CN102411871A - Modular manufacture training unit device and modular combined manufacture training system - Google Patents

Modular manufacture training unit device and modular combined manufacture training system Download PDF

Info

Publication number
CN102411871A
CN102411871A CN2011104490449A CN201110449044A CN102411871A CN 102411871 A CN102411871 A CN 102411871A CN 2011104490449 A CN2011104490449 A CN 2011104490449A CN 201110449044 A CN201110449044 A CN 201110449044A CN 102411871 A CN102411871 A CN 102411871A
Authority
CN
China
Prior art keywords
workpiece
unit
travelling belt
modular unit
motor
Prior art date
Application number
CN2011104490449A
Other languages
Chinese (zh)
Other versions
CN102411871B (en
Inventor
王岳军
赵振海
李全利
湛江
葛云涛
方强
高澜
Original Assignee
天津市源峰科技发展有限责任公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 天津市源峰科技发展有限责任公司 filed Critical 天津市源峰科技发展有限责任公司
Priority to CN 201110449044 priority Critical patent/CN102411871B/en
Publication of CN102411871A publication Critical patent/CN102411871A/en
Application granted granted Critical
Publication of CN102411871B publication Critical patent/CN102411871B/en

Links

Abstract

The invention provides a modular manufacture training unit device and a modular combined manufacture training system. A training modular unit consists of a processing and assembling modular unit, a straight walking manipulator modular unit, a fixed manipulator modular unit, a stereoscopic warehouse modular unit, a cargo loading table modular unit, a conveying belt detection modular unit, an inclined slideway modular unit, a horizontal slideway modular unit, a well-type feeding modular unit, a motor modular unit and a multi-piece processing/assembling modular units, wherein the modular training units are respectively and independently assembled to operate for training and are arranged on a combined installation training platform and respectively combined to form the modular combined manufacture training systems; and the modular combined manufacture training systems are respectively and independently assembled to operate for training and are mutually combined to form a manufacture training system. The device and system provided by the invention are scientific in design, reasonable in structure, low in construction cost, small in occupied area and multi-functional in training; each modular unit can operate independently; and the modular units can be combined to constitute new training systems, thereby realizing the processing, assembly, carrying, detection, classification, recognition, transport, warehousing, management and other processes of various cargoes and performing monitoring and managing and the like on each operation link.

Description

Modularization makes the training module device and modular combination is made training system

Technical field

The present invention relates to a kind of teaching and training device of industrial processes, relate in particular to a kind of modularization and make training module device and modular combination manufacturing training system.

Background technology

At present; Graduate's employment situation of duty in China, special secondary school, professorship, high commissioner, colleges and universities is severe day by day, and its reason of opinion is many-sided, and present stage, China generally adopted traditional educational pattern; Traditional educational pattern is paid attention to inculcating of knowledge, has ignored the cultivation of students practise ability.Make a general survey of the Chinese education history of culture, practice all is to can not get paying attention to all the time, and the idea that practice is despised by educational circles still exists.Owing to receive the influence of traditional education; Domestic majority institution of higher education orientates the laboratory as religion auxilliary department; Practice assessment with put into practice achievement only as the reference of theoretical achievement; Only practical teaching just as the checking to knowwhy, does not almost provide the service of other practical teaching yet except accomplishing normal experimental duties.During experiment, the student just does according to the step in the guide book of experiment, does not know its reason yet only know it, and experimental facilities and the experiment so-called effect that can give full play to participation service teaching has hindered practice and the organic connections of imparting knowledge to students to a certain extent.

In recent years, colleges and universities carry out increased enrollment, since each colleges and universities' one-house show, the number of student surge, few when causing laboratory, the experimental facilities wretched insufficiency.Usually experiment all is one group of 4-5 people, and experiment is to be operated by a student, and other people looks on experiment.Also there is the deficiency of self in existing teaching equipment simultaneously; Each assembly module independence that equipment comprised is poor, can't accomplish stand-alone training, more can't implement the combination in any of each intermodule; Very flexible; The student can not fully be participated in each link of experimental facilities training, more can't satisfy some students and equipment implemented the combination in any of each intermodule, cause student's creativity consciousness on laboratory, to can not get effective exercise according to oneself thinking, idea.After graduating, the student on work position, just exposes the situation that technical ability is low, manipulative ability is relatively poor of putting into practice, the phenomenon of ubiquity " high scores but poor ability ".

Summary of the invention

Fundamental purpose of the present invention is to solve the problem that exists in the above-mentioned educational training field study, provides a kind of modularization to make training module device and modular combination manufacturing training system.

Along with the China market expanding economy, to the talent's the demand and the talent's level require increasingly highly, especially the demand to the novelty talent more and more highlights, this just requires China's education sector to go ahead of the rest.What at first will solve is exactly that can training apparatus satisfy the cultivation to the novelty talent, cultivates the connection between theory and practice, reinforcement student's the technical ability of putting into practice, and further strengthens the cultivation of students practise manipulative ability, promotes and expand student's employment competition power.For these reasons, the present invention relatively is suitable for the modularization limber hook up manufacturing system training set that training centers run by social sectors and each universities and colleges give training.

The technical solution adopted for the present invention to solve the technical problems is:

It is that training constitutes with modular unit and aggregate erection training platform that modularization is made the training module device; This training is made up of processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, inclined ramp modular unit, horizontal slideway modular unit, well formula feed modular unit, motor module unit, many processing/modular unit, terminal block and aggregate erection training platforms with modular unit; Training is with modular unit independent groups shipment row training separately; Each training all is installed on the aggregate erection training platform after assembling with modular unit; Training constitutes modular combination respectively with modular unit and makes training system; It is 4 trainings to be set at least constitute two material loading/processing/assembling/warehouse-in/outbound system, raw material/processing/turnover/warehouse-in/outbound system, double assembling/warehouse-in/outbound system, material loading/check/process/go out part system, check/correction/warehouse-in system, multiple spot material loading/processing/assembling/warehouse-in system, batching/outbound/categorizing system, two material loading/two assembling/detections/warehouse-in/outbound system, slightly finishing/detection/except that giving up/warehouse-in/outbound system, material loading/maintenance/waste product/warehouse-in system, messy arrangement/ordering system and travelling belt ordering system except that residual/warehouse-in system, check/correction/sorting system, single preface/two preface processing/outbound/warehouse-in-turnaround systems, single preface/dibit with modular unit on the aggregate erection training platform that modular combination is made training system; Modular combination is made training system independent groups shipment row training separately, and the combination of at least 2 series of modular is made training system and constituted the manufacturing training system each other.

The present invention comprises 12 modular units altogether, and each modular unit not only can independent operating, can also carry out modular unit and constitute new manufacturing training system.Improved the weak point of the existing training apparatus of present China; Each modular unit can break away from makes the dynamo-electric integrated of training system enforcement self; Input/Output Devices such as related various kinds of sensors, motor, solenoid electric valve all are aggregated in the terminal block module of band protective device in the modular unit; Be convenient to the flexible combination between each modular unit; Each modular unit adopts PLC control respectively, and Using P C-LINK network and PROFIBUS fieldbus are implemented the control of whole making training system, computer management and monitoring.The present invention can realize processes such as the processing, assembling, carrying, detection, classification, identification, transmission, storage, management of goods, can carry out whole process supervision, management etc. to each operation link through last microcomputer software.

Processing/modular unit by retention plate, get and anticipate a cylinder, processing/assembly manipulator, guide rail, locating piece, get material locating piece, lift cylinder, clamping cylinder, base, lifting column, mechanical folder, terminal block, section bar matrix, fixed base plate and electromagnetic valve group and form; Place, both sides of the edge on the bottom fixed base plate of processing/load module group is oppositely arranged the section bar matrix; Fixed base plate integral body is rectangular; The top of section bar matrix is provided with retention plate; The place, both sides of the edge of fixed base plate is oppositely arranged the stationary positioned hole; Benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on processing/modular unit on the aggregate erection training platform with bolt through the stationary positioned hole.Solenoid valve, processing/assembly manipulator, locating piece are set on the retention plate and get material locating piece locating piece; Retention plate integral body is rectangular; On one end of retention plate solenoid valve is set; One side setting of section bar matrix is got and is anticipated a cylinder and guide rail; One end of section bar matrix is provided with terminal block, and the operation circuit of solenoid valve is connected with the output signaling interface of the terminal block of processing/modular unit, and the master controller below the terminal block of processing/modular unit is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected; Solenoid valve receives the instruction of master controller; Carry out the opening and closing of pneumatic line according to instruction, the pneumatic line of solenoid valve through pipeline respectively separately with the lift cylinder of processing/modular unit, get and anticipate a cylinder and clamp cylinder and be connected, drive lift cylinder, get opening and closing and extraction and the place work piece of anticipating a cylinder and clamping cylinder.The middle part of retention plate is provided with processing/assembly manipulator, and the bottom of processing/assembly manipulator is a base, and lifting column vertically is set on the base; Lift cylinder is set on the lifting column, clamps cylinder and machinery folder; One side of lifting column is provided with lift cylinder, and the opposite side of lifting column is provided with the clamping cylinder, and the end that clamps cylinder fixedly installs the machinery folder; Clamp cylinder and go up and down along lifting column through lift cylinder with the machinery folder, the machinery folder is through clamping cylinder grasping workpiece.On the retention plate before the base locating piece is set, is processing/assembly station before the locating piece, processing/assembly station presss from both sides correspondingly with mechanical, can realize that through locating piece processing/assembly station concentricity accurately locatees.The other end of retention plate is provided with gets material locating piece locating piece; Get material locating piece locating piece and be the L type; A L shaped end of getting material locating piece locating piece is connected with the end of getting the expansion link of anticipating a cylinder; One end of getting material locating piece locating piece embeds guide rail, gets the material locating piece and reaches automatic location along with getting the flexible of expansion link of anticipating a cylinder along guide rail, and L shaped the other end integral body of getting the material locating piece is spill; The recess and the workpiece of L shaped the other end of getting the material locating piece match; The recess of L shaped the other end of getting the material locating piece is corresponding with the locating piece on the fixed head, reaches processing, the assembling that workpiece was accurately located and realized to concentricity through locating piece, and the indent of getting the material locating piece that the other end of retention plate is L shaped constitutes the loading and unloading station.

Processing/modular unit is anticipated a cylinder and can be carried out Automatic positioning of Workpiece, clamping through getting, and can implement processing, the assembling of workpiece through lift cylinder and mechanical folder, can implement concentricity through the V-type locating piece and accurately locate.To the relatively poor shortcoming of the security of domestic existing training apparatus; All be provided with earth leakage protection, short-circuit protection, the anxious various defencive functions such as protection, insulation blocking, intelligent protection that stop in each modular unit, the making training system; In case emerged in operation fault; Making training system can stop in automatic diagnosis, in the process of training, can guarantee the safety of the person and equipment.

Straight line moving manipulator unit is by the right limit terminal group; The left limit terminal group; Driven drive tab; Transmit bracing frame; Carry out the motor of displacement; The connecting line drag chain; Mechanical arm; The translation chassis; Support column (82); The guide rail of elevation and subsidence mechanical hand (72); Upper limit terminal group (78); Lower limit terminal group (79); Carry out the motor (68) of elevation and subsidence mechanical hand; Y type reclaimer robot; Solenoid valve; Swivel base; The reclaimer robot support; Rotary cylinder; Guide rail; Travelling belt; Terminal block and rotary encoder are formed.The both ends of transmitting bracing frame are provided with driven drive tab, on the driven drive tab of an end of transmission bracing frame rotary encoder are set, and rotary encoder is connected with driven drive tab.A side that transmits an end of bracing frame is provided with the left limit terminal group; The left limit terminal group is connected with the input signal interface of terminal block through circuit, and the master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected; A side that transmits the other end of bracing frame is provided with the right limit terminal group; The right limit terminal group is connected with the input signal interface of terminal block through circuit; Left limit terminal group and right limit terminal group limit mechanical hand are in the displacement that transmits on the bracing frame; Left limit terminal group and right limit terminal group transmitting transmission bracing frame adjustment shift position, bracing frame upper edge and shift length, suppress mechanical arm at the control shift position and the shift length that transmit on the bracing frame according to designing requirement.On the driven drive tab in the other end of transmission bracing frame the motor of carrying out displacement is set; The motor output end of carrying out displacement is connected with driven drive tab; Carry out the motor of displacement according to designing requirement and select stepper motor or AC servo motor or brushless electric machine for use, in same modular unit, realize training requirement different motors.The bottom at the both ends of straight line moving manipulator unit is provided with bracing frame separately, is fixedly installed on straight line moving manipulator unit on the aggregate erection training platform through bracing frame with bolt.Transmit in the bracing frame travelling belt and guide rail are set; The bottom of mechanical arm is provided with the translation chassis; The translation chassis is embedded on the guide rail, and translation chassis and travelling belt are connected to a fixed, and drives travelling belt; Travelling belt drives the moving chassis translation of translation, and the translation chassis carries mechanical arm and transmitting the bracing frame top offset along guide rail.One end of connecting line holder chain is connected with the translation chassis; The other end of connecting line holder chain is connected with terminal block; Place connecting line in the connecting line holder chain, the both ends of connecting line separately with the input signal interface of mechanical arm and terminal block and the output signaling interface be connected.Translation is provided with rotary cylinder on the chassis; The top of rotary cylinder is provided with swivel base; The motor that solenoid valve, support column and execution are gone up and down is set on the swivel base; One side of support column is provided with the guide rail of up-down Y type reclaimer robot, and the opposite side of support column is provided with carries out the motor of up-down, carries out the motor that goes up and down and goes up and down to locate Y type reclaimer robot arbitrarily.The upper end of support column opposite side and bottom are provided with upper limit terminal group and lower limit terminal group separately, and the lifting travel of motor-driven Y type reclaimer robot on support column of up-down carried out in upper limit terminal group and the restriction of lower limit terminal group.One end of swivel base is provided with solenoid valve; The operation circuit of solenoid valve is connected with the output signaling interface of terminal block; Terminal block passes the master controller of cable-through hole entering circuit connection groove below being arranged on the aggregate erection training platform by cable interface through line cord and is connected, and carries out the instruction that master controller sends.The other end of swivel base is provided with support column; The driven in rotation cylinder; 0-360 ° of scope of rotary cylinder driven rotary chassis rotation, motor, reclaimer robot support and Y type reclaimer robot that the support column on the swivel base, execution are gone up and down together rotate with swivel base.The reclaimer robot support is set on the support column, and the reclaimer robot support is the U type, and the reclaimer robot support embeds the guide rail on the support column, and the reclaimer robot support is along the lifting rail displacement.One end of reclaimer robot support fixedly installs gripper cylinder and Y type reclaimer robot, starts to carry out motor-driven reclaimer robot support, clamping cylinder and the oscilaltion of Y type reclaimer robot of up-down.One end of reclaimer robot support fixedly installs gripper cylinder, and an end of gripper cylinder is provided with Y type reclaimer robot, starts gripper cylinder Y type reclaimer robot and extracts or place work piece.The pneumatic line of solenoid valve is connected with gripper cylinder with rotary cylinder respectively through pipeline separately; Solenoid valve receives the instruction of master controller; According to the opening and closing of instruction execution pneumatic line, the opening and closing of driven in rotation cylinder and gripper cylinder and extraction and place work piece.

Straight line moving manipulator unit wherein gripper cylinder and rotary cylinder contains the high precision Magnetic Sensor, detects the position of cylinder in real time; Left limit terminal group and right limit terminal group can be along spacing position and the spacings of section bar matrix move left and right adjustment, and the stroke of the motor of displacement is carried out in restriction; Upper limit terminal group and lower limit terminal group can move up and down adjustment spacing position and spacing along support column, and restriction is carried out the motor that goes up and down and implemented the lifting travel of Y type reclaimer robot on support column; The motor of training usefulness reaches the training request of using different motor according to the interchangeable stepper motor of designing requirement, AC servo motor and brushless electric machine.Wherein be provided with earth leakage protection, short-circuit protection in the terminal block, suddenly stop various defencive functions such as protection, insulation blocking, intelligent protection, can guarantee the safety of the person and equipment in case break down in the operational process.

Solid mechanical fingerprint module unit by pivot arm, support column, get material parallel folder, universal stage, rotary cylinder, terminal block, section bar matrix, fixed base plate, rotating electromagnetic valve group and stationary positioned hole and form; Fixed base plate integral body is rectangular; Place, both sides of the edge relative fixed on the fixed base plate is provided with the section bar matrix; One end and the fixed base plate of section bar matrix are connected to a fixed; One side of section bar matrix is provided with terminal block, and the master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface is connected, and carries out the instruction that master controller (44) sends.Place, both sides of the edge on the fixed base plate is oppositely arranged the stationary positioned hole; Benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on solid mechanical fingerprint module unit on the aggregate erection training platform with bolt through the stationary positioned hole.The top of the other end of section bar matrix fixedly installs retention plate; Fixedly install rotary cylinder on the retention plate, universal stage is set on the rotary cylinder, support column is set on the universal stage; The upper end of support column fixedly installs pivot arm, driven in rotation cylinder driven rotary platform and support column rotation pivot arm.The other end of pivot arm fixedly installs gets the parallel folder of material, and an end of getting the parallel folder of material is connected with the other end of pivot arm, extracts or place work piece through getting the parallel folder of material.One end of pivot arm fixedly installs solenoid valve; The operation circuit of solenoid valve is connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord; Solenoid valve receives the instruction of master controller; Carry out the opening and closing of pneumatic line according to instruction, the pneumatic line of solenoid valve through pipeline respectively separately with rotary cylinder with get the parallel folder of material and be connected, driven in rotation cylinder and get opening and closing and the extraction and the place work piece of expecting parallel folder.

The rotary cylinder of solid mechanical fingerprint module unit can conveniently be implemented mechanical arm through the stroke of regulating oil buffer and in 0-360 ° of scope, workpiece extracted or places.Wherein be provided with earth leakage protection, short-circuit protection in the terminal block of mechanical arm, suddenly stop various defencive functions such as protection, insulation blocking, intelligent protection, can guarantee the safety of the person and equipment in case break down in the operational process.

The tiered warehouse facility modular unit is made up of goods yard, shelf, section bar base, section bar end cap and section bar matrix; Be oppositely arranged the section bar base; At least 2 section bar bases, the top ends at the both ends of section bar base fixedly installs the section bar end cap, on the end of section bar base the section bar matrix is set separately; One end of section bar matrix is connected with an end of section bar base, and the top ends of the other end of section bar matrix fixedly installs the section bar end cap.The side of section bar matrix fixedly installs shelf, and at least 3 layers of shelf are provided with the goods yard on every layer of shelf; At least 5 goods yards; Place work piece on each goods yard, workpiece is deposited in the goods yard of tiered warehouse facility modular unit, through the quantity and the position of workpiece in the master controller record tiered warehouse facility modular unit.

The tiered warehouse facility modular unit is through adjustment storehouse body fast-assembling web member, and the shelf and the goods yard of on the section bar matrix, implementing adjustment storehouse body increase or reduce shelf and goods yard, and dismounting is convenient in adjustment flexibly.

