spacing encoder 1, servomotor 2, reductor 3, rotating shaft 4, rotating shaft telescopic cylinder 5, bearing block 6, rotating shaft initial point.
Described encoder 1 is installed on the afterbody of servomotor 2, and links to each other with servo-driver by 6 core shielded cables; Described servomotor 2 output shafts are equipped with reductor 3; Described reductor 3 is installed on the gluing framework 31 by slide rail, and the output shaft of its reductor 3 links to each other with rotating shaft 4; Described rotating shaft 4 is installed in the bearing block 6 by bearing; Described bearing block 6 is installed on the gluing framework 31 by slide rail, and is connected with manipulator mechanism framework 8; Described servomotor 2 links to each other with servo-driver in being installed on switch board by 4 core shielded cables; Rotating shaft just spacing near switch 17, rotating shaft negative spacing be contactless magnetic switch near switch 18, rotating shaft initial point near switch 7, link to each other with the digital quantity input module D/I of control device by cable; Rotating shaft is just spacing to be installed on the gluing framework 31 near switch 18 near switch 17, rotating shaft are negative spacing, is positioned at a side of manipulator mechanism framework 8, and the rotating shaft initial point is located at bearing block 6 tops near switch 7, near manipulator mechanism one end.The cylinder body of rotating shaft telescopic cylinder 5 is installed on the gluing framework 31, and its piston and manipulator mechanism framework 8 are connected;
Described manipulator mechanism is made up of slide block 9, connecting plate 10, slide unit 32, anchor clamps pressing plate 11, clamp base 12, alignment pin 13, clamping cylinder 19.
On the described clamp base 12 alignment pin 13 is housed, alignment pin 13 can realize that the workpiece (present embodiment employing gearbox) and the relative position of clamp base 12 remain unchanged; Described anchor clamps pressing plate 11 is connected with cylinder body with the piston that clamps cylinder 19 respectively with clamp base 12, and, workpiece is clamped along with the withdrawal anchor clamps pressing plate 11 of clamping cylinder 19 cooperates with clamp base 12 along with the anchor clamps pressing plate 11 that stretches out that clamps cylinder 19 cooperates with clamp base 12 and unclamps workpiece; Rubber washer is equipped with in described anchor clamps pressing plate 11 inboards, increases the frictional force between anchor clamps pressing plate 11 and the workpiece, prevents the workpiece landing; Described anchor clamps pressing plate 11 is installed on the manipulator mechanism framework 8 with the slide block 9 that slide unit 32 is slidingly connected by connecting plate 10, warp respectively with clamp base 12.
The course of work of described manipulator mechanism is: when the needs clamping work pieces, drive anchor clamps pressing plate 11, clamp base 12 clampings by motion control card, at this moment, clamp cylinder 19 withdrawals, move downward at the slide unit 32 of clamping cylinder 19 drive lower clamp pressing plates 11 along vertical setting, clamp base 12 moves upward along the slide unit 32 of vertical setting, and anchor clamps pressing plate 11 is pushed down the loam cake of workpiece, clamp base 12 holds up the lower surface of workpiece, thereby workpiece is firmly clamped.