The loading platform modular unit is made up of workpiece positioning table, loading platform, detection probe, terminal block, section bar matrix and fixed base plate; Fixed base plate integral body is rectangular; The both sides relative fixed is provided with the section bar matrix on the fixed base plate, and a side on the top of section bar matrix is provided with terminal block., the master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface is connected, and carries out the instruction that master controller (44) sends; The top of section bar matrix fixedly installs the loading platform, and the loading platform and integrally is rectangular, and the workpiece positioning table is set on the loading platform, and workpiece positioning table global sections is shaped as spill, and workpiece is placed in the spill gap of loading platform and workpiece positioning table.Fixedly install detection probe on one end of workpiece positioning table; Detection probe is selected photoelectric sensor for use; Detection probe is connected with the input signal interface of terminal block through circuit; Detection probe detects and puts into the workpiece on the loading platform by the gap of workpiece positioning table, and feeds back to master controller to detected numerical information.Place, both sides of the edge on the stationary positioned plate is oppositely arranged the stationary positioned hole; Benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on the loading platform module on the aggregate erection training platform with bolt through the stationary positioned hole.

The loading platform modular unit can implement to judge automatically that the workpiece positioning table can be convenient to training along the position that the adjustment of loading platform is implemented to the material piece through detection probe.Wherein be provided with earth leakage protection, short-circuit protection in the terminal block of loading platform, suddenly stop various defencive functions such as protection, insulation blocking, intelligent protection,, can guarantee the safety of the person and equipment in case break down in the operational process.

Travelling belt detection module unit is made up of driving wheel, support, workpiece sensing equipment, detection probe, cylinder support, pusher window, locating support, the cylinder of selecting materials, terminal block, solenoid valve, locating support, the cylinder of selecting materials, travelling belt, travelling belt bracing frame, drive wheel bracket and rotary encoder; The bottom of travelling belt bracing frame is provided with support; The bottom of support is provided with the stationary positioned hole; Benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole.The top of support is connected with the travelling belt bracing frame, stent support travelling belt bracing frame, and the both ends of travelling belt bracing frame are provided with drive wheel bracket separately, and drive wheel bracket is concave shape, and the adjusting slideway is set on the drive wheel bracket.Install driving wheel on the drive wheel bracket; Install endless belt conveyer on the driving wheel at travelling belt bracing frame and both ends; Driving wheel is through the rate of tension of the adjusting slideway adjustment travelling belt of drive wheel bracket; The both ends on the travelling belt top on the travelling belt bracing frame are the loading and unloading station of workpiece, start driving wheel, and driving wheel drives the travelling belt conveying work pieces.One of them driving wheel in the driving wheel at rotary encoder and travelling belt bracing frame both ends is connected; The location swap of rotary encoder still realizes driving travelling belt; The motor of motor module unit is connected with driving wheel, and rotary encoder is implemented the main story operation or the counter-rotating operation of travelling belt.Fixedly install workpiece sensing equipment on the travelling belt bracing frame; At least 1 group workpiece sensing equipment; Workpiece sensing equipment constitutes surveyed area on travelling belt; The workpiece of flowing through on the workpiece sensing Equipment Inspection travelling belt is also released travelling belt to detected workpiece and is got into slideway, and the both ends of travelling belt are respectively the loading and unloading station, so that the feed and get material from the travelling belt two ends respectively.Workpiece sensing equipment is made up of detection probe, cylinder support, pusher window, locating support, select materials cylinder and solenoid valve; Detection probe is installed on the top of locating support; Detection probe is selected inductance detection probe or capacitance detecting probe or Photoelectric Detection probe for use; Require to install the relevant detection probe according to different detection; Detection probe is connected with the input signal interface of terminal block, and the master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected, to the numerical information of master controller detection feedback workpiece.Locating support is fixedly installed on the travelling belt bracing frame; Locating support integral body is L-shaped, and the bottom of locating support is provided with the gentle jar support of solenoid valve, and the operation circuit of solenoid valve is connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through circuit; Carry out the instruction that the master controller transmission comes, the pneumatic line of solenoid valve is connected with the cylinder of selecting materials, and solenoid valve drives the cylinder of selecting materials according to instruction and releases travelling belt to selected workpiece.The pusher window is offered at the middle part of locating support; The pusher window is corresponding with the detection travelling belt; Cylinder support integral body is L-shaped, and an end and the locating support of cylinder support are connected to a fixed, and the cylinder of selecting materials is installed in the other end of cylinder support; The expansion link of cylinder of selecting materials is corresponding with the pusher window of locating support, and the expansion link of the cylinder of selecting materials passes the pusher window and releases travelling belt to the workpiece on the travelling belt.

Travelling belt detection module unit mainly is the transmission of implementing goods (being workpiece), through regulating the rate of tension of driving wheel scalable travelling belt, prevents that travelling belt from skidding, and improves the work efficiency of travelling belt.Surveyed area scope on travelling belt is provided with workpiece sensing equipment, and workpiece sensing equipment can be along the position of travelling belt bracing frame adjustment workpiece sensing equipment on travelling belt.Workpiece sensing equipment adopts inductance detection probe or capacitance detecting probe or Photoelectric Detection probe according to designing requirement; In inductance detection probe, capacitance detecting probe and Photoelectric Detection probe, be provided with earth leakage protection, short-circuit protection, suddenly stop defencive functions such as protection, insulation blocking, intelligent protection, can guarantee the safety of the person and equipment in case break down in the operational process.The position of rotary encoder is adjusted according to designing requirement in the position of rotary encoder on travelling belt, help travelling belt detection module unit best user mode in making training system.Rotary encoder is applicable to automatic measurement and automatic control system, energy measurement angular displacement, rotational speed etc.; And can be with measured value with cyclic binary code or natural binary code output.Fine structure is compact, and volume is little in light weight, and is stable and reliable for performance.In travelling belt detection module unit, realize accurate location, and realize that through scrambler the position of various motors, speed detect workpiece through rotary encoder.

The inclined ramp modular unit is made up of slideway support, slideway, detection probe and limiting block; Slideway support integral body is at right angles trapezoidal; The base plate that extends along the right angle, edge is set respectively on two limits at the right angle of slideway support; 2 stationary positioned holes are set on the base plate at least, and the benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on inclined ramp detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole.3 fixed orifices are set on the edge of the hypotenuse of slideway support and the edge of straight flange at least, are fixed on slideway on the slideway support through fixed orifice.Fixedly install slideway on the last hypotenuse of slideway support, slideway is the slideway that skewed formation tilts, and the slideway cross sectional shape is spill, and the surface of slideway is provided with some grooves, reduces the friction force of workpiece and slideway.One end of slideway is provided with limiting block, and the restriction workpiece is accurately located in the end of slideway.One side of one end of slideway is provided with detection probe; Detection probe is connected with the input signal interface of terminal block on being installed in travelling belt detection module unit; Master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected, and the digital information transmission that gets into workpiece in slideway is given master controller.Workpiece slides from the top of slideway, slides to the bottom of slideway, and limiting block blocks workpiece, and the detection probe of slideway one side detects the workpiece situation on the slideway.

The limiting block of inclined ramp modular unit is located the goods in the slideway (being workpiece) automatically, and slideway adopts the surface hard oxidation technology, improves the wearing quality of slideway, and the slideway surface is provided with some grooves, reduces the friction force of goods and slideway.Change slideway support setting angle, convertible slideway is the state of level or inclination, is convenient to install and adjustment.Be provided with earth leakage protection, short-circuit protection in the detection probe, suddenly stop various defencive functions such as protection, insulation blocking, intelligent protection, can guarantee the safety of the person and equipment in case break down in the operational process.

Horizontal slideway modular unit is made up of slideway support, slideway, detection probe and limiting block; Slideway support integral body is at right angles trapezoidal; The base plate that extends along the right angle, edge is set respectively on two limits at the right angle of slideway support; 2 stationary positioned holes are set on the base plate at least, and the benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on horizontal slideway detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole.3 fixed orifices are set on the edge of the hypotenuse of slideway support and the edge of straight flange at least, are fixed on slideway on the slideway support through fixed orifice.Fixedly install slideway on the straight flange of slideway support, the slideway of the horizontal formation level of slideway, the slideway cross sectional shape is spill, and the surface of slideway is provided with some grooves, reduces the friction force of workpiece and slideway.One end of slideway is provided with limiting block, and the restriction workpiece is accurately located in the end of slideway.One side of one end of slideway is provided with detection probe; Detection probe is connected with the input signal interface of terminal block on being installed in travelling belt detection module unit; Master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected, and the digital information transmission that gets into workpiece in slideway is given master controller.Workpiece gets into from the other end of slideway, fills slideway until workpiece, and the workpiece that the detection probe of slideway one side detects on the slideway is filled situation.

The limiting block of horizontal slideway modular unit is located the goods in the slideway (being workpiece) automatically, and the slideway surface adopts hardening oxidation technology to make, and improves the wearing quality of slideway, and the surface of slideway is provided with some grooves, can reduce the friction force of goods and slideway.Change slideway support setting angle, convertible slideway is the state of level or inclination, is convenient to install and adjustment.Be provided with earth leakage protection, short-circuit protection in the detection probe, suddenly stop various defencive functions such as protection, insulation blocking, intelligent protection, can guarantee the safety of the person and equipment in case break down in the operational process.

Well formula feed modular unit by well formula feed storehouse, detection probe, solenoid valve, pusher cylinder, go out platform at the bottom of feed bin, the storehouse, terminal block, section bar matrix and fixed base plate and form; Fixed base plate integral body is rectangular; The place, both sides of the edge of fixed base plate is oppositely arranged the stationary positioned hole; Benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on well formula feed modular unit on the aggregate erection training platform with bolt through the stationary positioned hole.The both sides of fixed base plate are oppositely arranged the section bar matrix; One end and the fixed base plate of section bar matrix are connected to a fixed; Detection probe, solenoid valve and terminal block are set on the sidewall of section bar matrix; Detection probe is connected with the input signal interface of terminal block on being installed in travelling belt detection module unit; Master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected, and feeds back to the may command modular unit to the numerical information of detected workpiece through circuit, and receives the instruction that the master controller transmission comes.The pneumatic line of solenoid valve is connected with the pusher cylinder; The operation circuit of solenoid valve is connected with the output signaling interface of terminal block on being installed in the aggregate erection training platform; Solenoid valve drives the opening and closing of pusher cylinder according to instruction, and releases out feed bin to workpiece.Fixedly install well formula feed storehouse on the other end of section bar matrix, bottom, well formula feed storehouse is for going out platform at the bottom of feed bin and the storehouse, and platform and integrally is rectangular at the bottom of the storehouse; The other end of section bar matrix and ground, storehouse platform are connected to a fixed; An end of platform sets out feed bin at the bottom of the storehouse, goes out feed bin integral body and is cube, and a side that goes out feed bin is provided with discharging opening; The top that goes out feed bin is provided with charging aperture; The top that goes out feed bin fixedly installs well formula feed storehouse, and the charging aperture that goes out feed bin is connected with the discharging opening in well formula feed storehouse, and the charging aperture that goes out feed bin is corresponding with the discharging opening in well formula feed storehouse.Well formula feed storehouse integral body is column, and cross sectional shape is set at rectangle or circle according to workpiece designing requirement needs in the well formula feed storehouse, and top, well formula feed storehouse is provided with charging aperture, and the bottom in well formula feed storehouse is provided with discharging opening.The other end of platform is provided with the pusher cylinder at the bottom of the storehouse, and the expansion link of pusher cylinder is corresponding with charging aperture that goes out feed bin and discharging opening, starts the pusher cylinder, and the expansion link of pusher cylinder is released the workpiece that in the feed bin from discharging opening.

The well formula feed storehouse of well formula feed modular unit changes cross sectional shape can place some kinds of workpiece, is convenient to the installation and the adjustment of modular unit.Be provided with earth leakage protection, short-circuit protection in the terminal block of well formula feed modular unit, suddenly stop functions such as protection, insulation blocking, intelligent protection, can guarantee the safety of the person and equipment in case break down in the operational process.

The motor module unit is made up of motor, terminal box and fixed base plate; Fixed base plate integral body is rectangular; The place, both sides of the edge of fixed base plate is oppositely arranged the stationary positioned hole; Benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole.On one end of fixed base plate terminal box is set; Terminal box is connected through the output signaling interface of the terminal block on circuit and the travelling belt detection module unit; Master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected; Carry out the instruction that the master controller transmission comes, the motor module unit receives the instruction that master controller sends, according to the unlatching of instruction drive motor, just change, reverse and close; On the other end of fixed base plate motor is set; The clutch end of motor is connected with the driving wheel of travelling belt detection module unit; Motor is selected alternating current generator or servomotor or stepper motor or brushless electric machine for use according to the needs of training request, in same modular unit, realizes the training requirement to different motors through exchanging different motor.The motor of motor module unit is connected with the driving wheel of travelling belt detection module unit; Order about motor and implement rotating; Driving wheel through Synchronous Belt Drives travelling belt detection module unit; Driving wheel drives the operation of travelling belt both forward and reverse directions, and workpiece is implemented the training request of different operating on travelling belt.

The motor of motor module unit adopts alternating current generator, servomotor, stepper motor, brushless electric machine; Different motor is installed on the base of same size; Be convenient to the interchangeability of motor, under the situation that does not change equipment, change motor and can reach requirement different motor training.In the frequency conversion terminal row, be provided with earth leakage protection, short-circuit protection, suddenly stop defencive functions such as protection, insulation blocking, intelligent protection,, can guarantee the safety of the person and equipment in case break down in the operational process.

Many processing/modular unit are made up of fixed base plate, support column, terminal block, positioning of rotating motor, station dial, positioning clamp holder and processing/assembly manipulator; Fixed base plate integral body is rounded; The edge of fixed base plate is oppositely arranged the stationary positioned hole; Benchmark on spacing between the stationary positioned hole and the aggregate erection training platform is installed identification point and is matched, and is fixed on many processing/modular unit on the aggregate erection training platform with bolt through the stationary positioned hole.The middle part of fixed base plate fixedly installs support column; One side of support column is installed terminal block; Master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected, and carries out the instruction that master controller sends.The opposite side of support column is installed the positioning of rotating motor; The control circuit of positioning of rotating motor is connected with the output signaling interface of terminal block; Station dial is installed in the upper end of support column; Station dial integral body is Y-shaped, and each end of Y type of station dial is a spill, and the gap of spill constitutes the loading and unloading station.On the station dial of the spill gap bottom of loading and unloading station, fixedly install the V-type locating piece, the V-type locating piece is corresponding with the spill gap of loading and unloading station, and positioning of rotating motor-driven station dial is around the central part rotation or the location of support column; Station dial wherein an end below fixedly install the positioning clamping cylinder; The control circuit of positioning clamping cylinder is connected with the output signaling interface of terminal block; A station dial wherein end is provided with positioning clamp holder, and positioning clamp holder integral body is L-shaped, and an end of positioning clamp holder is connected with the positioning clamping cylinder; The other end of positioning clamp holder is spill; The spill gap of the other end of positioning clamp holder is corresponding with the V-type locating piece, drives positioning clamping cylinder drive positioning clamp holder and passes workpiece to the V-type locating piece, reaches processing or the assembling that workpiece was accurately located and realized to concentricity through the V-type locating piece.The middle part of station dial is provided with processing/assembly manipulator, and the bottom of processing/assembly manipulator is a base, the fixing lifting column of erectting on the base; Lift cylinder is set on the lifting column, clamps cylinder and machinery folder; One side of lifting column is provided with lift cylinder and solenoid valve, and the opposite side of lifting column is provided with the clamping cylinder, and the end that clamps cylinder fixedly installs the machinery folder; Clamp cylinder and go up and down along lifting column through lift cylinder with the machinery folder, the machinery folder is through clamping cylinder grasping clamping workpiece.It is corresponding that loading and unloading station before the locating piece and machinery press from both sides, and can realize that through locating piece processing/assembly station concentricity accurately locatees.The operation circuit of solenoid valve is connected with the output signaling interface of terminal block; Master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected; Solenoid valve receives the instruction of master controller, carries out the opening and closing of pneumatic line according to instruction.The pneumatic line of solenoid valve is connected with lift cylinder, positioning clamping cylinder and clamping cylinder respectively through pipeline separately, drives opening and closing and the extraction and the place work piece of lift cylinder, positioning clamping cylinder and clamping cylinder.

Terminal block is made up of connection terminal base, input signal interface, output signaling interface, circuit interface plate and cable interface; The circuit interface plate is set on the connection terminal base; The route protection of earth leakage protection, short-circuit protection, insulation blocking, intelligent protection is set in the circuit interface plate; Circuit interface plate top is provided with input signal interface, output signaling interface and cable interface; Input signal interface, output signaling interface are connected with cable interface through the circuit of circuit interface plate, and cable interface is connected with master controller through cable, give master controller the digital information transmission of the detection means of each modular unit feedback; And be transferred to the instruction of master controller the performer of each modular unit; Be provided with the route protection of earth leakage protection, short-circuit protection, insulation blocking, intelligent protection in the base,, guarantee the safety of the person and equipment in case break down in the operational process.Terminal block is attached on the modular unit or is installed on the table top of aggregate erection training platform, gives the instruction of master controller and reception master controller the feedback digital information of modular unit.

The Programmable Logic Controller of master controller adopts Panasonic's host module, Omron host module, Siemens's host module, Mitsubishi's host module; Different Programmable Logic Controllers exchanges on same base; Under the situation that does not change device hardware; Through changing different Programmable Logic Controllers, implement requirement to the Programmable Logic Controller training of different brands, model.Be provided with earth leakage protection, short-circuit protection in the terminal block of Programmable Logic Controller, suddenly stop various defencive functions such as protection, insulation blocking, intelligent protection,, can guarantee the safety of the person and equipment in case break down in the operational process.Master controller by control enclosure, master control board, urgency is stopped and some groups of startups, stop buttons are formed; Link to each other with the Programmable Logic Controller modular unit through cable; Through the crawl that starts, stop button can be realized corresponding modular unit, interlock action, be convenient to the training, maintenance, troubleshooting of module etc.

Aggregate erection training platform integral body is rectangular; Install circuit connection groove, cable-through hole and benchmark on the aggregate erection training platform sign is installed; Benchmark is set on the aggregate erection training platform sign is installed; 4 benchmark are set at least sign is installed, benchmark is installed and is identified each other that X is integral multiple with Y direction spacing, installs to identify according to benchmark and installs training and realize training request with modular unit.The circuit connection groove is set on the table top of aggregate erection training platform, and circuit connection groove global sections shape is rectangular, and the bottom of circuit connection groove is the wire casing pedestal; Wire casing pedestal global sections shape is spill, and the concave bottom of wire casing pedestal is provided with the stationary positioned hole, on the aggregate erection training platform, lays the wire casing pedestal according to designing requirement; And be fixed on the wire casing pedestal on the aggregate erection training platform through bolt; Wire hole is advanced in the equidistance setting on the both sides cell wall of wire casing pedestal, and the link tester that connects between each modular unit is crossed into wire hole turnover circuit connection groove, and the top of circuit connection groove is the wire casing lid; The global sections shape of wire casing lid is spill; The port of wire casing pedestal is provided with interior buckle, and the lower port of wire casing lid is provided with outer buckle, and wire casing covers on the port of wire casing pedestal; The interior buckle of the port of wire casing pedestal buckles into the outer buckle of the lower port of wire casing lid, and the wire casing lid matches with the wire casing pedestal.Training is connected with the link tester oversampling circuit connecting groove of modular unit; And training system is made in the composition module combination; The circuit connection groove constitutes network line and the circuit connection of training with modular unit, implements the operation that modular combination is made each parts of training system.The cable-through hole of perforation is set on the table top of aggregate erection training platform; At least be provided with 4; Master controller below terminal block is passed cable-through hole and is arranged on the aggregate erection training platform through line cord by cable interface is connected, the instruction that transmission comes with the execution master controller of the numerical information of feedback module unit.Below the aggregate erection training platform master controller is set; Master controller by control enclosure, master control board, urgency is stopped and some groups of startups, stop buttons are formed; Link to each other with terminal block through circuit; Master controller receives the numerical information of feedback and sends operational order, drives each modular unit and carries out crawl, the interlock action that training operation start, stop button can be realized corresponding modular unit, is convenient to the training, maintenance, troubleshooting barrier of module etc.

Two material loading/processing/assembling/warehouse-in/outbound system is made up of processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, inclined ramp modular unit, horizontal slideway modular unit, well formula feed modular unit, motor module unit, many processing/modular unit, terminal block, aggregate erection training platform and master controllers; Processing/modular unit, many processing/modular unit, at least 2 group inclined ramp modular units and at least 2 group well formula feed modular units are set in two material loading/processing/assembling/warehouse-in/outbound system; Processing/modular unit and many processing/modular unit are carried out the operation of continuous process operation and assembling; 2 groups of well formula feed modular units are supplied with different workpiece separately, and 2 kinds of different workpiece realize feeding, detection, processing, assemble, go into the training on operation requirement of library storage, outbound, detection, letter sorting.

One end of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; The other end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole, straight line moving manipulator unit and travelling belt detection module unit are T-shaped on the aggregate erection training platform.One side of straight line moving manipulator unit fixedly installs processing/modular unit and many processing/modular unit.Processing/modular unit and many processing/modular unit laterally arrange along a side of straight line moving manipulator unit; Be fixed on processing/modular unit and many processing/modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; Processing/modular unit is corresponding with straight line moving manipulator unit with the loading and unloading station on many processing/modular unit; The Y type reclaimer tool folder of straight line moving manipulator unit extracts or place work piece from the loading and unloading station of processing/modular unit, and different workpiece is processed or assembled to processing/modular unit and many processing/modular unit separately.The opposite side of straight line moving manipulator unit fixedly installs the tiered warehouse facility modular unit; Be fixed on the tiered warehouse facility modular unit on the aggregate erection training platform with bolt through the stationary positioned hole, the Y type reclaimer tool folder of straight line moving manipulator unit is aimed at the goods yard of tiered warehouse facility modular unit and is just extracted or place work piece from the goods yard of tiered warehouse facility modular unit.The opposite side of straight line moving manipulator unit fixedly installs the loading platform modular unit; Loading platform modular unit and tiered warehouse facility modular unit fixedly install side by side; Be fixed on the loading platform modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The workpiece positioning table of loading platform modular unit is corresponding with straight line moving manipulator unit; The workpiece positioning table that the Y type reclaimer tool folder of straight line moving manipulator unit is aimed at the loading platform modular unit just extracts or place work piece from the workpiece positioning table of loading platform modular unit, and the workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit of solid mechanical fingerprint module unit just extracts or place work piece from the workpiece positioning table of loading platform modular unit.

One side of one end of travelling belt detection module unit fixedly installs 2 groups of well formula feed modular units; Be fixed on 2 groups of well formula feed modular units on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The feed bin that goes out of 2 groups of well formula feed modular units docks with the travelling belt of travelling belt detection module unit, and it is corresponding with the loading and unloading station of travelling belt detection module unit to go out feed bin.One side of the other end of travelling belt detection module unit fixedly installs solid mechanical fingerprint module unit; Be fixed on solid mechanical fingerprint module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The parallel folder of material of getting of solid mechanical fingerprint module unit is aimed at the loading and unloading station of the other end, travelling belt detection module unit or the workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit of solid mechanical fingerprint module unit; Just the loading and unloading station from the other end, travelling belt detection module unit extracts or place work piece, and perhaps the workpiece positioning table from the loading platform modular unit extracts or place work piece.The opposite side of the other end of travelling belt detection module unit fixedly installs motor module unit, horizontal slideway modular unit and 2 groups of inclined ramp modular units; The motor module unit is arranged on the aggregate erection training platform with bolt through the stationary positioned hole; The motor module unit is connected with the driving wheel of travelling belt detection module unit; The motor of starter motor modular unit, the travelling belt running of driven by motor travelling belt detection module unit.Horizontal slideway modular unit is fixedly installed on the opposite side of travelling belt detection module unit; Be fixed on horizontal slideway modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The port of the slideway of horizontal slideway modular unit docks with the travelling belt of travelling belt detection module unit, and the port of slideway is corresponding with travelling belt detection module unit workpiece sensing equipment.

2 groups of inclined ramp modular units are fixedly installed on the opposite side of travelling belt detection module unit; Be fixed on 2 groups of inclined ramp modular units on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The port of the slideway of inclined ramp modular unit docks with the travelling belt of travelling belt detection module unit; The port of slideway is corresponding with travelling belt detection module unit workpiece sensing equipment separately, and travelling belt detection module unit, 2 groups of inclined ramp modular units and workpiece sensing equipment constitute surveyed area on travelling belt.The master controller that is arranged on aggregate erection training platform bottom passes cable-through hole entering circuit connection groove through line cord and is connected with the terminal block of each group training with modular unit; Master controller sends instruction and receives feedback digital information; Modular unit is used in training assembling training on the aggregate erection training platform, implements the training request of the mounting arrangement of two material loading/processing/assembling/warehouse-in/outbound system.

Straight line moving manipulator unit and travelling belt detection module unit are T-shaped and are fixedly installed on the aggregate erection training platform; The both sides of straight line moving manipulator unit fixedly install processing/modular unit, many processing/modular unit, tiered warehouse facility modular unit and loading platform modular units, and both sides, travelling belt detection module unit fixedly install solid mechanical fingerprint module unit, 2 groups of well formula feed modular units, 2 groups of inclined ramp modular units, horizontal slideway modular unit, motor module unit and master controllers.Travelling belt detection module unit receives and carries the different workpieces of placing in 2 groups of well formula feed modular units; Workpiece is implemented to detect and letter sorting, be transplanted on processing/modular unit and many processing/modular unit enforcement processing and assemblings through solid mechanical fingerprint module unit.The enforcement of straight line moving manipulator unit is transplanted on workpiece respectively on processing/modular unit and many processing/modular unit and implements processing and assembling; Workpiece transfer after the process and assemble treats that the storehouse is full of the workpiece outbound in the tiered warehouse facility modular unit to the goods yard of tiered warehouse facility modular unit.

Placing 2 kinds of different workpiece in the well formula feed storehouse of 2 groups of well formula feed modular units is workpiece 1 and workpiece 2; Master controller sends on the loading and unloading station of travelling belt one end that instructs the wherein pusher cylinder of one group of well formula feed modular unit of startup, pusher cylinder to shift the workpiece 1 in the well formula feed storehouse onto from the discharging opening that goes out feed bin travelling belt detection module unit.

The present invention sets 2 well formula feed modular units; Wherein one group of well formula feed modular unit is placed outer ring (big part), another group well formula feed modular unit is placed inner ring (smallclothes), through the pusher cylinder will be wherein outer ring (big part) in one group of well formula feed modular unit release and make it get into travelling belt detection module unit.

The motor of starter motor modular unit is implemented just to change; The driving wheel of driven by motor travelling belt detection module unit; The drive wheel travelling belt is just being transported row, the workpiece 1 on the travelling belt from the loading and unloading station of travelling belt one end be transferred to the loading and unloading station of the travelling belt other end.Start the rotary cylinder of solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the workpiece 1 on the loading and unloading station of travelling belt one end.Start solenoid valve, get the parallel folder of material and grasp workpiece 1.Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation, getting on the pivot arm expects that parallel folder leaves the workpiece positioning table of the loading and unloading station aligning loading platform modular unit of the travelling belt other end.Starting solenoid valve is placed on workpiece 1 on the workpiece positioning table of loading platform modular unit; Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is removed the workpiece positioning table of loading platform modular unit, transfers from travelling belt detection module unit workpiece 1 to straight line moving manipulator unit the training request of operation through the loading platform modular unit.

Outer ring (big part) is placed on the end loading and unloading station on the travelling belt detection module unit; Workpiece sensing equipment through surveyed area; Inductance probe or capacitance probe or photoelectric probe are set on the workpiece sensing equipment; Making outer ring (big part) arrive other end loading and unloading station is the clamping station of solid mechanical fingerprint module unit, and workpiece sensing equipment feeds back to master controller to detected numerical information, and master controller receives the numerical information of outer ring (big part); After data processing, send instruction; Rotary cylinder in this moment solid mechanical fingerprint module unit starts, and through lift cylinder, get the parallel folder of material, is placed into workpiece the workpiece positioning table of loading platform modular unit.

Start the motor of the execution displacement of straight line moving manipulator unit, carry out the travelling belt of the driven by motor straight line moving manipulator unit of displacement, travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together.Mechanical arm moves to the workpiece positioning table of aiming at the loading platform modular unit along guide rail, starts the motor (68) of the execution up-down of mechanical arm (71), regulates the height of Y type reclaimer tool folder (66), the workpiece 1 (36) on the alignment pieces positioning table (89).Start machinery gripper cylinder on hand, Y type reclaimer tool folder extracts workpiece 1.Start the motor of the execution up-down of mechanical arm, promote Y type reclaimer robot, workpiece 1 is along with Y type reclaimer robot promotes together, and workpiece 1 leaves the workpiece positioning table of loading platform modular unit, and Y type reclaimer robot keeps the state of clamping workpiece 1.

Start the motor of the execution displacement of straight line moving manipulator unit; Carry out the travelling belt of the driven by motor straight line moving manipulator unit of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation and aim at the loading and unloading station of processing/modular unit together.Start the motor of carrying out and regulate the height of mechanical arm, aim at the loading and unloading station of processing/modular unit.Start machinery gripper cylinder on hand; Be placed on the workpiece 1 of Y type reclaimer robot clamping on the loading and unloading station; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed Y type reclaimer robot, implement the training request of material loading processing work operation.

The motor (adopting stepper motor or servomotor) that straight line moving manipulator of the present invention unit is gone up and down by the motor of carrying out displacement (adopting stepper motor or servomotor), rotary cylinder, execution and the interlock of Y type reclaimer robot are put into the loading and unloading station of processing/modular unit to the outer ring on the loading platform modular unit (big part), and wait is to the processing of outer ring (part greatly).

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station 1 to processing/assembly station along retention plate; Workpiece 1 moves to processing/millwright's bit position and is then blocked by the V-type locating piece on the retention plate, and workpiece 1 rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, machinery grasps the workpiece 1 on processing/assembly station, starts lift cylinder lifting processing/assembly manipulator, and processing/assembly manipulator promotes workpiece 1, processing work 1.Processed workpiece 1 is being placed on processing/assembly station; Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece 1 on the processing/assembly station to the loading and unloading station along retention plate; Workpiece 1 moves to the position of loading and unloading station, and is to be assembled.

Wherein one group of processing/modular unit is by clamping cylinder, lift cylinder, the interlock of processing cylinder to outer ring (big part) implemented processing.

Simultaneously, master controller sends instruction, starts the pusher cylinder of another group well formula feed modular unit, and the pusher cylinder is shifted the workpiece 2 in the well formula feed storehouse onto on the loading and unloading station of travelling belt one end of travelling belt detection module unit from the discharging opening that goes out feed bin.

The motor of starter motor modular unit is implemented just to change; The driving wheel of driven by motor travelling belt detection module unit; Drive wheel travelling belt main story operation, the workpiece 2 on the travelling belt from the loading and unloading station of travelling belt one end be transferred to the loading and unloading station of the travelling belt other end.Start the rotary cylinder of solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the workpiece 2 on the loading and unloading station of the travelling belt other end.Start solenoid valve, get the parallel folder of material and grasp workpiece 2; Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation, getting on the pivot arm expects that parallel folder leaves the workpiece positioning table of the loading and unloading station aligning loading platform modular unit of the travelling belt other end.Starting solenoid valve is placed on workpiece 2 on the workpiece positioning table of accurate loading platform modular unit; Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is removed the workpiece positioning table of loading platform modular unit, transfers from travelling belt detection module unit workpiece 2 to straight line moving manipulator unit the training request of operation through the loading platform modular unit.

Straight line moving manipulator of the present invention unit is put into the loading and unloading station of another group processing/modular unit to the inner ring on the loading platform modular unit (smallclothes) by stepper motor (or servomotor), rotary cylinder, one deck lift cylinder, two layers of lift cylinder and the interlock of Y type reclaimer robot, and wait is to the assembling of inner ring (smallclothes).

Start the motor of the execution displacement of straight line moving manipulator unit, carry out the travelling belt of the driven by motor straight line moving manipulator unit of displacement, travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together.Start the motor of the execution up-down of mechanical arm, regulate the height of Y type reclaimer tool folder, the workpiece 2 on the workpiece positioning table of Y type reclaimer robot aligning loading platform modular unit starts mechanical gripper cylinder on hand, and the clamping of Y type reclaimer tool folder is also extracted workpiece 2.Start the motor that machinery execution is on hand gone up and down, promote Y type reclaimer robot, workpiece 2 is along with Y type reclaimer robot promotes together, and workpiece 2 leaves the workpiece positioning table of loading platform modular unit, and Y type reclaimer robot keeps the state of clamping workpiece 2.

Start machinery rotary cylinder on hand and the motor of carrying out displacement; Aim at the loading and unloading station of many processing/modular unit to the workpiece 2 of Y type reclaimer robot clamping; Start machinery gripper cylinder on hand; Be placed on the workpiece 2 of Y type reclaimer robot clamping on the loading and unloading station, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed Y type reclaimer robot.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 2 on the station dial position of aiming at processing/assembly manipulator; Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 2 to the V-type locating piece along station dial; Workpiece 2 translations are blocked by the V-type locating piece, and workpiece 2 rests on the position of aiming at processing/assembly manipulator and implements assembling.Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends, alignment pieces 2 starts the clamping cylinder, and machinery grasps workpiece 2, starts lift cylinder, and processing/assembly manipulator promotes, and leaves the station up and down of station dial (94).

Meanwhile; The inner ring (smallclothes) that another group well formula feed modular unit is placed is released by the pusher cylinder; Place on the loading and unloading station of an end of travelling belt detection module unit; Through travelling belt detection module unit, solid mechanical fingerprint module unit, loading platform modular unit and straight line moving manipulator unit; Place the loading and unloading station of many processing/modular unit to inner ring (smallclothes), through clamping cylinder, lift cylinder, machinery folder, machinery folder clamping inner ring (smallclothes) etc. are to be assembled.

Start the motor of the execution displacement of straight line moving manipulator unit, carry out the driven by motor travelling belt of displacement, travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot is aimed at the workpiece 1 of the loading and unloading station of processing/modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot extracts workpiece 1.

After treating outer ring (big part) processing, be transplanted on the loading and unloading station of many processing/modular unit outer ring to be assembled (big part) to outer ring (big part) through straight line moving manipulator unit.

Start the motor of the execution displacement of straight line moving manipulator unit; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band the connecting line loading and unloading station of many processing/modular unit of translation alignment together, is placed on the workpiece 1 of mechanical arm clamping on the loading and unloading station of many processing/modular unit.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed Y type reclaimer robot, implement the training request that the assembling workpiece is operated.

After the completion of processing of the outer ring on the processing/modular unit (big part), put into the loading and unloading station to outer ring (big part), the outer ring that processes (big part) put into the loading and unloading station of many processing/modular unit in straight line moving manipulator unit.

Start the positioning of rotating motor-driven station dial of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 1 on the station dial position of aiming at processing/assembly manipulator; Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 1 to the V-type locating piece along station dial; Workpiece 1 moves to by the V-type locating piece on the station dial and blocks, and workpiece 1 rests on the position of aiming at processing/assembly manipulator and implements assembling.

Start the lift cylinder on the lifting column; Decline processing/assembly manipulator, alignment pieces 1 starts the clamping cylinder, and the machinery folder is put into workpiece 1 to a workpiece 2 that grasps; Start lift cylinder; Processing/assembly manipulator promotes the loading and unloading station that leaves the multistation sabot, and workpiece 2 suits are assembled in the workpiece 1, and the workpiece 1 and the workpiece 2 of the suit after the assembling is made into the workpiece of suit assembling.Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit; Rotate to the position of aiming at straight line walking machine fingerprint module unit to the loading and unloading station of the workpiece of placing the suit assembling on the station dial, implement the training request of suit assembling workpiece operation.

Many processing/modular unit are put into processing/assembly station to outer ring (big part), put into outer ring (big part) to inner ring (smallclothes) through lift cylinder, processing/assembly manipulator interlock, process the workpiece of suit assembling after the interlock processing.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the workpiece of suit assembling on the loading and unloading station of many processing/modular unit of Y type reclaimer robot aligning.Start machinery gripper cylinder on hand; The reclaimer robot clamping of Y type is also extracted the workpiece of the suit assembling on the loading and unloading station; Start rotary cylinder and leave many processing/modular unit with the motor of carrying out up-down; Aim at the goods yard of tiered warehouse facility modular unit, start machinery gripper cylinder on hand, be placed on the workpiece of suit assembling on the goods yard.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Move Y type reclaimer robot and leave the tiered warehouse facility modular unit; The workpiece of suit assembling is filled in cycling on each goods yard of tiered warehouse facility modular unit repeatedly, implements the training request of workpiece in-stockroom operation.

Through straight line moving manipulator unit the workpiece of the suit that assembles assembling is put into the warehouse compartment of tiered warehouse facility modular unit, accomplishes the assembly work circulation of workpiece,

The ordering of the workpiece of suit assembling occurs in a jumble in the tiered warehouse facility modular unit, and master controller sends instruction, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the goods yard of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand, the workpiece that the mixed and disorderly suit of ordering assembles on the Y type reclaimer robot clamping goods yard.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the workpiece positioning table of loading platform modular unit, starts machinery gripper cylinder on hand, and Y type reclaimer robot is placed into the workpiece of the mixed and disorderly suit assembling of the ordering of clamping on the workpiece positioning table.Start rotary cylinder, displacement electromagnetic valve group and the motor of straight line moving manipulator unit; Y type reclaimer robot is removed the workpiece positioning table; The room is vacateed in the goods yard of tiered warehouse facility modular unit; Utilize the room of vacateing on the tiered warehouse facility modular unit,, arrange the workpiece of suit assembling on the tiered warehouse facility modular unit shelf in order through the workpiece of the mixed and disorderly suit assembling of ordering on the mechanical arm adjustment tiered warehouse facility modular unit shelf of straight line moving manipulator unit.Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement, travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down; The height of adjustment Y type reclaimer robot, Y type reclaimer robot is aimed at the goods yard of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand; It is orderly that Y type reclaimer robot extracts the arrangement of workpiece on the goods yard of the workpiece adjustment tiered warehouse facility modular unit on the goods yard, the ordering ordering of the workpiece of cycling in the tiered warehouse facility modular unit repeatedly.

After the workpiece of suit assembling on the tiered warehouse facility modular unit shelf is arranged in order; Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement, travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together; Y type reclaimer robot is aimed at the workpiece positioning table of loading platform modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into piece-holder on the workpiece positioning table and playback on the goods yard of soaring in the tiered warehouse facility modular unit, implements the workpiece of suit assembling in the tiered warehouse facility modular unit and arranges the training request of operation in order.

The workpiece of storing in the tiered warehouse facility modular unit is ordering meeting chaotic often, through the adjustment of the workpiece in straight line moving manipulator unit and loading platform modular unit stereo warehouse modular unit ordering.