Described lifting mechanism arrives station by lifting cylinder 18, electric-air valve, supporting plate 17, pallet and forms near switch 24, stopper 21, pallet alignment pin 20, workpiece sensing switch 15.The cylinder body of described lifting cylinder 18 is fixed on the gluing framework 31, and the motion of lifting cylinder 18 is by electric-air valve control (be arranged in lifting cylinder 18 gas circuits, D/O links to each other with the digital quantity output module); Described supporting plate 17 is connected with the piston of lifting cylinder 18, and rises along with lifting cylinder 18 stretching out of piston, descends along with the withdrawal of lifting cylinder 18 pistons; It is contactless magnetic switch near switch 24 that described pallet arrives station, is used to detect pallet and whether arrives the gluing station, is installed on the production line line body; Described stopper 21 has cylinder, be installed on the production line line body and adopt electric-air valve (to be arranged in the cylinder gas circuit, D/O links to each other with the digital quantity output module) control rising/decline, when the pallet that is placed with workpiece arrives the gluing station, the cylinder of stopper 21 rises, and stopper 21 is blocked in the gluing station with pallet, after the gluing operation finishes, the cylinder of stopper 21 descends, and pallet leaves the gluing station; Pallet alignment pin 20 is fixed on the supporting plate 17; Described workpiece sensing switch 15 is the correlation infrared switch, and its transmitting terminal is installed in the inboard of production line line body, and its receiving terminal is installed in the outside of production line line body, is used to detect on the pallet that arrives the gluing station whether workpiece is arranged;
Described range finding mechanism is made up of range finding telescopic cylinder 30, displacement transducer 25, sensor fixation plate 26, guide rail base 28, guide rail 27, range finding fixed mount 29, and described range finding fixed mount 29 is installed on the gluing framework 31; The cylinder body of described guide rail base 28 lower ends and range finding telescopic cylinder 30 is installed on the range finding fixed mount 29; The piston of range finding telescopic cylinder 30 is connected with guide rail 27 lower ends; Described displacement transducer 25 is fixed on the upper end of guide rail 27 by sensor fixation plate 26, and guide rail 27 is positioned on the guide rail base 28 and can slides up and down along guide rail base 28; The flexible of described range finding telescopic cylinder 30 pistons controlled (be arranged in gas circuit, D/O links to each other with the digital quantity output module) by electric-air valve; Described displacement transducer 25 rises along with range finding telescopic cylinder 30 stretching out of piston together with guide rail 27, descends along with the withdrawal of range finding telescopic cylinder 30 pistons.
Described range finding working process of mechanism is as follows: when industrial computer sends the range finding order by digital quantity output channel D/O; range finding telescopic cylinder 30 stretches out; driving guide rail 27 rises; when guide rail 27 risings put in place; displacement transducer 25 and tested gluing plane contact; the probe of displacement transducer 25 has certain amount of recovery; the size of its amount of recovery is relevant with the position of workpiece; when the manipulator mechanism clamping work pieces; if the alignment pin 13 on the clamp base 12 does not enter in the locating hole of workpiece; then the relative position between workpiece and anchor clamps pressing plate 11 and the clamp base 12 will change; because each anchor clamps pressing plate 11 and clamp base 12 all rotate to fixing position; therefore just can judge whether clamping work pieces of manipulator mechanism by the size of detecting position displacement sensor 25 amount of recovery; thereby play the effect of protection Jiao Zui, also play the effect of the quality that guarantees the gluing curve simultaneously.
The course of work of the present invention is controlled by the control program that is stored in the motion control card, and is specific as follows:
After pallet carries workpiece arrival gluing station, after arriving station and detect signal by pallet near switch 24, signal is sent to motion control card in the industrial computer by digital quantity input module D/I, motion control card is closed by the electric-air valve of digital quantity output module D/O control stopper 21, cylinder by electric-air valve control stopper 21 stretches out, pallet is blocked in the gluing station, detect on the pallet by workpiece sensing switch 15 whether workpiece is arranged then, if workpiece is arranged, then control lifting mechanism and rise pallet, if no workpiece, then open by the electric-air valve of digital quantity output module D/O control stopper 21, cylinder by electric-air valve control stopper 21 descends, and pallet is let pass.Through pallet rise put in place detect lifting near switch and put in place after, send rotating shaft 4 rotate instructions to servo-driver by motion control card, servo driver drives servomotor 2, rotating shaft 4 is rotated to initial position together with manipulator mechanism, motion control card stretches out by digital quantity output module D/O control rotating shaft telescopic cylinder 5 then, rotating shaft telescopic cylinder 5 drives manipulator mechanism and stretches out, through manipulator stretch out put in place detect near switch manipulator mechanism stretch out put in place after, motion control card clamps cylinder 19 withdrawals by digital quantity output module D/O control, clamp cylinder 19 and drive anchor clamps pressing plate 11 and clamp base 12, workpiece is clamped, motion control card