When the workpiece of suit assembling was filled in each goods yard of tiered warehouse facility modular unit, master controller was received the full data message in tiered warehouse facility modular unit storehouse, after processing data information; Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the workpiece of the suit assembling on the goods yard of Y type reclaimer robot aligning tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot extracts the workpiece of suit assembling.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the workpiece positioning table of loading platform modular unit, starts machinery gripper cylinder on hand, is placed on the workpiece of suit assembling on the workpiece positioning table; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot from the workpiece positioning table of loading platform modular unit, shift the workpiece of suit assembling from straight line moving manipulator unit to travelling belt detection module unit, and reach the training request of the workpiece outbound operation of suit assembling through the loading platform modular unit.

Start the rotary cylinder of solid mechanical fingerprint module unit, the workpiece positioning table that the parallel folder of material is aimed at the loading platform modular unit is got in rotary cylinder driven rotary platform, support column and pivot arm rotation, starts solenoid valve, gets the workpiece that the parallel folder of material grasps assembling.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Get the parallel folder of material and aim at the loading and unloading station of travelling belt one end of travelling belt detection module unit, start solenoid valve and be placed on the workpiece of assembling on the loading and unloading station of travelling belt one end; Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed travelling belt one end on the pivot arm.

After the warehouse compartment in the tiered warehouse facility modular unit is filled, arrive travelling belt detection module unit to Workpiece transfer through straight line moving manipulator unit, loading platform modular unit and solid mechanical fingerprint module unit, workpiece is implemented to detect.Through travelling belt detection module unit letter sorting workpiece, workpiece to be sent into respectively in the inclined ramp detection module unit and horizontal slideway detection module unit of travelling belt detection module unit, reciprocation cycle is accomplished the outbound operation of workpiece, gets into initialization.

The motor of starter motor modular unit is implemented counter-rotating; The driving wheel of driven by motor travelling belt detection module unit; The travelling belt counter-rotating operation of drive wheel travelling belt detection module unit; The workpiece of suit assembling from the loading and unloading station of the travelling belt other end transmit to surveyed area; The workpiece of suit assembling during through surveyed area the detection probe on the workpiece sensing equipment workpiece of suit assembling is implemented to detect; Workpiece when detecting qualified suit assembling starts the cylinder of selecting materials that is fixed on the cylinder support, and the pusher window that the expansion link of the cylinder of selecting materials passes on the locating support pushes the workpiece of qualified suit assembling in the slideway of corresponding horizontal slideway modular unit.When the workpiece that detects underproof suit assembling; The cylinder of selecting materials that is fixed on the cylinder support starts; The pusher window that the expansion link of cylinder of selecting materials passes on the locating support pushes the workpiece of underproof suit assembling in the slideway of corresponding inclined ramp modular unit; Cycling is until the clear storehouse of workpiece of the stock's of tiered warehouse facility modular unit suit assembling repeatedly; Implement the training request of detection, letter sorting and outbound operation, carry out two material loading/processing/assembling/warehouse-in/outbound system implements processing, assembling, warehouse-in, outbound, detection and letter sorting operation to 2 kinds of different labor and materials training request.

Straight line moving manipulator unit, loading platform modular unit and solid mechanical fingerprint module unit to travelling belt detection module unit, are implemented the Workpiece transfer of suit assembling to detect to the workpiece of suit assembling.The workpiece of suit assembling is by way of surveyed area, and the workpiece sensing Equipment Inspection goes out the workpiece of qualified suit assembling to be sent in the horizontal slideway modular unit, and the workpiece sensing Equipment Inspection goes out the workpiece of underproof suit assembling and sends in the inclined ramp modular unit.

Raw material/processing/turnover/warehouse-in/outbound system is made up of processing/modular unit, straight line moving manipulator unit, tiered warehouse facility modular unit, loading platform modular unit, aggregate erection training platform and master controller; Processing/modular unit and many processing/modular unit are set in raw material/processing/turnover/warehouse-in/outbound system, and single group processing/modular unit and many processing/modular unit fill order's preface process operations or processing/modular unit and many processing/modular unit are carried out pair preface process operations or processing/modular unit and many processing/modular unit and are carried out that continuous process operation, assembly manipulation, workpiece have enough to meet the need, workpiece is put in storage and the training on operation requirement of workpiece outbound.

The middle part of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; Straight line moving manipulator unit one side fixedly installs tiered warehouse facility modular unit and loading platform modular unit; The loading platform modular unit is fixedly installed on a side of tiered warehouse facility modular unit; Be fixed on tiered warehouse facility modular unit and loading platform modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The shelf of tiered warehouse facility modular unit are corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the shelf of tiered warehouse facility modular unit.The workpiece positioning table of loading platform modular unit is corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the workpiece positioning table of loading platform modular unit.

Straight line moving manipulator unit opposite side fixedly installs processing/modular unit and many processing/modular unit; Be fixed on processing/modular unit and many processing/modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; Processing/modular unit is corresponding with straight line moving manipulator unit with many processing/modular unit; And be arranged side by side; The loading and unloading station of processing/modular unit and many processing/modular unit is corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the loading and unloading station of processing/modular unit and many processing/modular unit.End on the aggregate erection training platform fixedly installs master controller; Be fixed on aggregate erection training platform bottom to master controller through the stationary positioned hole with bolt; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receives feedback digital information; The assembling training is implemented the training request of the mounting arrangement of raw material/processing/turnover/warehouse-in/outbound system with the training of modular unit on the aggregate erection training platform.

Straight line moving manipulator unit is arranged on processing/modular unit and many processing/modular unit are followed between tiered warehouse facility modular unit and the loading platform modular unit, and the Y type reclaimer robot of straight line moving manipulator unit is implemented the training on operation requirement of continuous process operation, assembly manipulation, workpiece turnover, workpiece warehouse-in and workpiece outbound.

Master controller sends instruction, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the goods yard of the shelf of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand, extracts and grasp the workpiece on the goods yard; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; The clamping of Y type reclaimer robot workpiece and is removed the goods yard, and Y type reclaimer robot is aimed at the loading and unloading station of processing/modular unit, starts machinery gripper cylinder on hand; Be placed on the workpiece of Y type reclaimer robot clamping on the loading and unloading station of processing/modular unit; Motor and mechanical arm electromagnetic valve group that start bit shift solenoid valve group, motor, rotary cylinder, execution are gone up and down are removed Y type reclaimer robot, implement the training request of outbound and material loading operation.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station to processing/assembly station; Workpiece along retention plate to the translation of processing/assembly station; Workpiece translational motion is then blocked by the V-type locating piece on the retention plate to processing/millwright's bit position, and workpiece rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, machinery grasps the workpiece on processing/assembly station, starts lift cylinder lifting processing/assembly manipulator, and processing/assembly manipulator promotes workpiece.Starting solenoid valve, lift cylinder and clamping cylinder is put into processing work on processing/assembly station; Start to get and anticipate a cylinder; The playback of material locating piece is got in drive, places back processed workpiece on the loading and unloading station, implements the training request of single preface outbound, processing and in-stockroom operation.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of processing/modular unit.Start machinery gripper cylinder on hand, the clamping of Y type reclaimer robot is placed on the workpiece on the loading and unloading station of processing/modular unit.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed the Y type reclaimer robot that grasps workpiece.Start the motor of the execution displacement of straight line moving manipulator unit, carry out the driven by motor travelling belt of displacement, travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down the height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the goods yard of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, be placed into the workpiece of Y type reclaimer robot clamping on the goods yard, start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard, and cycling workpiece processing in the tiered warehouse facility modular unit finishes repeatedly.

The Y type reclaimer robot of straight line moving manipulator unit takes out workpiece from the tiered warehouse facility modular unit; Be placed on the processing/assembly station of processing/modular unit; Implement the processing of outbound and single preface, processed workpiece is put back in the tiered warehouse facility modular unit.

The mechanical arm of straight line moving manipulator unit takes out workpiece from the shelf of tiered warehouse facility modular unit; Simultaneously respectively to processing/modular unit and many processing/modular unit conveying workpieces; Processing/modular unit and many processing/modular unit are distinguished processing work simultaneously; Processing/modular unit and many processing/modular unit processed workpiece are transferred back respectively on the shelf of tiered warehouse facility modular unit by the mechanical arm of straight line moving manipulator unit again; Cycling is implemented the training request of outbound, the processing of two preface and in-stockroom operation until finishing the workpiece processing in the tiered warehouse facility modular unit repeatedly.

The Y type reclaimer robot of straight line moving manipulator unit takes out workpiece from the tiered warehouse facility modular unit; Be placed on the processing/assembly station of processing/modular unit and many processing/modular unit; Implement outbound and two preface processing, processed workpiece is put back in the tiered warehouse facility modular unit.

The ordering of the workpiece in the tiered warehouse facility modular unit occurs mixed and disorderly, and master controller sends instruction, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the goods yard of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand, the mixed and disorderly workpiece of ordering on the Y type reclaimer robot clamping goods yard.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the workpiece positioning table of loading platform modular unit, starts machinery gripper cylinder on hand, and Y type reclaimer robot is placed into the mixed and disorderly workpiece of the ordering of clamping on the workpiece positioning table.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the workpiece positioning table; The room is vacateed in the goods yard of tiered warehouse facility modular unit; The detection probe of loading platform modular unit detects the mixed and disorderly workpiece of ordering on the workpiece positioning table, and detection probe is through the numerical information of circuit to the mixed and disorderly workpiece of master controller feedback ordering, after master controller receives numerical information; Send instruction after treatment, the mixed and disorderly workpiece of ordering on the mechanical arm adjustment tiered warehouse facility modular unit shelf of straight line moving manipulator unit.Utilize the room of vacateing on the tiered warehouse facility modular unit shelf, arrange the workpiece on the tiered warehouse facility modular unit shelf in order.

Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, and Y type reclaimer robot is aimed at the goods yard of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, the arrangement of workpiece is orderly on the goods yard of the workpiece adjustment tiered warehouse facility modular unit on the Y type reclaimer robot extraction goods yard; The ordering of the workpiece of cycling in the tiered warehouse facility modular unit repeatedly;

After workpiece on the tiered warehouse facility modular unit shelf is arranged in order; Master controller sends instruction, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement; Travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down the height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the workpiece positioning table of loading platform modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into piece-holder on the workpiece positioning table and playback on the goods yard of soaring in the tiered warehouse facility modular unit, implements the workpiece of tiered warehouse facility modular unit through the loading platform modular unit and arranges the training request of operation in order.

The Y type reclaimer robot of straight line moving manipulator unit takes out workpiece from the tiered warehouse facility modular unit; Be placed on the loading platform modular unit; Vacate the room on the goods yard of tiered warehouse facility modular unit; Utilize the ordering of workpiece on the goods yard of vacateing room arrangement tiered warehouse facility modular unit on the goods yard; Workpiece on the goods yard of tiered warehouse facility modular unit is put back to the workpiece on the loading platform modular unit on the goods yard of tiered warehouse facility modular unit after arranging in order again, has implemented the workpiece sequencing on the goods yard of tiered warehouse facility modular unit.

Processing/modular unit and many processing/modular unit are carried out process operation, repeat process operation, implement the training request of two process operations.Processing/modular unit and many processing/modular unit are carried out continuous 2 process operations; Workpiece is carried out the operation of 2 processing; Enforcement is implemented the training request that raw material/processing/turnover/warehouse-in/outbound system realizes the operation of single preface processing, two preface processing, turnover, warehouse-in and outbound to the training request of 2 process operations of workpiece.

Double assembling/warehouse-in/outbound system is made up of processing/modular unit, many processing/modular unit, straight line moving manipulator unit, tiered warehouse facility modular unit, travelling belt detection module unit, well formula feed modular unit, terminal block, motor module unit, aggregate erection training platform and master controllers; Processing/modular unit, many processing/modular unit, at least 2 group well formula feed modular units are set in double assembling/warehouse-in/outbound system; 2 groups of well formula feed modular units are supplied with different workpiece separately, and 2 kinds of different workpiece are implemented to detect, assemble, go into the overfill training on operation requirement in storehouse of library storage and storehouse separately.

One end, middle part of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; The other end, middle part of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; One end of travelling belt detection module unit is corresponding with the other end of straight line moving manipulator unit; The Y type reclaimer robot of straight line moving manipulator unit is aimed at the loading and unloading station of an end of travelling belt detection module unit, and just the loading and unloading station from an end of travelling belt detection module unit extracts or place work piece.One side of straight line moving manipulator unit fixedly installs many processing/modular unit of processing/modular unit; Be fixed on many processing/modular unit of processing/modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; Many processing/modular unit of processing/modular unit are arranged side by side, and the loading and unloading station of many processing/modular unit of processing/modular unit is corresponding with straight line moving manipulator unit respectively.The opposite side of straight line moving manipulator unit fixedly installs the tiered warehouse facility modular unit; Be fixedly installed on the tiered warehouse facility modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The goods yard of tiered warehouse facility modular unit is corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit is aimed at the goods yard of tiered warehouse facility modular unit and just extracted or place work piece from the goods yard of tiered warehouse facility modular unit.The opposite side of the other end, travelling belt detection module unit fixedly installs the motor module unit; Be fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The motor module unit is connected with the driving wheel of travelling belt detection module unit; The motor of motor module unit is carried out forward or reverse, the driving wheel of driven by motor travelling belt detection module unit, operation of drive wheel travelling belt forward or inverted running.Travelling belt detection module unit The other endA side fixedly install 2 groups of well formula feed modular units; Be fixed on 2 groups of well formula feed modular units on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The port that goes out feed bin of well formula feed modular unit docks with travelling belt detection module unit travelling belt, and it is corresponding with the loading and unloading station of travelling belt detection module unit to go out feed bin.One side of the other end of travelling belt detection module unit fixedly installs the connection terminal base; The operation circuit of the solenoid valve of 2 groups of well formula feed modular units and the operation circuit of the terminal box of motor module unit are connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends.Master controller is fixedly installed on the bottom of aggregate erection training platform; Be fixed on aggregate erection training platform bottom to master controller through the stationary positioned hole with bolt; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information, and modular unit is used in training assembling training on the aggregate erection training platform, implements the training request of the mounting arrangement of double assembling/warehouse-in/outbound system.

Straight line moving manipulator unit and parallel being crisscross arranged in travelling belt detection module unit; 2 groups of well formula feed modular units are placed two kinds of different workpiece; Through travelling belt detection module unit checks and conveying labor and materials; Y type reclaimer robot by straight line moving manipulator unit is sent into processing/modular unit and many processing/modular unit enforcement processing and assemblings to workpiece; The workpiece that the Y type reclaimer robot of straight line moving manipulator unit will be processed and assemble is sent into tiered warehouse facility modular unit storage, realize 2 kinds of different workpiece implement separately to detect, process/assemble and go into the training on operation requirement of library storage.

Placing 2 kinds of different workpiece in the well formula feed storehouse of 2 groups of well formula feed modular units is workpiece 1 and workpiece 2; Master controller and may command modular unit send instruction; Start the wherein pusher cylinder of one group of well formula feed modular unit, the pusher cylinder is shifted the workpiece 1 in one group of well formula feed storehouse wherein onto on the loading and unloading station of travelling belt of travelling belt detection module unit from the discharging opening that goes out feed bin.

The motor of starter motor modular unit is carried out just to be changeed; The driving wheel of driven by motor travelling belt detection module unit; The operation of drive wheel travelling belt forward, the workpiece 1 on the travelling belt is transferred to the loading and unloading station of travelling belt one end from the loading and unloading station of the travelling belt other end.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the travelling belt of the driven by motor straight line moving manipulator unit of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, Y type reclaimer robot is aimed at the loading and unloading station of travelling belt one end; Start mechanical torch magnet valve group; Y type reclaimer tool grasps workpiece 1, extracts workpiece 1, implements the training request of workpiece 1 material loading operation.

Start and carry out the motor of up-down, promote Y type reclaimer robot, workpiece 1 is along with Y type reclaimer robot promotes together, and Y type reclaimer robot leaves the loading and unloading station of travelling belt, and Y type reclaimer robot keeps the state of clamping workpiece 1.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The workpiece 1 of Y type reclaimer robot clamping is aimed at the loading and unloading station of processing/modular unit, starts machinery gripper cylinder on hand, is placed on the workpiece 1 of Y type reclaimer robot clamping on the loading and unloading station of processing/modular unit.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot; Y type reclaimer robot through straight line moving manipulator unit is transplanted on workpiece 1 on the loading and unloading station of processing/modular unit, implements the training request of workpiece 1 material loading operation.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station 1 to processing/assembly station along retention plate; Workpiece 1 moves to processing/millwright's bit position and is then blocked by the V-type locating piece on the retention plate, and workpiece 1 rests on processing/millwright's bit position.Start solenoid valve and lift cylinder decline processing/assembly manipulator; Start and clamp cylinder, the mechanical workpiece 1 on processing/assembly station, startup solenoid valve and the lift cylinder lifting processing/assembly manipulator of grasping; Processing/assembly manipulator grasps workpiece 1; Start lift cylinder and promote processing/assembly manipulator, processing/assembly manipulator promotes workpiece 1, implements the training request of assembling workpiece 1 operation.

The workpiece 1 placed of one group of well formula feed modular unit wherein; Through travelling belt detection module unit checks and conveying labor and materials; Send into processing/modular unit to workpiece 1 by the Y type reclaimer robot of straight line moving manipulator unit and implement processing, processing back etc. are to be assembled.

Start the pusher cylinder of another group well formula feed modular unit in 2 groups of well formula feed modular units, the pusher cylinder is shifted the workpiece 2 in the well formula feed storehouse onto on the loading and unloading station of travelling belt of travelling belt detection module unit from the discharging opening that goes out feed bin; The motor of starter motor modular unit is carried out just to be changeed; The driving wheel of driven by motor travelling belt detection module unit; The operation of drive wheel travelling belt forward, the workpiece 2 on the travelling belt is transferred to the loading and unloading station of travelling belt one end from the loading and unloading station of the travelling belt other end.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the travelling belt of the driven by motor straight line moving manipulator unit of displacement; Travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together, and mechanical arm moves to the loading and unloading station that Y type reclaimer robot is aimed at travelling belt one end along guide rail.Start machinery gripper cylinder on hand, Y type reclaimer tool grasps workpiece 2, extracts workpiece 2, implements the training request of workpiece 2 material loadings operation.

Start and carry out the motor of up-down, promote Y type reclaimer robot, workpiece 2 is along with Y type reclaimer robot promotes together, and Y type reclaimer robot leaves the loading and unloading station of travelling belt, and Y type reclaimer robot keeps the state of clamping workpiece 2.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The workpiece 2 of Y type reclaimer robot clamping is aimed at the loading and unloading station of processing/modular unit, starts machinery gripper cylinder on hand, is placed on the workpiece 2 of Y type reclaimer robot clamping on the loading and unloading station of processing/modular unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot, the Y type reclaimer robot through straight line moving manipulator unit is transferred to workpiece 2 on the loading and unloading station of one group of processing/modular unit wherein, implements the training request of workpiece 2 material loadings operation.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station 2 translation of to processing/assembly station along retention plate; Workpiece 2 moves to processing/millwright's bit position and is then blocked by the V-type locating piece on the retention plate, and workpiece 2 rests on processing/millwright's bit position.Start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, the workpiece 1 of machinery folder clamping is put into workpiece 2, and workpiece 2 suits are assembled in the workpiece 1, and workpiece 1 after the assembling and workpiece 2 are made into the workpiece of suit assembling.Start solenoid valve and lift cylinder and promote processing/assembly manipulator; Processing/assembly manipulator leaves processing/assembly station; Start to get and anticipate a cylinder, drive is got the material locating piece and is revert to the loading and unloading station to the workpiece of suit assembling, implements the training request of assembling workpiece 1 and workpiece 2 operations.