by clamp put in place detect signal near switch after, descend by digital quantity output module D/O control pallet, motion control card by pallet descend put in place detect signal near switch after, send rotating shaft 4 rotate instructions, workpiece is rotated to A coated face position, and (the A coated face up, the B coated face down), after rotating shaft 4 rotates to A coated face position, motion control card stretches out by digital quantity output module D/O control range finding telescopic cylinder 30, driving displacement transducer 25 by cylinder moves to the B of workpiece coated face, when range finding rise put in place detect near switch range finding telescopic cylinder 30 stretch out put in place after, displacement transducer 25 contacts with the B coated face, the detection head of displacement transducer 25 is compressed certain distance, the size of decrement is directly proportional with the distance of displacement transducer 25 to B coated faces, displacement transducer 25 output end voltage signals are delivered to motion control card by analog quantity input module A/I, compare with pre-set parameter value, judge that detection is qualified not, if the difference between the two is greater than the error range of setting, illustrate that then the relative position between anchor clamps and the workpiece is improper, can not carry out gluing, and send alarm signal, the result that will find range is saved in the variable then, jumps to rotating shaft and forwards the initial position step to; If the difference between the two is less than the error range of setting, then can carry out A face gluing (after the range finding end, motion control card is by 30 withdrawals of digital quantity output module D/O control range finding telescopic cylinder, descend to putting in place through range finding and detect 30 withdrawals of range finding telescopic cylinder near switch and put in place behind the signal, can start glue spreader and carry out A face gluing), after judging that A face gluing finishes, motion control card sends rotating shaft 4 rotate instructions, by servo driver drives servomotor 2, (the B coated face up to make rotating shaft 4 rotate to B coated face position, the A coated face is down) after stop, start glue spreader then and carry out B face gluing, after judging that B face gluing is finished, motion control card sends rotating shaft 4 rotate instructions, after making rotating shaft 4 rotate to initial position, motion control card rises by digital quantity output module D/O control pallet, through pallet rise put in place detect near switch pallet rise put in place after, motion control card unclamps by digital quantity output module D/O control anchor clamps pressing plate 11 and clamp base 12, through anchor clamps unclamp put in place detect near switch anchor clamps unclamp put in place after, motion control card is by the withdrawal of digital quantity output module D/O control manipulator mechanism, through manipulator withdrawal put in place detect the manipulator mechanism withdrawal near switch and put in place after, motion control card descends by digital quantity output module D/O control pallet.Descending to putting in place through pallet detects pallet and descends and put in place behind the signal near switch, descend by digital quantity output module D/O control stopper 21, with pallet next station of letting pass.
In the present embodiment:
Pallet rises to put in place and is installed in lifting cylinder 18 upper ends of lifting mechanism near switch, links to each other with the passage 1 of digital quantity input module D/I.
Pallet descends to putting in place and is installed in lifting cylinder 18 lower ends of lifting mechanism near switch, links to each other with the passage 2 of digital quantity input module D/I.
Clamp puts in place and is installed in clamping cylinder 19 rear ends of manipulator mechanism near switch, links to each other with the passage 3 of digital quantity input module D/I.
Anchor clamps unclamp to put in place and are installed in clamping cylinder 19 front ends of manipulator mechanism near switch, link to each other with the passage 4 of digital quantity input module D/I.
Manipulator stretches out to put in place and is installed in the front end of the rotating shaft telescopic cylinder 5 of switching mechanism near switch, links to each other with the passage 5 of digital quantity input module D/I.
The manipulator withdrawal puts in place and is installed in the rear end of the rotating shaft telescopic cylinder 5 of switching mechanism near switch, links to each other with the passage 6 of digital quantity input module D/I.
Range finding is risen to put in place and is installed in the upper end of the range finding telescopic cylinder 30 of range finding mechanism near switch, links to each other with the passage 7 of digital quantity input module D/I.
Range finding descends to putting in place and is installed in the lower end of the range finding telescopic cylinder 30 of range finding mechanism near switch, links to each other with the passage 8 of digital quantity input module D/I.
Workpiece sensing is installed online body inboard near the transmitting terminal of switch, and receiving terminal is installed online external side, links to each other with the passage 9 of digital quantity input module D/I.
Pallet arrives station and installs on the online body near switch, links to each other with the path 10 of digital quantity input module D/I.
Rotating shaft is just spacing to be installed on the switching mechanism gluing framework 31 near switch, links to each other with the passage 11 of digital quantity input module D/I.
Rotating shaft is negative spacing to be installed on the switching mechanism gluing framework 31 near switch, links to each other with the passage 12 of digital quantity input module D/I.