The workpiece 2 that another group well formula feed modular unit is placed; Through travelling belt detection module unit checks and conveying labor and materials; Send into processing/modular unit to workpiece 2 by the Y type reclaimer robot of straight line moving manipulator unit and implement processing and assembling, on processing/modular unit, implement the assembling of workpiece 1 and workpiece 2.Send into assembly station to workpiece 2 through clamping cylinder, pack workpiece 1 (inner ring) in the workpiece 2 (outer ring) into the assembly process of completion workpiece 1 (inner ring) and workpiece 2 (outer ring) through lift cylinder and processing/assembly manipulator interlock.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, and mechanical arm moves to the wherein loading and unloading station of one group of processing/modular unit along guide rail; Start machinery gripper cylinder on hand, Y type reclaimer robot grasps the workpiece of the assembling on the loading and unloading station.Start motor and mechanical arm electromagnetic valve group that machinery execution is on hand gone up and down, extract the workpiece of assembling, start rotary cylinder, carry out the motor of up-down, Y type reclaimer robot leaves the wherein loading and unloading station of one group of processing/modular unit.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Goods yard on the shelf of aligning tiered warehouse facility modular unit starts machinery gripper cylinder on hand, is placed on the workpiece of the assembling of Y type reclaimer robot clamping on the goods yard.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot; The workpiece of assembling is filled in cycling on each goods yard of tiered warehouse facility modular unit repeatedly; Implement the training request of the workpiece in-stockroom operation of assembling, the training request of the workpiece of assembling is filled in cycling in the tiered warehouse facility modular unit repeatedly, reaches the training request of single station assembling and in-stockroom operation.

The Y type reclaimer robot of the assembling workpiece straight line moving manipulator unit that has assembled will assemble workpiece and send into the storage of tiered warehouse facility modular unit, accomplish an operation circulation of assembly work.

Master controller sends instruction; Start the wherein pusher cylinder of one group of well formula feed modular unit, the pusher cylinder is shifted the workpiece 1 in one group of well formula feed storehouse wherein onto on the loading and unloading station of the travelling belt other end of travelling belt detection module unit from the discharging opening that goes out feed bin.

The motor of starter motor modular unit is carried out just to be changeed; The driving wheel of driven by motor travelling belt detection module unit; The operation of drive wheel travelling belt forward, the workpiece 1 on the travelling belt is transferred to the loading and unloading station of travelling belt one end from the loading and unloading station of the travelling belt other end.

The motor that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit are gone up and down is carried out the motor and the mechanical arm electromagnetic valve group of up-down, carries out the travelling belt of the driven by motor straight line moving manipulator unit of displacement, and travelling belt drive mechanical arm is along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, Y type reclaimer robot is aimed at the loading and unloading station of travelling belt one end; Start mechanical torch magnet valve group; Y type reclaimer tool grasps workpiece 1, extracts workpiece 1, implements the training request of workpiece 1 material loading operation.

Start and carry out the motor of up-down, promote Y type reclaimer robot, workpiece 1 is along with Y type reclaimer robot promotes together, and Y type reclaimer robot leaves the loading and unloading station of travelling belt, and Y type reclaimer robot keeps the state of clamping workpiece 1.

The motor that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit are gone up and down is carried out the motor and the mechanical arm electromagnetic valve group of up-down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The workpiece 1 of Y type reclaimer robot clamping is aimed at the loading and unloading station of many processing/modular unit, starts machinery gripper cylinder on hand, is placed on the workpiece 1 of Y type reclaimer robot clamping on the loading and unloading station of many processing/modular unit.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot; Y type reclaimer robot through straight line moving manipulator unit is transplanted on workpiece 1 on the loading and unloading station of many processing/modular unit, implements the training request of workpiece 1 material loading operation.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 1 on the station dial position of aiming at processing/assembly manipulator; Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 1 to the V-type locating piece along station dial; Workpiece 1 moves to by the V-type locating piece on the station dial and blocks, and workpiece 1 rests on the position of aiming at processing/assembly manipulator and implements assembling; Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends, alignment pieces 1 starts the clamping cylinder, and machinery grasps workpiece 1, starts lift cylinder, and processing/assembly manipulator grasps workpiece 1 and promotes, and leaves the loading and unloading station of station dial.

Start the pusher cylinder of another group well formula feed modular unit in 2 groups of well formula feed modular units, the pusher cylinder is shifted the workpiece 2 in the well formula feed storehouse onto on the loading and unloading station of the travelling belt other end of travelling belt detection module unit from the discharging opening that goes out feed bin; The motor of starter motor modular unit is carried out just to be changeed; The driving wheel of driven by motor travelling belt detection module unit; The operation of drive wheel travelling belt forward, the workpiece 2 on the travelling belt is transferred to the loading and unloading station of travelling belt one end from the loading and unloading station of the travelling belt other end.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the travelling belt of the driven by motor straight line moving manipulator unit of displacement; Travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together, and mechanical arm moves to the loading and unloading station that Y type reclaimer robot is aimed at travelling belt one end along guide rail.Start machinery gripper cylinder on hand, Y type reclaimer tool grasps workpiece 2, extracts workpiece 2, implements the training request of workpiece 2 material loadings operation.

Start and carry out the motor of up-down, promote Y type reclaimer robot, workpiece 2 is along with Y type reclaimer robot promotes together, and Y type reclaimer robot leaves the loading and unloading station of travelling belt, and Y type reclaimer robot keeps the state of clamping workpiece 2.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The workpiece 2 of Y type reclaimer robot clamping is aimed at the loading and unloading station of many processing/modular unit, starts machinery gripper cylinder on hand, is placed on the workpiece 2 of Y type reclaimer robot clamping on the loading and unloading station of many processing/modular unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot, transfer to workpiece 2 on the loading and unloading station of many processing/modular unit, implement the training request of workpiece 2 material loadings operation through the Y type reclaimer robot of straight line moving manipulator unit.

Start the positioning of rotating motor-driven station dial of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 2 on the station dial position of aiming at processing/assembly manipulator; Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 2 to the V-type locating piece along station dial; Workpiece 2 moves to by the V-type locating piece on the station dial and blocks, and workpiece 2 rests on the position of aiming at processing/assembly manipulator and implements assembling.

Start the lift cylinder on the lifting column; Decline processing/assembly manipulator, alignment pieces 2 starts the clamping cylinder; The machinery folder is put into workpiece 2 to the workpiece 1 that grasps; Start lift cylinder processing/assembly manipulator and promote the loading and unloading station that leaves station dial, workpiece 1 suit is assembled in the workpiece 2, is made into workpiece 1 and workpiece 2 workpiece of suit assembling.Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit; Rotate to the position of aiming at straight line walking machine fingerprint module unit to the loading and unloading station of the workpiece of placing the suit assembling on the station dial, implement the training request of suit assembling workpiece operation.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, and mechanical arm moves to the loading and unloading station of many processing/modular unit along guide rail; Start machinery gripper cylinder on hand, Y type reclaimer robot grasps the workpiece of the suit assembling on the loading and unloading station; Start motor and mechanical arm electromagnetic valve group that machinery execution is on hand gone up and down, extract the workpiece of suit assembling, start rotary cylinder, carry out the motor of up-down, Y type reclaimer robot leaves the loading and unloading station of many processing/modular unit.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Goods yard on the shelf of aligning tiered warehouse facility modular unit starts machinery gripper cylinder on hand, is placed on the workpiece of the suit of Y type reclaimer robot clamping assembling on the goods yard.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot; The workpiece of assembling is filled in cycling on each goods yard of tiered warehouse facility modular unit repeatedly; Implement the training request of the workpiece in-stockroom operation of assembling, the training request of the workpiece of assembling is filled in cycling in the tiered warehouse facility modular unit repeatedly, reaches the training request of single station assembling and in-stockroom operation.

The mechanical arm of straight line moving manipulator unit obtains workpiece 1 and workpiece 2 from the loading and unloading station of travelling belt one end of travelling belt detection module unit; Simultaneously respectively to processing/modular unit and many processing/modular unit conveying workpieces 1 and workpiece 2; Processing/modular unit and many processing/modular unit are assembled workpiece 1 and workpiece 2 simultaneously respectively; The workpiece of the suit assembling after processing/modular unit and many processing/modular unit are assembled is transported on the shelf of tiered warehouse facility modular unit by the mechanical arm of straight line moving manipulator unit again; Cycling is implemented the training request of double assembling and in-stockroom operation until filling the shelf in the tiered warehouse facility modular unit repeatedly.

2 groups of two kinds of interior different workpiece of well formula feed modular unit are workpiece 1 and workpiece 2; Through travelling belt detection module unit checks and conveying labor and materials; Send into many processing of processing/modular unit/modular unit to workpiece 1 and workpiece 2 by the Y type reclaimer robot of straight line moving manipulator unit and implement processing and assembling; The assembling workpiece that has assembled is sent into tiered warehouse facility modular unit storage by the Y type reclaimer robot of straight line moving manipulator unit, realize 2 kinds of different workpiece implement separately to detect, process/assemble and go into the training on operation requirement of library storage.

When the workpiece of suit assembling is filled in each goods yard of tiered warehouse facility modular unit; Need be with the workpiece outbound of suit assembling, master controller sends instruction, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The workpiece of the suit assembling on the goods yard of Y type reclaimer robot aligning tiered warehouse facility modular unit starts machinery gripper cylinder on hand, and Y type reclaimer robot extracts the workpiece that suit assembles.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the loading and unloading station of travelling belt one end of travelling belt detection module unit, starts machinery gripper cylinder on hand, is placed into the workpiece of the suit of Y type reclaimer robot clamping assembling the loading and unloading station of travelling belt one end.Start the motor of the execution displacement of straight line moving manipulator unit; Carry out the driven by motor travelling belt of displacement, travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down; The height of adjustment Y type reclaimer robot, mechanical arm leaves the loading and unloading station of travelling belt one end, implements the training request of the workpiece outbound operation of assembling.

After the warehouse compartment in the tiered warehouse facility modular unit is filled; The warehouse compartment of Y type reclaimer robot from the tiered warehouse facility modular unit that starts straight line moving manipulator unit takes out the assembling workpiece, is transplanted on then on the loading and unloading station of an end of travelling belt detection module unit.

The motor of starter motor modular unit is carried out counter-rotating, the driving wheel of driven by motor travelling belt detection module unit, and drive wheel travelling belt inverted running, the workpiece of suit assembling transmits to surveyed area on the loading and unloading station of travelling belt one end; When the workpiece of assembling passes through surveyed area; Detection probe on the workpiece sensing equipment is implemented to detect to the workpiece of suit assembling; The workpiece of the suit assembling after the detection gets into the loading and unloading station of travelling belt one end; Subsequent processing to be changed over to is implemented the workpiece outbound of suit assembling and the training request of detecting operation, carries out the training request of double assembling/warehouse-in/outbound system implementation list station assembling, double assembling, workpiece warehouse-in and workpiece outbound operation.

The assembling workpiece is transplanted on next work operation after the workpiece sensing Equipment Inspection from the loading and unloading station of an end of travelling belt detection module unit.

Material loading/check/remove residual/warehouse-in system to form by straight line moving manipulator unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, inclined ramp detection module unit, well formula feed modular unit, terminal block, motor module unit, aggregate erection training platform and master controller, material loading/check/remove residual/warehouse-in system implementation material loading, check, remove training on operation requirement residual, warehouse-in.

One end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; One side of one end of travelling belt detection module unit fixedly installs well formula feed modular unit and terminal block; Be fixed on well formula feed modular unit and terminal block on the aggregate erection training platform with bolt through the stationary positioned hole; The port that goes out feed bin of well formula feed modular unit docks with travelling belt detection module unit travelling belt, and it is corresponding with the loading and unloading station of one end, travelling belt detection module unit to go out feed bin.One side of the other end of travelling belt detection module unit fixedly installs inclined ramp detection module unit; Be fixed on inclined ramp detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole, the loading and unloading station of the port of the slideway of inclined ramp detection module unit and the other end, travelling belt detection module unit connects.The opposite side of the other end of travelling belt detection module unit fixedly installs the motor module unit; Be fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The motor module unit is connected with the driving wheel of travelling belt detection module unit; The motor of starter motor modular unit, the travelling belt running of driven by motor travelling belt detection module unit.The detection probe of inclined ramp detection module unit is connected with the input signal interface of terminal block through circuit; Cable interface by terminal block is connected with master controller; The operation circuit of the solenoid valve of well formula feed modular unit and the operation circuit of the terminal box of motor module unit are connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends.The other end of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; Straight line moving manipulator unit and travelling belt detection module unit are T-shaped to be arranged, and the middle part of the other end of travelling belt detection module unit and straight line moving manipulator unit is relative.The both sides of one end of travelling belt detection module unit fixedly install tiered warehouse facility modular unit and loading platform modular unit separately, are fixed on tiered warehouse facility modular unit and loading platform modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole.Below the training main unit, fixedly install master controller; Through the stationary positioned hole with bolt master controller be fixed on the aggregate erection training platform below; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information, and modular unit use in training assembling training on the aggregate erection training platform, implement material loading/check/except that residual/put the training request of the mounting arrangement of system in storage.

Straight line moving manipulator unit becomes T-shaped to install with travelling belt detection module unit, and tiered warehouse facility modular unit and loading platform modular unit are installed in the both sides of straight line moving manipulator unit, realizes the workpiece warehouse-in and repairs workpiece.Well formula feed modular unit, workpiece sensing equipment and inclined ramp detection module unit are installed in the side of travelling belt detection module unit, realize the operation of feed, detection and rejecting defective goods.

Place work piece in the well formula feed storehouse of well formula feed modular unit; Master controller and may command modular unit send instruction; Start the pusher cylinder, the pusher cylinder is shifted the workpiece in the well formula feed storehouse onto on the loading and unloading station of travelling belt one end of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit; The driving wheel of driven by motor travelling belt detection module unit; The operation of drive wheel travelling belt; The workpiece of travelling belt from the loading and unloading station of travelling belt one end transmit to surveyed area, workpiece during through surveyed area the detection probe on the workpiece sensing equipment workpiece is implemented to detect, implement the training request of material loading, detecting operation.

Well formula feed modular unit is to travelling belt detection module unit conveying workpieces, the workpiece sensing Equipment Inspection on travelling belt detection module unit, and whether qualified, whether qualifiedly have three kinds of situation if identifying workpiece: 1, the defective and workpiece that can't repair; 2, defective but recoverable workpiece; 3, qualified workpiece.Workpiece sensing equipment is given master controller relevant digital information transmission.

When workpiece sensing equipment testing probe detects the workpiece that can not repair; Workpiece sensing equipment passes through circuit to master controller and may command modular unit feedback digital information; Master controller sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials that is fixed on the cylinder support on the workpiece sensing equipment, the pusher window that the expansion link of the cylinder of selecting materials passes on the locating support pushes the workpiece that can not repair in the slideway of corresponding inclined ramp modular unit.The workpiece that can not repair gets into slideway and blocks from the limited retaining in bottom that the port of slideway slides into slideway; The workpiece that can not repair stops at the limiting block place; The detection probe that the side of slideway is provided with detects the workpiece that can not repair; Detection probe is passed through circuit to detected numerical information to master controller, and workpiece is implemented to detect, remove the training request of defective goods operation.

Master controller receives and detects workpiece defective and that can't repair that master controller sends instruction and is transplanted in the inclined ramp detection module unit, waits to be transferred to defective operation and handles.

When workpiece sensing equipment testing probe detects qualified workpiece; Workpiece sensing equipment passes through circuit to master controller feedback digital information; Master controller sends instruction after receiving numerical information after treatment; Travelling belt continues operation, workpiece from the surveyed area of travelling belt to the loading and unloading station transmission of the travelling belt other end.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66), the workpiece on the loading and unloading station of the Y type reclaimer robot aligning travelling belt other end of mechanical arm.

Start machinery gripper cylinder on hand, Y type reclaimer robot grasps qualified workpiece.Start the motor of the execution displacement of straight line moving manipulator unit; Carry out the driven by motor travelling belt of displacement, travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the goods yard on the shelf of the Y type reclaimer robot aligning tiered warehouse facility modular unit of mechanical arm starts machinery gripper cylinder on hand; Y type reclaimer robot is placed into qualified workpiece on the goods yard; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed Y type reclaimer robot from the goods yard of tiered warehouse facility modular unit, cycling is filled qualified workpiece until reaching the tiered warehouse facility modular unit repeatedly; Y type reclaimer robot through straight line moving manipulator unit is transplanted on the loading and unloading station of qualified workpiece from travelling belt detection module unit on the shelf of tiered warehouse facility modular unit, implements the training request of qualified workpiece in-stockroom operation.

Master controller receives and detects qualified workpiece that the Y type reclaimer robot that master controller sends instruction straight line moving manipulator unit is placed into qualified workpiece on the goods yard of tiered warehouse facility modular unit, goes into library storage.

When workpiece sensing equipment testing probe detects defective recoverable workpiece; Workpiece sensing equipment passes through circuit to master controller feedback digital information; Master controller sends instruction after receiving numerical information after treatment; Travelling belt continues operation, defective recoverable workpiece from the surveyed area of travelling belt to the loading and unloading station transmission of the travelling belt other end.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the defective recoverable workpiece on the loading and unloading station of the Y type reclaimer robot aligning travelling belt other end of mechanical arm.Start machinery gripper cylinder on hand, Y type reclaimer robot grasps defective recoverable workpiece.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together, and mechanical arm grasps defective recoverable workpiece and moves to the workpiece positioning table that Y type reclaimer robot is aimed at the loading platform modular unit along guide rail.

Y type reclaimer robot through straight line moving manipulator unit is transplanted on the loading and unloading station of defective recoverable workpiece from travelling belt detection module unit on the workpiece positioning table of loading platform modular unit, carries out defective recoverable workpiece is implemented to repair operation by the loading platform modular unit training request.

Master controller is received and is detected defective and recoverable workpiece; The Y type reclaimer robot that master controller sends instruction straight line moving manipulator unit defective and recoverable Workpiece transfer to the loading platform modular unit, the defective and recoverable workpiece of loading platform modular unit enforcement reparation.

Start machinery gripper cylinder on hand; Y type reclaimer robot is placed into workpiece on the workpiece positioning table of loading platform modular unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot from the workpiece positioning table, the workpiece on the workpiece positioning table of loading platform modular unit is implemented to remove incomplete, reparation.After defective recoverable workpiece is repaired; To master controller feedback digital information, master controller unit sends instruction after receiving numerical information to detection probe after treatment through circuit, starts the motor of the execution displacement of straight line moving manipulator unit; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Mechanical arm moves to Y type reclaimer robot along guide rail and aims at the workpiece of having repaired on the workpiece positioning table of loading platform modular unit, starts machinery gripper cylinder on hand, and Y type reclaimer robot extracts the workpiece of having repaired on the workpiece positioning table.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Goods yard on the shelf of the Y type reclaimer robot aligning tiered warehouse facility modular unit of mechanical arm starts machinery gripper cylinder on hand, and Y type reclaimer robot is placed workpiece on the goods yard; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot from the goods yard of tiered warehouse facility modular unit, implement the defective training request that workpiece removes residual, reparation and in-stockroom operation of repairing, cycling is filled the training request of qualified workpiece until reaching the tiered warehouse facility modular unit repeatedly.Implement qualified workpiece transfer to the shelf of tiered warehouse facility modular unit through the Y type reclaimer robot of straight line moving manipulator unit; Repair defective recoverable workpiece transfer to the loading platform modular unit; After to be repaired; Transfer to qualified workpiece from the loading platform modular unit on the shelf of tiered warehouse facility modular unit again, carry out the residual/warehouse-in system of material loading/check/remove material loading, check, remove training request residual, the operation of repairing and putting in storage.