The rotating shaft initial point is installed in bearing block 6 tops of switching mechanism near switch, near manipulator mechanism one end, links to each other with the passage 13 of digital quantity input module D/I.
Pallet rising electric-air valve is the lifting mechanism parts, is installed on the gluing framework 31, links to each other by the gas circuit of tracheae with lifting cylinder 18, links to each other with the passage 1 of digital quantity output module D/O.
Pallet decline electric-air valve is the lifting mechanism parts, is installed on the gluing framework 31, links to each other by the gas circuit of tracheae with lifting cylinder 18, links to each other with the passage 2 of digital quantity output module D/O.
The clamp electric-air valve is the manipulator mechanism parts, is installed on the gluing framework 31, links to each other with the gas circuit that clamps cylinder 19 by tracheae, links to each other with the passage 3 of digital quantity output module D/O.
It is the manipulator mechanism parts that anchor clamps unclamp electric-air valve, is installed on the gluing framework 31, links to each other with the gas circuit that clamps cylinder 19 by tracheae, links to each other with the passage 4 of digital quantity output module D/O.
It is the switching mechanism parts that manipulator stretches out electric-air valve, is installed on the gluing framework 31, links to each other by the gas circuit of tracheae with rotating shaft telescopic cylinder 5, links to each other with the passage 5 of digital quantity output module D/O.
Manipulator withdrawal electric-air valve is the switching mechanism parts, is installed on the gluing framework 31, links to each other by the gas circuit of tracheae with rotating shaft telescopic cylinder 5, links to each other with the passage 6 of digital quantity output module D/O.
Range finding rising electric-air valve is installed on the gluing framework 31 for the range finding mechanism components, links to each other by the gas circuit of tracheae with range finding telescopic cylinder 30, links to each other with the passage 7 of digital quantity output module D/O.
Range finding decline electric-air valve is installed on the gluing framework 31 for the range finding mechanism components, links to each other by the gas circuit of tracheae with range finding telescopic cylinder 30, links to each other with the passage 8 of digital quantity output module D/O.
The signal output part of displacement transducer 25 links to each other with the passage 1 of analog quantity input module A/I.
The pulse input end of servo-driver links to each other with the servo-drive port one of interface expansion card.
The PCI-208 card that motion control card described in the present embodiment adopts Britain TRIO company to produce, have independent CPUs and erasable memory, can move the control program of writing by the user based on Trio Basic, be inserted on the pci bus of industrial computer, carry out bidirectional data communication by pci bus and industrial computer, it can drive 8 axles at most, and has 20 road digital quantity input channels and 10 road digital quantity output channels; The P315 that described digital quantity input module D/I and digital quantity output module D/O adopt Britain TRIO company to produce, it has 16 tunnel digital quantity I/O passage; The P325 that described analog quantity input module A/I adopts Britain TRIO company to produce, it has 8 tunnel 12 analog input channel; The ETCM-1000 that described interface expansion card adopts Beijing A Wode company to produce, it has 2 CAN EBIs, 8 servo interfaces and digital quantity input/output terminal, and can carry out exchanges data by cable and motion control card; The described magnetic non-contact switch that adopts German Schneider company to produce near switch; The direct current 24V electric-air valve that described electric-air valve adopts German Schneider company to produce; The inductance type transducer that described displacement transducer adopts Britain ANILAM company to produce, its output signal is 0～5V voltage signal; Described servo-driver, servomotor, encoder all select for use day intrinsic safety river company to produce, and encoder links to each other with servo-driver by 6 core shielded cables, and servomotor links to each other with servo-driver by the four-core shielded cable.