Master controller receives that the loading platform modular unit feeds back the numerical information of having accomplished the reparation workpiece; Master controller sends instruction; The Y type reclaimer robot of straight line moving manipulator unit is transplanted on qualified workpiece on the goods yard of tiered warehouse facility modular unit from the loading platform modular unit, goes into library storage.

Check/correction/sorting system is made up of processing/modular unit, solid mechanical fingerprint module unit, travelling belt detection module unit, inclined ramp detection module unit, horizontal slideway detection module unit, well formula feed modular unit, motor module unit, terminal block, aggregate erection training platform and master controller, the training on operation requirement that at least 2 group inclined ramp detection module unit are implemented check, revised, sort in check/correction/sorting system.

One end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; One side of travelling belt detection module unit fixedly installs motor module unit, horizontal slideway detection module unit and 2 groups of inclined ramp detection module unit; Be fixed on motor module unit, horizontal slideway detection module unit and 2 groups of inclined ramp detection module unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The motor of motor module unit is connected with the driving wheel of travelling belt detection module unit; The motor of starter motor modular unit, the travelling belt running of driven by motor travelling belt detection module unit.Horizontal slideway modular unit is fixedly installed on a side of travelling belt detection module unit; The port of the slideway of horizontal slideway modular unit docks with the travelling belt of travelling belt detection module unit, and the port of slideway is corresponding with travelling belt detection module unit workpiece sensing equipment.2 groups of inclined ramp modular units are fixedly installed on a side of travelling belt detection module unit; The port of the slideway of inclined ramp modular unit docks with the travelling belt of travelling belt detection module unit, and the port of slideway is corresponding with travelling belt detection module unit workpiece sensing equipment separately.The detection probe of 2 groups of inclined ramp detection module unit and inclined ramp detection module unit is connected with the input signal interface of terminal block through circuit, and the cable interface of terminal block is given master controller the numerical information feedback transmission through cable line.The opposite side of travelling belt detection module unit fixedly installs well formula feed modular unit; Be fixed on well formula feed modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The feed bin that goes out of well formula feed modular unit docks with the travelling belt of travelling belt detection module unit, and it is corresponding with the loading and unloading station of one end, travelling belt detection module unit to go out feed bin.The operation circuit of the solenoid valve of well formula feed modular unit and the operation circuit of the terminal box of motor module unit are connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends.The other end of travelling belt detection module unit fixedly installs solid mechanical fingerprint module unit; Be fixed on solid mechanical fingerprint module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The loading and unloading station of getting the parallel folder aligning of material the other end, travelling belt detection module unit of solid mechanical fingerprint module unit, just the loading and unloading station from the other end, travelling belt detection module unit extracts or place work piece.One side of solid mechanical fingerprint module unit fixedly installs processing/modular unit; Be fixed on processing/modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The parallel folder of material of getting of solid mechanical fingerprint module unit is aimed at the loading and unloading station of processing/modular unit, and just the loading and unloading station from processing/modular unit extracts or place work piece.Fixedly install master controller below the aggregate erection training platform; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform, implements the training request of the mounting arrangement of check/correction/sorting system.

Install well formula feed modular unit, inclined ramp detection module unit and horizontal slideway detection module unit in the both sides of travelling belt detection module unit, implement the operation of feed, detection and letter sorting workpiece.Solid mechanical fingerprint module unit and processing/modular unit are installed in the end of travelling belt detection module unit, implement to repair defective workpiece.

Place work piece in the well formula feed storehouse of well formula feed modular unit; Master controller sends instruction; Start the pusher cylinder of well formula feed modular unit, the pusher cylinder is shifted the workpiece in the well formula feed storehouse onto on the loading and unloading station of travelling belt one end of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit just changes; The driving wheel of driven by motor travelling belt detection module unit; The operation of drive wheel travelling belt forward; Workpiece from the loading and unloading station of travelling belt one end transmit to surveyed area, workpiece during through surveyed area the detection probe on the workpiece sensing equipment workpiece is implemented to detect.Divide qualified workpiece and defective workpiece in the workpiece through the workpiece sensing battery limits of travelling belt detection module unit, sort out qualified workpiece and defective workpiece, implement to detect the training request of workpiece, the qualified workpiece of letter sorting and the operation of defective workpiece.

Mixing qualified workpiece and underproof workpiece in the workpiece of in well formula feed modular unit, placing; Be placed on the travelling belt detection module unit from well formula feed modular unit; Workpiece is implemented to detect to workpiece through workpiece sensing equipment by way of surveyed area on travelling belt, and testing result has two kinds of situation: 1, qualified workpiece; 2, the defective workpiece that needs reparation.

When detecting the qualified workpiece that need not to revise; Workpiece sensing equipment passes through circuit to master controller feedback digital information; Master controller sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials that is fixed on the cylinder support; The pusher window that the expansion link of cylinder of selecting materials passes on the locating support pushes qualified workpiece in the slideway of corresponding inclined ramp modular unit, the workpiece that the detection probe on the inclined ramp modular unit detects, workpiece sensing equipment through circuit to master controller feedback digital information.

The workpiece sensing Equipment Inspection goes out qualified workpiece, and qualified workpiece need not to implement to repair, so master controller sends instruction, the cylinder of selecting materials pushes qualified workpiece in the inclined ramp detection module unit subsequent processing to be got into.

When detecting the underproof workpiece that needs correction; Workpiece sensing equipment passes through circuit to master controller feedback digital information; Master controller sends instruction after receiving numerical information after treatment; Travelling belt continues operation, workpiece from the surveyed area of travelling belt to the loading and unloading station transmission of the travelling belt other end.Underproof workpiece arrives the loading and unloading station of the travelling belt other end; Master controller sends instruction through after the data processing; Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the underproof workpiece on the loading and unloading station of the travelling belt other end, and the startup solenoid valve is got the parallel folder of material and is grasped underproof workpiece.

The workpiece sensing Equipment Inspection goes out defective workpiece, and defective workpiece is to need to implement to repair, so; Master controller sends instruction, and travelling belt continues operation, is transferred to solid mechanical fingerprint module unit; Solid mechanical fingerprint module unit is transplanted on processing/modular unit, gets into subsequent processing.

Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the loading and unloading station of processing/modular unit.Start solenoid valve and expect that getting the underproof workpiece that parallel folder grasps is placed on the loading and unloading station of processing/modular unit.Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed processing/modular unit on the pivot arm, implement to detect, letter sorting and repair the training request of operating.

Master controller sends instruction through after the data processing; Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the underproof workpiece on the loading and unloading station to processing/assembly station along retention plate; Underproof workpiece translational motion is blocked by the V-type locating piece on the retention plate to processing/assembly station, and underproof workpiece rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator; Start and clamp cylinder; Machinery grasps the underproof workpiece on processing/assembly station, starts lift cylinder and promotes processing/assembly manipulator, the underproof workpiece of processing/assembly manipulator correction.After treating underproof workpiece correction; Start solenoid valve and lift cylinder decline processing/assembly manipulator; Start the clamping cylinder, the machinery folder is placed on the workpiece of processing on processing/assembly station, and startup is got and anticipated a cylinder; The playback of material locating piece is got in drive, gets the material locating piece and places back the workpiece after repairing on the loading and unloading station.

On processing/modular unit, implement to repair to underproof workpiece by processing/modular unit underproof Workpiece transfer for solid mechanical fingerprint module unit.

Master controller sends instruction through after the data processing; Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the loading and unloading station of processing/modular unit, the workpiece on the loading and unloading station of startup solenoid valve extraction processing/modular unit; Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got loading and unloading station that the parallel folder of material is removed processing/modular unit and the loading and unloading station that getting the parallel folder aligning of the material travelling belt other end on the pivot arm on the pivot arm; Starting solenoid valve is placed on the workpiece of getting the parallel folder clamping of material on the loading and unloading station of the travelling belt other end; Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is removed the loading and unloading station.

Solid mechanical fingerprint module unit to travelling belt detection module unit, is implemented the Workpiece transfer after repairing to detect by workpiece sensing equipment.

Master controller sends instruction through after the data processing; The motor of starter motor modular unit; Motor is carried out counter-rotating, the driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt inverted running; With workpiece from the loading and unloading station of the travelling belt other end transmit to surveyed area, workpiece during through surveyed area the detection probe on the workpiece sensing equipment workpiece of assembling is implemented to detect.The workpiece sensing Equipment Inspection is to qualified workpiece; Workpiece sensing equipment passes through circuit to master controller feedback digital information; Master controller sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials that is fixed on the cylinder support; The pusher window that the expansion link of cylinder of selecting materials passes on the locating support pushes qualified workpiece in the slideway of corresponding horizontal slideway modular unit, repeatedly cycling accomplish repair, the operation training requirement of check and letter sorting, implement the training request that detection, reparation and the letter sorting of check/correction/sorting system are operated.

Behind the workpiece sensing Equipment Inspection workpiece; Send into inclined ramp detection module unit to qualified workpiece; Still underproof workpiece is sent into horizontal slideway detection module unit, and the defective workpiece that needs to implement to repair is implemented to repair cycling repeatedly once sending processing/modular unit back to.

Single preface/two preface processing/outbound/warehouse-in-turnaround systems are made up of processing/modular unit, straight line moving manipulator unit, tiered warehouse facility modular unit, loading platform modular unit, many processing/modular unit, aggregate erection training platform and master controllers; In single preface/two preface processing/outbound/warehouse-in-turnaround systems processing/modular unit and many processing/modular unit are set; Single group processing/modular unit and many processing/modular unit fill order's preface process operations, or processing/modular unit and many processing/two preface process operation training requests of modular unit execution.

The middle part of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; One side of straight line moving manipulator unit stationary arrangement side by side is provided with processing/modular unit, many processing/modular unit and loading platform modular unit; Be fixed on processing/modular unit, many processing/modular unit and loading platform modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The loading and unloading station of the loading and unloading station of processing/modular unit, many processing/modular unit is corresponding with straight line moving manipulator unit with the workpiece positioning table of loading platform modular unit, and is arranged side by side.The Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the loading and unloading station of the loading and unloading station of processing/modular unit, many processing/modular unit and the workpiece positioning table of loading platform modular unit.Straight line moving manipulator unit opposite side fixedly installs the tiered warehouse facility modular unit; Be fixed on the tiered warehouse facility modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The shelf of tiered warehouse facility modular unit are corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the shelf of tiered warehouse facility modular unit.Fixedly install master controller below the aggregate erection training platform; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform, implements the training request of single preface/two preface processing/outbounds/warehouse-in-turnaround system mounting arrangement.

Tiered warehouse facility modular unit and processing/modular unit and loading platform modular unit are set respectively in the both sides of straight line moving manipulator unit; Straight line moving manipulator unit takes out workpiece from the tiered warehouse facility modular unit; Be transplanted on processing/modular unit and many processing/modular unit, implement single preface processing/assembling workpiece or two preface processing/assembling workpiece.And the turnover workpiece is implemented through the workpiece in the loading platform modular unit stereo warehouse modular unit in straight line moving manipulator unit.

Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the goods yard of the shelf of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot extracts and grasps the workpiece of the generation processing on the goods yard.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; The clamping of Y type reclaimer robot workpiece to be processed and is removed the goods yard; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the loading and unloading station of processing/modular unit, starts Y type reclaimer robot, is placed on the workpiece to be processed of Y type reclaimer robot clamping on the loading and unloading station of processing/modular unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot from the loading and unloading station of processing/modular unit, transfer the training request of operating to workpiece to be processed from the shelf of tiered warehouse facility modular unit to the loading and unloading station of processing/modular unit, implement the training request of outbound, material loading operation through straight line moving manipulator unit.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece to be processed on the loading and unloading station to processing/assembly station along retention plate; Workpiece translational motion to be processed is blocked by the V-type locating piece on the retention plate to processing/assembly station, and workpiece to be processed rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator; Start and clamp cylinder, the mechanical workpiece to be processed on processing/assembly station, startup solenoid valve and the lift cylinder of grasping; Rising processing/assembly manipulator promotes the workpiece to be processed on the processing/assembly station.Behind the processing work, start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, the machinery folder is placed on processed workpiece on processing/assembly station, startup solenoid valve and lift cylinder, and processing/assembly manipulator rises.Start to get and anticipate a cylinder, drive and get the playback of material locating piece, get the material locating piece and place back processed workpiece on the loading and unloading station, implement the training request of process operation.

Start the motor of the execution displacement of straight line moving manipulator unit; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of processing/modular unit.Start machinery gripper cylinder on hand, processed workpiece is extracted in the clamping of Y type reclaimer robot.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed the Y type reclaimer robot that grasps processed workpiece.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the goods yard of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand, is placed into the processed workpiece of Y type reclaimer robot clamping on the goods yard.Start rotary cylinder, displacement electromagnetic valve group and the motor of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard; Cycling workpiece processing in the tiered warehouse facility modular unit finishes repeatedly, implements the training request of outbound, the processing of single preface and in-stockroom operation.

Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, driven by motor travelling belt, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the goods yard of the shelf of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot extracts and grasps the workpiece to be processed on the goods yard.Start the rotary cylinder of straight line moving manipulator unit, the motor of execution displacement; The clamping of Y type reclaimer robot workpiece to be processed and is removed the goods yard; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot is aimed at the loading and unloading station of many processing/modular unit, starts Y type reclaimer robot, is placed on the workpiece to be processed of Y type reclaimer robot clamping on the loading and unloading station of many processing/modular unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot from the loading and unloading station of many processing/modular unit, transfer the training request of operating to workpiece to be processed from the shelf of tiered warehouse facility modular unit to the loading and unloading station of many processing/modular unit, implement the training request of outbound, material loading operation through straight line moving manipulator unit.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the position of aiming at processing/assembly manipulator to the loading and unloading station of the workpiece to be processed of one of them placement on the station dial.Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece to be processed on the loading and unloading station to the V-type locating piece along station dial; Workpiece translational motion to be processed is to being blocked by the V-type locating piece on the station dial, and workpiece to be processed rests on the position of aiming at processing/assembly manipulator and implements assembling.Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends is aimed at workpiece to be processed; Start and clamp cylinder; Machinery grasps workpiece to be processed, starts lift cylinder, and processing/assembly manipulator grasps workpiece to be processed and promotes; Leave the loading and unloading station of station dial, workpiece to be processed is implemented processing.

After processing workpiece; Start the lift cylinder on the lifting column; Decline processing/assembly manipulator, the loading and unloading station of aligning station dial starts the clamping cylinder; The machinery folder is placed into processed workpiece on the loading and unloading station of station dial, starts lift cylinder and promotes the loading and unloading station that processing/assembly manipulator leaves station dial.Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit; The loading and unloading station rotation of placing processed workpiece on the station dial; Rotate to the position of aiming at straight line walking machine fingerprint module unit, implement the training request of process operation.

Start the motor of the execution displacement of straight line moving manipulator unit; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of many processing/modular unit.Start machinery gripper cylinder on hand, processed workpiece is extracted in the clamping of Y type reclaimer robot.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed the Y type reclaimer robot that grasps processing back workpiece.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the goods yard of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand, is placed into the processed workpiece of Y type reclaimer robot clamping on the goods yard.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard; Cycling workpiece processing in the tiered warehouse facility modular unit finishes repeatedly, implements the training request of outbound, the processing of single preface and in-stockroom operation.

Send into processing/modular unit and many processing/modular unit enforcement processing/assembling workpiece from the workpiece that the tiered warehouse facility modular unit extracts; Workpiece after the processing/assembling is transferred back the tiered warehouse facility modular unit by straight line moving manipulator unit again, repeatedly the workpiece of cycling in processing the tiered warehouse facility modular unit.

The mechanical arm of straight line moving manipulator unit takes out workpiece to be processed from the shelf of tiered warehouse facility modular unit; Simultaneously respectively to processing/modular unit and many processing/modular unit conveying workpieces; Processing/modular unit and many processing/modular unit are distinguished processing work simultaneously; Processing/modular unit and many processing/modular unit processed workpiece are transferred back respectively on the shelf of tiered warehouse facility modular unit by the mechanical arm of straight line moving manipulator unit again; Cycling is implemented the training request of outbound, the processing of two preface and in-stockroom operation until finishing the workpiece processing in the tiered warehouse facility modular unit repeatedly.

Straight line moving manipulator unit extracts workpiece in the tiered warehouse facility modular unit, processing/modular unit and many processing/modular unit are transferred workpiece, implements the training on operation requirement of outbound, the processing of two preface and warehouse-in.

When processed workpiece is filled in each goods yard of tiered warehouse facility modular unit, need be with the processed workpiece outbound, master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the goods yard of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, the workpiece on the Y type reclaimer robot clamping goods yard.Start the motor of the execution displacement of straight line moving manipulator unit, carry out the driven by motor travelling belt of displacement, travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the workpiece positioning table of loading platform modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into the workpiece of clamping on the workpiece positioning table.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the workpiece positioning table, and processed workpiece is waited for and got into subsequent processing on the workpiece positioning table.The detection probe of loading platform modular unit feeds back to master controller to numerical information; Master controller sends instruction; Processed workpiece on the workpiece positioning table of loading platform modular unit is transplanted on subsequent processing; The training request of single preface processing, two preface processing, outbound, warehouse-in and the turnover operation of single preface/two preface processing/outbound/warehouse-in-turnaround systems is implemented in the whole outbounds of the processed workpiece of cycling on the goods yard of tiered warehouse facility modular unit repeatedly.

Workpiece in the tiered warehouse facility modular unit all processes, and the workpiece in the tiered warehouse facility modular unit is answered outbound, and straight line moving manipulator unit is transplanted on the loading platform modular unit subsequent processing to be got into to the workpiece in the tiered warehouse facility modular unit by part.

Single preface/dibit is processed/is gone out the part system and is made up of processing/modular unit, solid mechanical fingerprint module unit, travelling belt detection module unit, inclined ramp detection module unit, horizontal slideway detection module unit, well formula feed modular unit, motor module unit, terminal block, many processing/modular unit, aggregate erection training platform and master controllers; Single preface/dibit is processed/is gone out processing/modular unit, many processing/modular unit, at least 2 group solid mechanical fingerprint module units and at least 2 group well formula feed modular units are set in the part system; 2 groups of solid mechanical fingerprint module units and processing/modular unit and many processing/modular unit are carried out single separately preface process operations; 2 groups of well formula feed modular units are supplied with different workpiece separately, and 2 kinds of different workpiece are implemented the training on operation requirement of feeding, detection, processing and letter sorting separately.

One end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; One side of one end of travelling belt detection module unit fixedly installs 2 groups of well formula feed modular units; Be fixed on 2 groups of well formula feed modular units on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The port that goes out feed bin of well formula feed modular unit docks with travelling belt detection module unit travelling belt, and it is corresponding with the loading and unloading station of one end, travelling belt detection module unit to go out feed bin.The opposite side of one end of travelling belt detection module unit fixedly installs inclined ramp detection module unit and horizontal slideway detection module unit; Be fixed on inclined ramp detection module unit and horizontal slideway detection module unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole, the port of the slideway of inclined ramp detection module unit and horizontal slideway detection module unit connects with the loading and unloading station of one end, travelling belt detection module unit separately.The opposite side of the other end of travelling belt detection module unit fixedly installs the motor module unit; Be fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The motor module unit is connected with the driving wheel of travelling belt detection module unit; The motor of starter motor modular unit, the forward and reverse operation of motor, the forward and reverse running of travelling belt of driven by motor travelling belt detection module unit.The operation circuit of the solenoid valve of 2 groups of well formula feed modular units and the operation circuit of the terminal box of motor module unit are connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends; The circuit of the detection probe of inclined ramp detection module unit is connected with the input signal interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.

One side of the other end of travelling belt detection module unit fixedly installs processing/modular unit, many processing/modular unit and 2 groups of solid mechanical fingerprint module units; Be fixed on processing/modular unit, many processing/modular unit and 2 groups of solid mechanical fingerprint module units on the aggregate erection training platform respectively with bolt through the stationary positioned hole; Processing/modular unit, many processing/modular unit and the L-shaped arrangement of 2 groups of solid mechanical fingerprint module units, the loading and unloading station of processing/modular unit and many processing/modular unit is corresponding with the loading and unloading station of travelling belt detection module unit.One side of processing/modular unit and many processing/modular unit fixedly installs 2 groups of solid mechanical fingerprint module units respectively separately.Wherein the loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit of one group of solid mechanical fingerprint module unit just extracts or place work piece from the loading and unloading station of travelling belt detection module unit, and wherein the loading and unloading station of getting the parallel folder aligning of material processing/modular unit of one group of solid mechanical fingerprint module unit just extracts or place work piece from the loading and unloading station of processing/modular unit.One end of many processing/modular unit fixedly installs another group solid mechanical fingerprint module unit; Just from the extraction of loading and unloading station or the place work piece of travelling belt detection module unit, another parallel folder of material of getting of organizing solid mechanical fingerprint module unit is aimed at another loading and unloading station of organizing many processing/modular unit is just organized processing/modular unit from another extraction of loading and unloading station or place work piece to the loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit of another group solid mechanical fingerprint module unit.Fixedly install master controller below the training main unit; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform, implements the training request that part system mounting arrangement was processed/gone out to single preface/dibit.

In the both sides of travelling belt detection module unit 2 groups of well formula feed modular units, inclined ramp detection module unit and horizontal slideway detection module unit are set, place 2 kinds of different workpiece separately in 2 groups of well formula feed modular units.2 groups of solid mechanical fingerprint module units, processing/modular unit and many processing/modular unit are set in the end of travelling belt detection module unit; 2 kinds of different workpiece are transferred processing/modular unit and many processing/modular unit respectively through detecting, and processing/modular unit and many processing/modular unit are processed different workpiece respectively separately.2 kinds of different workpiece after the processing are transplanted on inclined ramp detection module unit and horizontal slideway detection module unit respectively through detecting.

Placing 2 kinds of different workpiece in the well formula feed storehouse of 2 groups of well formula feed modular units is workpiece 1 and workpiece 2; Master controller sends instruction; Start the wherein pusher cylinder of one group of well formula feed modular unit, the pusher cylinder is shifted the workpiece 1 in the well formula feed storehouse onto on the loading and unloading station of travelling belt one end of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit; Motor is just being transported row; The driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt positive dirction operation, the workpiece 1 of travelling belt from the loading and unloading station of travelling belt one end be transferred to the loading and unloading station of the travelling belt other end.

Start the wherein rotary cylinder of one group of solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the workpiece 1 on the loading and unloading station of the travelling belt other end.Start solenoid valve, get the parallel folder of material and grasp workpiece 1.Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the loading and unloading station of processing/modular unit.Starting solenoid valve is placed on workpiece 1 on the loading and unloading station of processing/modular unit; Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is removed the loading and unloading station of processing/modular unit, implements the training request that the material loading of single operation, the processing of single station is operated.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station 1 translation of to processing/assembly station along retention plate; Workpiece 1 moves to processing/assembly station and is blocked by the V-type locating piece on the retention plate, and workpiece 1 rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, machinery grasps the workpiece 1 on processing/assembly station, starts lift cylinder lifting processing/assembly manipulator, and processing/assembly manipulator promotes workpiece 1.After treating workpiece 1 processing, start solenoid valve and lift cylinder, processing/assembly manipulator descends; Start and clamp cylinder; The machinery folder is placed into processed workpiece 1 on processing/assembly station, starts solenoid valve and lift cylinder, and processing/assembly manipulator rises and leaves processing/assembly station; Start to get and anticipate a cylinder, drive and get the playback of material locating piece, get the material locating piece and put back to processed workpiece 1 on the loading and unloading station.Start the wherein rotary cylinder of one group of solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the processed workpiece 1 on the loading and unloading station of processing/modular unit.Start solenoid valve, get the parallel folder of material and grasp processed workpiece 1.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The loading and unloading station of getting the parallel folder aligning of the material travelling belt other end on the pivot arm starts solenoid valve and is placed on workpiece 1 on the loading and unloading station of the travelling belt other end, starts rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed the travelling belt other end on the pivot arm.The motor of starter motor modular unit; Motor counter-rotating operation; The driving wheel of driven by motor travelling belt detection module unit; Drive wheel travelling belt reverse direction operation, the processed workpiece 1 of travelling belt from the loading and unloading station of the travelling belt other end be transferred to the surveyed area of travelling belt, processed workpiece 1 during through surveyed area the detection probe on the workpiece sensing equipment processed workpiece 1 is implemented to detect.When detecting processed workpiece 1; Start the cylinder of selecting materials that is fixed on the cylinder support; The pusher window that the expansion link of cylinder of selecting materials passes on the locating support pushes processed workpiece 1 in the slideway of corresponding inclined ramp modular unit; Processed workpiece 1 gets in the slideway of inclined ramp modular unit, and the detection probe of inclined ramp modular unit detects processed workpiece 1, feeds back to master controller to the numerical information of processed workpiece 1; Master controller is given subsequent processing the digital information transmission of processed workpiece 1; Processed workpiece 1 is waited for and is got into subsequent processing, and cycling repeatedly implements that single operation of part system is processed/gone out to single preface/dibit, the training request that part is operated process, detects, sorts and gone out to single station.

Wherein one group of well formula feed modular unit is sent into travelling belt detection module unit; Through the workpiece sensing Equipment Inspection; Be transplanted on by one group of solid mechanical fingerprint module unit wherein and implement processing on processing/modular unit; Processed workpiece is transferred go back to travelling belt detection module unit by one group of solid mechanical fingerprint module unit wherein again, after the workpiece sensing Equipment Inspection, sends into inclined ramp detection module unit, subsequent processing to be got into.

Master controller sends instruction, starts the pusher cylinder of another group well formula feed modular unit, and the pusher cylinder is shifted the workpiece 2 in the well formula feed storehouse onto on the loading and unloading station of travelling belt one end of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit; Motor is just being transported row; The driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt positive dirction operation, the workpiece 2 of travelling belt from the loading and unloading station of travelling belt one end be transferred to the loading and unloading station of the travelling belt other end.

Start the rotary cylinder of another group solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the workpiece 2 on the loading and unloading station of the travelling belt other end; Start solenoid valve, get the parallel folder of material and grasp workpiece 2.Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the loading and unloading station of many processing/modular unit.Starting solenoid valve is placed on workpiece 2 on the loading and unloading station of many processing/modular unit; Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is removed the loading and unloading station of many processing/modular unit, implements the training request that the material loading of single operation, double processing is operated.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 2 on the station dial position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 2 to the V-type locating piece along station dial; Workpiece 2 moves to by the V-type locating piece on the station dial and blocks, and workpiece 2 rests on the position of aiming at processing/assembly manipulator and implements processing.Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends, alignment pieces 2 starts the clamping cylinder, and machinery grasps workpiece 2, starts lift cylinder, and processing/assembly manipulator grasps workpiece 2 and promotes, and leaves the loading and unloading station of station dial.Workpiece 2 is implemented processing, treat workpiece 2 processing after, start the lift cylinder on the lifting column; Processing/assembly manipulator descends; Be placed on processed workpiece 2 on the loading and unloading station, start lift cylinder, processing/assembly manipulator leaves the loading and unloading station of station dial.Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit; Rotate to the position of aiming at another group solid mechanical fingerprint module unit to the loading and unloading station of placing processed workpiece 2 on the station dial, implement the training request of processing work 2 operations.Start the rotary cylinder of another group solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the processed workpiece 2 on the loading and unloading station of many processing/modular unit.Start solenoid valve, get the parallel folder of material and grasp processed workpiece 2.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The loading and unloading station of getting the parallel folder aligning of the material travelling belt other end on the pivot arm starts solenoid valve and is placed on processed workpiece 2 on the loading and unloading station of the travelling belt other end, starts rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed the travelling belt other end on the pivot arm.The motor of starter motor modular unit; Motor counter-rotating operation; The driving wheel of driven by motor travelling belt detection module unit; Drive wheel travelling belt reverse direction operation, travelling belt processed workpiece 2 from the loading and unloading station of the travelling belt other end be transferred to the surveyed area of travelling belt, processed workpiece 2 during through surveyed areas the detection probe on the workpiece sensing equipment processed workpiece 2 is implemented to detect.When detecting processed workpiece 2; Start the cylinder of selecting materials that is fixed on the cylinder support; The pusher window that the expansion link of cylinder of selecting materials passes on the locating support pushes processed workpiece 2 in the slideway of corresponding horizontal slideway modular unit; Processed workpiece 2 gets in the slideway of horizontal slideway modular unit, and the detection probe of horizontal slideway modular unit detects processed workpiece 2, feeds back to master controller to the numerical information of processed workpiece 2; Master controller is given subsequent processing the digital information transmission of processed workpiece 2; Processed workpiece 2 is waited for and is got into subsequent processings, and cycling is repeatedly implemented single preface/dibit and processed/go out single operation of part system, the processing of single station, double and process, detect, sort and go out the training request that part is operated.

Another group well formula feed modular unit is sent into travelling belt detection module unit; Through the workpiece sensing Equipment Inspection; Be transplanted on enforcement processing on many processing/modular unit by another group solid mechanical fingerprint module unit; Processed workpiece is transferred go back to travelling belt detection module unit by another group solid mechanical fingerprint module unit again, after the workpiece sensing Equipment Inspection, sends into horizontal slideway detection module unit, subsequent processing to be got into.

Check/correction/warehouse-in system is made up of straight line moving manipulator unit, solid mechanical fingerprint module unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, inclined ramp detection module unit, well formula feed modular unit, motor module unit, terminal block, aggregate erection training platform and master controller; At least 2 group well formula feed modular units are set in check/correction/warehouse-in system; 2 groups of well formula feed modular units are placed 2 kinds of different workpiece respectively; Supply with 2 kinds of different workpiece separately, 2 kinds of different workpiece implement to detect separately, sort, repair, go into the training on operation requirement of library storage.

One end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The other end of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; Straight line moving manipulator unit is fixedly installed on the other end of travelling belt detection module unit, and travelling belt detection module unit and straight line moving manipulator unit are T-shaped on the aggregate erection training platform.One side of one end of travelling belt detection module unit fixedly installs 2 groups of well formula feed modular units; Be fixed on 2 groups of well formula feed modular units on the aggregate erection training platform respectively with bolt through the stationary positioned hole; 2 groups of well formula feed modular units are arranged side by side; The operation circuit of the solenoid valve of 2 groups of well formula feed modular units is connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends; The circuit of the detection probe of 2 groups of well formula feed modular units is connected with the input signal interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.The feed bin that goes out of 2 groups of well formula feed modular units all docks with the travelling belt of travelling belt detection module unit, and it is all corresponding with the loading and unloading station of travelling belt detection module unit to go out feed bin.The opposite side of the other end of travelling belt detection module unit fixedly installs the motor module unit; Be fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The motor module unit is connected with the driving wheel of travelling belt detection module unit; The operation circuit of the terminal box of motor module unit is connected with the output signaling interface of the terminal block of travelling belt detection module unit; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends, the motor of starter motor modular unit; The operation of motor forward and backward, the positive and negative direction running of the travelling belt of driven by motor travelling belt detection module unit.

The opposite side at the middle part of travelling belt detection module unit fixedly installs the inclined ramp modular unit; Be fixed on the inclined ramp modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The inlet of the slideway of inclined ramp modular unit docks with the surveyed area of travelling belt detection module unit, and the inlet of the slideway of inclined ramp modular unit is corresponding with workpiece sensing equipment.The circuit of the detection probe of inclined ramp modular unit is connected with the input signal interface of the terminal block of travelling belt detection module unit, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.

One side of the other end of travelling belt detection module unit fixedly installs solid mechanical fingerprint module unit and loading platform modular unit; Be fixed on manipulator unit and loading platform modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The workpiece positioning table of loading platform modular unit is corresponding with solid mechanical fingerprint module unit; The workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit of solid mechanical fingerprint module unit just extracts or place work piece from the workpiece positioning table of loading platform modular unit; The loading and unloading station of the other end of travelling belt detection module unit is corresponding with solid mechanical fingerprint module unit, and the parallel folder of material of getting of solid mechanical fingerprint module unit is aimed at the loading and unloading station of the other end of travelling belt detection module unit and just extracted or place work piece from the loading and unloading station of the other end of travelling belt detection module unit.The loading and unloading station of the other end of travelling belt detection module unit is corresponding with the Y type reclaimer robot of the mechanical arm of straight line moving manipulator unit; The opposite side of straight line moving manipulator unit fixedly installs the tiered warehouse facility modular unit; Be fixed on the tiered warehouse facility modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The loading and unloading station that the Y type reclaimer robot of straight line moving manipulator unit is aimed at the other end of travelling belt detection module unit just extracts or place work piece from the loading and unloading station of the other end of travelling belt detection module unit, and the Y type reclaimer robot of straight line moving manipulator unit is aimed at the goods yard of tiered warehouse facility modular unit and just extracted or place work piece from the goods yard of tiered warehouse facility modular unit.

Fixedly install master controller below the aggregate erection training platform; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform, implements the training request of check/correction/warehouse-in system mounting arrangement.

Placing 2 kinds of different workpiece in the well formula feed storehouse of 2 groups of well formula feed modular units is workpiece 1 and workpiece 2; Master controller and may command modular unit send instruction; Start the wherein pusher cylinder of one group of well formula feed modular unit, the pusher cylinder is shifted the workpiece 1 in the well formula feed storehouse onto on the loading and unloading station of an end of travelling belt of travelling belt detection module unit from the discharging opening that goes out feed bin.

The motor of starter motor modular unit; Motor is just being transported row; The driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt positive dirction operation, the workpiece 1 on the travelling belt from the loading and unloading station of travelling belt one end be transferred to the surveyed area of travelling belt; During workpiece 1 process surveyed area, the detection probe on the workpiece sensing equipment is implemented to detect to workpiece 1; 1 detection need to judge whether to repair to workpiece through the detection probe on the workpiece sensing equipment; Three kinds of situation can appear in workpiece 1: defective workpiece, qualified workpiece of repairing and the defective workpiece that can't repair of needing, enforcement is to the training request of single feeding, detection and the letter sorting operation of workpiece 1.

Straight line moving manipulator unit and travelling belt detection module unit are T-shaped and install; 2 groups of well formula feed modular units, solid mechanical fingerprint module unit, loading platform modular unit and inclined ramp detection module unit are installed in both sides, travelling belt detection module unit, two kinds of different workpiece of storage in 2 groups of well formula feed modular units.The tiered warehouse facility modular unit is installed in the side of straight line moving manipulator unit, tiered warehouse facility modular unit storage workpiece.The workpiece sensing equipment of travelling belt detection module unit is implemented to detect to two kinds of different workpiece that are transplanted in 2 groups of well formula feed modular units on the travelling belt; Workpiece sensing equipment is carried out two kinds of different workpiece and is detected; Can detect three kinds of situation in the testing process, promptly 1, qualified workpiece; 2, underproofly can't repair workpiece; 3, underproof workpiece and can repairing.

When detecting the workpiece 1 that to repair; Detection probe is fed back the numerical information of the workpiece 1 that can't repair to master controller; Master controller sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials that is fixed on the cylinder support, the pusher window that the expansion link of the cylinder of selecting materials passes on the locating support pushes the workpiece 1 that can't repair in the slideway of corresponding inclined ramp modular unit, and the workpiece 1 that can't repair gets in the slideway; The detection probe of inclined ramp modular unit detects the workpiece 1 that can't repair; The numerical information of the workpiece 1 that the detection probe of inclined ramp modular unit can't be repaired to master controller feedback, master controller sends instruction after receiving numerical information after treatment, and the workpiece 1 that can't repair is waited for the processing of subsequent processing; The training request of operation is implemented to detect and sort in cycling repeatedly to the workpiece that can't repair.

Workpiece is gone out workpiece underproof and that can't repair at the surveyed area by way of travelling belt detection module unit by the workpiece sensing Equipment Inspection; Detection probe feeds back to master controller to numerical information through network; After master controller receives the numerical information of workpiece; Carry out sending instruction after the data processing, workpiece sensing equipment pushes workpiece in the slideway of inclined ramp detection module unit from travelling belt, and the defective workpiece that can't repair that sorts out is waited for the next process processing.

When detecting qualified workpiece 1; Detection probe is fed back the numerical information of qualified workpiece 1 to master controller; Master controller sends instruction after receiving numerical information after treatment; The travelling belt of travelling belt detection module unit continues operation, is transferred to qualified workpiece 1 the loading and unloading station of the travelling belt other end.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the qualified workpiece 1 on the loading and unloading station that is transferred to the travelling belt other end.Start machinery gripper cylinder on hand, the qualified workpiece 1 on the loading and unloading station of the Y type reclaimer robot grip belts other end.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the goods yard of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand, and Y type reclaimer robot is placed into qualified workpiece on the goods yard.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard of tiered warehouse facility modular unit; Qualified workpiece is filled in cycling on the shelf of tiered warehouse facility modular unit repeatedly, qualified workpiece is implemented the training request of detection and in-stockroom operation.

Workpiece is gone out qualified workpiece at the surveyed area by way of travelling belt detection module unit by the workpiece sensing Equipment Inspection; Detection probe feeds back to master controller to numerical information through network; After master controller receives the numerical information of workpiece; Carry out sending instruction after the data processing, through straight line moving manipulator unit qualified Workpiece transfer to the goods yard of tiered warehouse facility modular unit, wait for that next process handles.

When detecting the defective workpiece 1 that needs reparation; Detection probe is to the defective numerical information that needs the workpiece 1 of reparation of master controller feedback; Master controller sends instruction after receiving numerical information after treatment; The travelling belt of travelling belt detection module unit continues operation, is transferred to the defective workpiece 1 that need repair the loading and unloading station of the travelling belt other end.Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material of getting on the pivot arm is aimed at the defective workpiece 1 that need repair on the loading and unloading station of the travelling belt other end, and the startup solenoid valve is got the parallel folder of material and grasped the defective workpiece 1 that needs reparation; Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit on the pivot arm; Start solenoid valve and expect that getting the defective workpiece that needs to repair that parallel folder grasps is placed on the workpiece positioning table of loading platform modular unit, operation is repaired in defective workpiece 1 enforcement that needs to repair on the workpiece positioning table.Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation being got the workpiece positioning table that the parallel folder of material is removed the loading platform modular unit on the pivot arm.Enforcement is transferred the training request of operating to the defective workpiece 1 that needs to repair to the workpiece positioning table of loading platform modular unit through solid mechanical fingerprint module unit from the loading and unloading station of travelling belt detection module unit.