Claims (9)
1. glue coating automatic turnover machine is characterized in that comprising:
Switching mechanism, comprise encoder (1), servomotor (2), reductor (3), rotating shaft (4), rotating shaft telescopic cylinder (5), bearing block (6), described servomotor (2), its afterbody are equipped with encoder (1), and encoder (1) links to each other with servo-driver by cable; Described servomotor (2) output shaft is equipped with reductor (3), and links to each other with servo-driver by cable; Described reductor (3) is installed on the gluing framework (31) by slide rail, and the output shaft of reductor (3) links to each other with rotating shaft (4); Described rotating shaft (4) is connected with manipulator mechanism framework (8), and bearing block (6) is installed on the gluing framework (31) by slide rail, and is connected with manipulator mechanism framework (8);
Described manipulator mechanism, comprise anchor clamps pressing plate (11), clamp base (12), clamp cylinder (19), wherein: described anchor clamps pressing plate (11) is connected with cylinder body with the piston that clamps cylinder (19) respectively with clamp base (12), and is installed together with manipulator mechanism framework (8) with the slide block (9) that slide unit (32) is slidingly connected by connecting plate (10), warp respectively; Described clamp base is equipped with alignment pin 13 on (12);
Lifting mechanism is positioned at manipulator mechanism the place ahead, comprises lifting cylinder (18), electric-air valve, supporting plate (17), stopper (21), and the cylinder body of described lifting cylinder (18) is fixed on the gluing framework, and the piston of lifting cylinder (18) links to each other with supporting plate (17); Described stopper (21) has cylinder, is installed on the production line line body, and supporting plate (17) is provided with pallet alignment pin (20);
Range finding mechanism is positioned at the manipulator mechanism below, comprises range finding telescopic cylinder (30), guide rail base (28), guide rail (27), range finding fixed mount (29), displacement transducer (25), and described range finding fixed mount (29) is installed on the gluing framework (31); The cylinder body of described guide rail base (28) lower end and range finding telescopic cylinder (30) is installed on the range finding fixed mount (29); The piston of range finding telescopic cylinder (30) is connected with guide rail (27) lower end; Described displacement transducer (25) is fixed on the upper end of guide rail (27) by sensor fixation plate (26), and guide rail (27) is positioned at guide rail base (28) and goes up and can slide up and down along guide rail base (28);
Control device comprises:
Industrial computer links to each other with touch-screen by usb bus;
Motion control card for the pci bus structure, has control program, with the industrial computer communication;
The interface expansion card links to each other with motion control card by cable;
Digital quantity input module (D/I) links to each other with the interface expansion card by the CAN bus, and with the guidance panel that button and switch are housed with near switch and the communication of workpiece sensing switch;
Digital quantity output module (D/O) links to each other with the interface expansion card by the CAN bus, links to each other with electric-air valve;
Analog quantity input module (A/I) links to each other with the interface expansion card by the CAN bus, links to each other with displacement transducer;
Servo-driver, pulse input end links to each other with the interface expansion card, and output links to each other with the encoder that is disposed with servomotor respectively.
2. by the described glue coating automatic turnover machine of claim 1, it is characterized in that: described control program flow process is as follows:
Behind the parameter initialization, judge that pallet arrives the gluing station not, if pallet no show gluing station then jumps to and judges that gluing finishes not step; If pallet arrives the gluing station, the control stopper is blocked in the gluing station with pallet; Detect then whether workpiece is arranged on the pallet, if workpiece is arranged, then control lifting mechanism and rise pallet, if no workpiece is then controlled stopper pallet is let pass; After the pallet rising puts in place, send rotate instruction, rotating shaft is rotated to initial position together with manipulator mechanism to servo-driver; Controlling rotating shaft telescopic cylinder drive manipulator mechanism then stretches out, stretch out put in place after, control clamps cylinders retract, workpiece is clamped, the control pallet descends, after detecting the pallet dropping signal, send the rotating shaft rotate instruction, workpiece is rotated to A coated face position, the range finding telescopic cylinder stretches out, the measured value of displacement transducer and pre-set parameter value are compared, judge that detection is qualified not, if defective, can not carry out gluing, and sending alarm signal, the result that will find range is saved in the variable then, jumps to rotating shaft and forwards the initial position step to; If qualified, then can carry out A face gluing, after judging that A face gluing finishes, send the rotating shaft rotate instruction, make rotating shaft rotate to B coated face position, stop back startup glue spreader and carry out B face gluing; After judging that B face gluing is finished, after rotating shaft rotated to initial position, pallet rose; Pallet rise put in place after, control anchor clamps pressing plate and clamp base are unclamped, the manipulator mechanism withdrawal, pallet descends, stopper descends, with pallet next station of letting pass.
3. by the described glue coating automatic turnover machine of claim 1, it is characterized in that lifting mechanism also comprises:
Pallet rises to put in place and puts in place near switch near switch and pallet decline, is installed in lifting cylinder (18) upper and lower end of lifting mechanism respectively, and (D/I) links to each other with digital quantity input module;
Workpiece sensing switch, transmitting terminal are installed online body inboard, and receiving terminal is installed online external side, and (D/I) links to each other with digital quantity input module;
Pallet arrives station near switch, installs on the online body, and (D/I) links to each other with digital quantity input module;
Pallet rising electric-air valve and pallet decline electric-air valve are installed on the gluing framework (31), communicate by the gas circuit of tracheae with lifting cylinder (18), and link to each other with digital quantity output module (D/O);
Stopper (21) decline electric-air valve is installed on the gluing framework (31), links to each other by the gas circuit of tracheae with stopper (21) cylinder, and links to each other with digital quantity output module (D/O).
4. by the described glue coating automatic turnover machine of claim 1, it is characterized in that manipulator mechanism also comprises:
Anchor clamps unclamp to put in place and put in place near switch near switch and clamp, are installed in clamping cylinder (19) front and back ends of manipulator mechanism respectively, and (D/I) links to each other with digital quantity input module;
Clamp electric-air valve and anchor clamps unclamp electric-air valve, are installed in respectively on the gluing framework (31), link to each other with the gas circuit that clamps cylinder (19) by tracheae, and link to each other with digital quantity output module (D/O).
5. by the described glue coating automatic turnover machine of claim 1, it is characterized in that switching mechanism also comprises:
Manipulator stretches out to put in place and puts in place near switch near switch and manipulator withdrawal, is installed in the front and back ends of the rotating shaft telescopic cylinder of switching mechanism respectively, and (D/I) links to each other with digital quantity input module;
Rotating shaft is just spacing negative spacing near switch near switch and rotating shaft, is installed in respectively on the switching mechanism gluing framework (31), and (D/I) links to each other with digital quantity input module;
The rotating shaft initial point is installed in bearing block (6) top near switch, and near manipulator mechanism one end, (D/I) links to each other with digital quantity input module;
Manipulator stretches out electric-air valve and manipulator withdrawal electric-air valve, is installed in respectively on the gluing framework (31), communicates by the gas circuit of tracheae with the rotating shaft telescopic cylinder, and links to each other with digital quantity output module (D/O).
6. by the described glue coating automatic turnover machine of claim 1, the mechanism that it is characterized in that finding range also comprises:
Range finding is risen to put in place and is put in place near switch near switch and range finding decline, is installed in the upper and lower end of range finding telescopic cylinder respectively, and (D/I) links to each other with digital quantity input module;
Range finding rising electric-air valve and range finding decline electric-air valve are installed in respectively on the gluing framework (31), link to each other by the gas circuit of tracheae with the range finding telescopic cylinder, and link to each other with digital quantity output module (D/O);
Displacement transducer, described displacement transducer (25) are fixed on the upper end of guide rail (27) by sensor fixation plate (26); Sensor fixation plate (26) is connected with the piston of range finding telescopic cylinder (30), and described displacement transducer (25) signal output part is connected with analog quantity input module (A/I).
7. by the described glue coating automatic turnover machine of claim 1, it is characterized in that: described is contactless magnetic switch near switch.
8. by claim 1 or 3 described glue coating automatic turnover machines, it is characterized in that: described workpiece sensing switch (15) is the correlation infrared switch.
9. by the described glue coating automatic turnover machine of claim 1, it is characterized in that: Rubber washer is equipped with in described anchor clamps pressing plate (11) inboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102299722A CN101745491B (en) | 2008-12-19 | 2008-12-19 | Glue coating automatic turnover machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102299722A CN101745491B (en) | 2008-12-19 | 2008-12-19 | Glue coating automatic turnover machine |
Publications (2)
| Publication Number | Publication Date |
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| CN101745491A true CN101745491A (en) | 2010-06-23 |
| CN101745491B CN101745491B (en) | 2011-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102299722A Expired - Fee Related CN101745491B (en) | 2008-12-19 | 2008-12-19 | Glue coating automatic turnover machine |
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| CN (1) | CN101745491B (en) |
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