The detection probe of loading platform modular unit detects the defective workpiece 1 that needs reparation on the workpiece positioning table; The defective workpiece 1 that needs to repair is implemented to repair; Repair the numerical information that back workpiece 1 is repaired to the master controller feedback in the back; Master controller sends instruction after receiving numerical information after treatment, starts the rotary cylinder of solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material of getting on the pivot arm is aimed at the workpiece 1 after repairing on the workpiece positioning table of loading platform modular unit, starts solenoid valve and gets the workpiece 1 after the parallel folder of material grasps reparation.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting the loading and unloading station that the parallel folder of material is aimed at the travelling belt other end on the pivot arm, starting solenoid valve and be placed on the workpiece of getting after the reparation that the parallel folder of material grasps on the loading and unloading station of the travelling belt other end.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is removed the loading and unloading station of the travelling belt other end, implements to transfer the workpiece 1 after repairing to the loading and unloading station of travelling belt detection module unit from the workpiece positioning table of loading platform modular unit the training request of operation through solid mechanical fingerprint module unit.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the workpiece 1 after the reparation on the loading and unloading station that is transferred to the travelling belt other end.Start machinery gripper cylinder on hand, Y type reclaimer robot grasps the workpiece 1 after the reparation on the loading and unloading station of the travelling belt other end.Start the rotary cylinder of the execution displacement of straight line moving manipulator unit, motor and the mechanical arm electromagnetic valve group that execution is gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the goods yard of tiered warehouse facility modular unit.Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into the workpiece after the reparation that grasps on the goods yard.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard of tiered warehouse facility modular unit; Implement from the loading and unloading station of travelling belt detection module unit, to transfer the training request of operating to the workpiece 1 after repairing through the Y type reclaimer robot of straight line moving manipulator unit to the shelf of tiered warehouse facility modular unit; Workpiece 1 after cycling is filled reparation in reaching the tiered warehouse facility modular unit repeatedly, the training request of enforcement check/correction/warehouse-in system implementation list feed, check, letter sorting, reparation and in-stockroom operation.

Workpiece is gone out underproof and recoverable workpiece at the surveyed area by way of travelling belt detection module unit by the workpiece sensing Equipment Inspection; Detection probe feeds back to master controller to numerical information through network; After master controller receives the numerical information of workpiece; Carry out sending instruction after the data processing; Implement recoverable defective Workpiece transfer to repair operation to the loading platform modular unit through straight line moving manipulator unit, the workpiece after the reparation is transplanted on the goods yard of tiered warehouse facility modular unit by straight line moving manipulator unit again, waits for the next process processing.

Check/correction/warehouse-in system is provided with 2 groups of well formula feed modular units; Place 2 kinds of different workpiece in the well formula feed storehouse of 2 groups of well formula feed modular units; Place work piece 2 in the well formula feed storehouse of another group well formula feed modular unit; Workpiece 2 will pass through the detection of travelling belt detection module unit equally, divides to detect defective workpiece, qualified workpiece and the defective workpiece that can't repair that needs reparation.The defective Workpiece transfer that can't repair slides in the modular unit to level, waits for the processing of subsequent processing; Qualified workpiece is transplanted on the goods yard of tiered warehouse facility modular unit through mechanical arm by straight line moving manipulator unit.The defective workpiece that need repair is transplanted on the workpiece positioning table enforcement reparation of loading platform modular unit from the loading and unloading station of travelling belt detection module unit by solid mechanical fingerprint module unit; Repair the back and transfer back on the loading and unloading station of travelling belt detection module unit, be transplanted on the goods yard of tiered warehouse facility modular unit through mechanical arm by straight line moving manipulator unit again by solid mechanical fingerprint module unit.Workpiece after cycling is filled reparation in reaching the tiered warehouse facility modular unit repeatedly, check/correction/warehouse-in system realizes 2 kinds of different workpiece are implemented the training request of two feed, check, letter sorting, reparation and in-stockroom operation.

Two kinds of workpiece are gone out underproof and recoverable workpiece at the surveyed area by way of travelling belt detection module unit by the workpiece sensing Equipment Inspection; Detection probe feeds back to master controller to numerical information through network; After master controller receives the numerical information of workpiece; Carry out sending instruction after the data processing; Be transplanted on the loading platform modular unit to two kinds of different recoverable defective workpiece in succession through straight line moving manipulator unit and implement to repair operation, two kinds of different workpiece after the reparation are transplanted on the goods yard of tiered warehouse facility modular unit by straight line moving manipulator unit more in succession, wait for the next process processing.

Multiple spot material loading/processing/assembling/warehouse-in system is made up of processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, well formula feed modular unit, motor module unit, many processing/modular unit, terminal block, aggregate erection training platform and master controllers; Processing/modular unit, many processing/modular unit and at least 2 group well formula feed modular units are set in multiple spot material loading/processing/assembling/warehouse-in system; Processing/modular unit and many processing/modular unit are implemented processing and assembly manipulation separately, processing/modular unit and many training on operation purposes that processing/modular unit is implemented processing and assembled.2 groups of well formula feed modular units are supplied with different workpiece separately, and 2 kinds of different workpiece are implemented feeding, detection, processing, assembled, go into the training on operation requirement of library storage.

One end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; One side of one end, travelling belt detection module unit fixedly installs the motor module unit; Be fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole, motor module unit, motor module unit is connected the motor of starter motor modular unit with the driving wheel of travelling belt detection module unit; The operation of motor forward and backward, the travelling belt both forward and reverse directions running of driven by motor travelling belt detection module unit.The other end of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; The other end of travelling belt detection module unit is corresponding with an end of straight line moving manipulator unit, and the loading and unloading station that the Y type reclaimer robot of straight line moving manipulator unit is aimed at the other end of travelling belt detection module unit just extracts or place work piece from the loading and unloading station of the other end of travelling belt detection module unit.

One side at middle part, travelling belt detection module unit fixedly installs solid mechanical fingerprint module unit; Be fixed on solid mechanical fingerprint module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The loading and unloading station of one end of the travelling belt of travelling belt detection module unit is corresponding with solid mechanical fingerprint module unit, and the parallel folder of material of getting of solid mechanical fingerprint module unit is aimed at the loading and unloading station of an end of the travelling belt of travelling belt detection module unit and just extracted or place work piece from the loading and unloading station of travelling belt one end of travelling belt detection module unit.One side of solid mechanical fingerprint module unit fixedly installs the loading platform modular unit; Be fixed on the loading platform modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The workpiece positioning table of loading platform modular unit is corresponding with solid mechanical fingerprint module unit, and the workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit of solid mechanical fingerprint module unit just extracts or place work piece from the workpiece positioning table of loading platform modular unit.

The side of loading platform modular unit fixedly installs wherein one group of well formula feed modular unit of 2 groups of well formula feed modular units; Be fixed on one group of well formula feed modular unit wherein on the aggregate erection training platform with bolt through the stationary positioned hole; Wherein the operation circuit of the solenoid valve of one group of well formula feed modular unit is connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord; Carry out the instruction that master controller sends; Wherein the circuit of the detection probe of one group of well formula feed modular unit is connected with the input signal interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.Wherein one group of well formula feed modular unit to go out feed bin corresponding with the workpiece positioning table of loading platform modular unit; Wherein the discharging opening that goes out feed bin of one group of well formula feed modular unit docks with the workpiece positioning table of loading platform modular unit, shifts onto on the workpiece positioning table of loading platform modular unit through the workpiece that the pusher cylinder will go out in the feed bin.

The opposite side of one end, travelling belt detection module unit fixedly installs another group well formula feed modular unit of 2 groups of well formula feed modular units; Be fixed on another group well formula feed modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The operation circuit of the solenoid valve of another group well formula feed modular unit is connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord; Carry out the instruction that master controller sends; The circuit of the detection probe of another group well formula feed modular unit is connected with the input signal interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.The feed bin that goes out of another group well formula feed modular unit docks with the travelling belt of travelling belt detection module unit, and it is corresponding with the loading and unloading station of travelling belt detection module unit to go out feed bin.

One side of straight line moving manipulator unit fixedly installs processing/modular unit and many processing/modular unit; Be fixed on processing/modular unit and many processing/modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; Processing/modular unit and many processing/modular unit are arranged side by side; The loading and unloading station of processing/modular unit and many processing/modular unit is corresponding with straight line moving manipulator unit, and the loading and unloading station that the Y type reclaimer robot of straight line moving manipulator unit is aimed at processing/modular unit and many processing/modular unit respectively just extracts or place work piece from the loading and unloading station of processing/modular unit and many processing/modular unit.Processing/modular unit is implemented process operation to workpiece, and many processing/modular unit are implemented assembly manipulation to workpiece.

The opposite side of straight line moving manipulator unit fixedly installs the tiered warehouse facility modular unit; Be fixed on the tiered warehouse facility modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The tiered warehouse facility modular unit is corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit is aimed at the goods yard of tiered warehouse facility modular unit and just extracted or place work piece from the goods yard of tiered warehouse facility modular unit.Fixedly install master controller below the aggregate erection training platform; Through the stationary positioned hole with bolt master controller be fixed on the aggregate erection training platform below; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform, implements the training request of multiple spot material loading/processing/assembling/warehouse-in system mounting arrangement, carries out the training request of multiple spot material loading, processing work, assembling workpiece and the in-stockroom operation of multiple spot material loading/processing/assembling/warehouse-in system.

Straight line moving manipulator unit and travelling belt detection module unit parallel being crisscross arranged on the aggregate erection training platform; The both sides of straight line moving manipulator unit and travelling belt detection module unit fixedly install two groups of well formula feed modular units, processing/modular unit, many processing/modular unit, solid mechanical fingerprint module unit, loading platform modular unit and tiered warehouse facility modular units; Travelling belt detection module unit detects workpiece; Straight line moving manipulator unit is transferred workpiece and is implemented processing and assembling, and the Workpiece transfer after the assembling is to the shelf of tiered warehouse facility modular unit.

Placing 2 kinds of different workpiece in the well formula feed storehouse of 2 groups of well formula feed modular units is workpiece 1 and workpiece 2; Master controller and may command modular unit send instruction; Start the wherein pusher cylinder of one group of well formula feed modular unit, the pusher cylinder is shifted the workpiece 1 in the well formula feed storehouse on the workpiece positioning table of loading platform modular unit onto from the discharging opening that goes out feed bin.Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material of getting on the pivot arm is aimed at the workpiece 1 on the workpiece positioning table of loading platform modular unit, starts solenoid valve, gets the parallel folder of material and grasps workpiece 1.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting the loading and unloading station that the parallel folder of material leaves the workpiece positioning table of loading platform modular unit and aims at travelling belt one end of travelling belt detection module unit on the pivot arm; Start on the loading and unloading station of an end of travelling belt that solenoid valve is placed on workpiece 1 travelling belt detection module unit; Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station of an end that the parallel folder of material is removed the travelling belt of travelling belt detection module unit on the pivot arm.The motor of starter motor modular unit; Motor is just being transported row; The driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt positive dirction operation, the workpiece 1 of travelling belt from the loading and unloading station of travelling belt one end be transferred to the loading and unloading station of the travelling belt other end.

Workpiece 1 is through the surveyed area of travelling belt detection module unit in the process of transmission; The workpiece sensing equipment of detection module unit is implemented to detect to workpiece 1; Workpiece sensing equipment is to the numerical information of master controller feedback workpiece 1, and master controller sends instruction after receiving numerical information after treatment, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the loading and unloading station of the travelling belt other end that arrives Y type reclaimer robot aligning travelling belt detection module unit of mechanical arm.Start machinery gripper cylinder on hand; Y type reclaimer robot grasps the workpiece 1 on the loading and unloading station; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the loading and unloading station of the travelling belt other end of travelling belt detection module unit.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together, and the Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of processing/modular unit, starts machinery gripper cylinder on hand; Be placed on the workpiece 1 that is clamped on the Y type reclaimer robot on the loading and unloading station of processing/modular unit; Start the rotary cylinder of straight line moving manipulator unit, the motor of execution displacement, Y type reclaimer robot is removed the loading and unloading station of processing/modular unit, implements the feeding of workpiece 1 and the training request of detecting operation.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station 1 translation of to processing/assembly station along retention plate; Workpiece 1 moves to processing/assembly station and is blocked by the V-type locating piece on the retention plate, and workpiece 1 rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, machinery grasps the workpiece 1 on processing/assembly station, starts lift cylinder lifting processing/assembly manipulator, and processing/assembly manipulator promotes workpiece.After treating that workpiece 1 is implemented processing, start solenoid valve and lift cylinder, processing/assembly manipulator descends; Start and clamp cylinder; The machinery folder is placed into processed workpiece 1 on processing/assembly station, starts solenoid valve and lift cylinder, and processing/assembly manipulator rises and leaves processing/assembly station; Start to get and anticipate a cylinder, drive and get the playback of material locating piece, get the material locating piece and place back processed workpiece 1 on the loading and unloading station, implement training request the process operation of workpiece 1.

Workpiece 1 is transplanted on travelling belt detection module unit through solid mechanical fingerprint module unit workpiece 1 is implemented to detect, and is transplanted on by straight line moving manipulator unit and implements processing on processing/modular unit.

Master controller goes out instruction, starts the pusher cylinder of another group well formula feed modular unit, and the pusher cylinder is shifted the workpiece 2 in the well formula feed storehouse onto on the loading and unloading station of travelling belt one end of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit is just being transported row; The driving wheel of driven by motor travelling belt detection module unit; Drive wheel travelling belt positive dirction operation, the workpiece 2 of travelling belt from the loading and unloading station of travelling belt one end be transferred to the loading and unloading station of the travelling belt other end.Workpiece 2 is through the surveyed area of travelling belt detection module unit in the process of transmission; The workpiece sensing equipment of detection module unit is implemented to detect to workpiece 2; Workpiece sensing equipment is to the numerical information of master controller feedback workpiece 2, and master controller receives numerical information and sends instruction through after the digital processing, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Workpiece 2 on the loading and unloading station of the travelling belt other end of the Y type reclaimer robot aligning travelling belt detection module unit of mechanical arm starts machinery gripper cylinder on hand, and Y type reclaimer robot grasps workpiece 2.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Driven by motor travelling belt, travelling belt drive mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of many processing/modular unit, starts machinery gripper cylinder on hand; Be placed on the workpiece 2 that is clamped on the Y type reclaimer robot on the loading and unloading station of many processing/modular unit; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit, implements the training request to workpiece 2 feedings and detecting operation.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 2 on the station dial position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 2 to the V-type locating piece along station dial; Workpiece 2 moves to by the V-type locating piece on the station dial and blocks, and workpiece 2 rests on the position of aiming at processing/assembly manipulator and implements processing.Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends, alignment pieces 2; Start and clamp cylinder; Machinery grasps workpiece 2, starts lift cylinder, and processing/assembly manipulator grasps workpiece 2 and promotes; Leave the loading and unloading station of station dial, to workpiece 2 implement processing and etc. to be assembled.

Workpiece 2 is implemented to detect to workpiece 2 through travelling belt detection module unit, is transplanted on by straight line moving manipulator unit and implements processing on many processing/modular unit.

Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the wherein loading and unloading station of one group of processing/modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot extracts processed workpiece 1.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Mechanical arm moves to the loading and unloading station of many processing/modular unit along guide rail, starts machinery gripper cylinder on hand, is placed on the workpiece 1 that is clamped on the Y type reclaimer robot on the loading and unloading station of many processing/modular unit; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 1 on the station dial position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 1 to the V-type locating piece along station dial; Workpiece 1 moves to by the V-type locating piece on the station dial and blocks, and workpiece 1 rests on the position of aiming at processing/assembly manipulator and implements assembling.

Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends is put into workpiece 1 to processed workpiece 2; Accomplish assembly manipulation; Workpiece 1 and workpiece 2 are made into the workpiece after the assembling, start lift cylinder, and processing/assembly manipulator leaves the loading and unloading station of station dial.Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit; Rotate to the position of aiming at straight line walking machine fingerprint module unit to the loading and unloading station of placing the workpiece after assembling on the station dial, implement training request the assembly manipulation of workpiece 1 and workpiece 2.

Be transplanted on through straight line moving manipulator unit workpiece 1 from the loading and unloading station of processing/modular unit the assembling of many processing/modular unit enforcement workpiece 1 and workpiece 2.

Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of many processing/modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot extracts the workpiece of the assembling on another loading and unloading station of organizing processing/modular unit.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the goods yard of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand, and Y type reclaimer robot is placed into the workpiece of assembling on the goods yard.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard of tiered warehouse facility modular unit; Implement the training request of assembling workpiece in-stockroom operation; Cycling is filled the workpiece of assembling until reaching the tiered warehouse facility modular unit repeatedly, carries out multiple spot material loading/processing/assembling/warehouse-in system the training request of different workpiece by multiple spot material loading, processing work, assembling workpiece and warehouse-in.

Workpiece after the assembling is transplanted on the goods yard of tiered warehouse facility modular unit through the loading and unloading station of straight line moving manipulator unit from many processing/modular unit; Accomplish the processing and the assembly manipulation of two kinds of workpiece; The tiered warehouse facility modular unit is sent in cycling repeatedly, treats subsequent processing.

Batching/outbound/categorizing system is made up of straight line moving manipulator unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, inclined ramp detection module unit, horizontal slideway detection module unit, motor module unit, aggregate erection training platform and master controller, and the training on operation requirement of batching, outbound, classification is implemented at least 2 group inclined ramp detection module unit in batching/outbound/categorizing system.

One end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The other end of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; The side of one end, travelling belt detection module unit fixedly installs the motor module unit, is fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole, and the motor of motor module unit is connected with the driving wheel of travelling belt detection module unit; The operation circuit of the terminal box of motor module unit is connected with the output signaling interface of the terminal block of travelling belt detection module unit; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends, the motor of starter motor modular unit; The operation of motor forward and backward, the positive and negative direction running of the travelling belt of driven by motor travelling belt detection module unit.The other end of travelling belt detection module unit is corresponding with an end of straight line moving manipulator unit, and the loading and unloading station that the Y type reclaimer robot of straight line moving manipulator unit is aimed at the other end of travelling belt detection module unit just extracts or place work piece from the loading and unloading station of the other end of travelling belt detection module unit.

The side of one end, travelling belt detection module unit fixedly installs horizontal slideway detection module unit and 2 groups of inclined ramp detection module unit; Be fixed on horizontal slideway detection module unit and 2 groups of inclined ramp detection module unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The circuit of the horizontal slideway modular unit and the detection probe of 2 groups of inclined ramp detection module unit is connected with the input signal interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.Horizontal slideway modular unit is fixedly installed on the side of travelling belt detection module unit; The port of the slideway of horizontal slideway modular unit docks with the travelling belt of travelling belt detection module unit, and the port of slideway is corresponding with travelling belt detection module unit workpiece sensing equipment.2 groups of inclined ramp modular units are fixedly installed on the side of travelling belt detection module unit; The port of the slideway of inclined ramp modular unit docks with the travelling belt of travelling belt detection module unit, and the port of slideway is corresponding with travelling belt detection module unit workpiece sensing equipment separately.

The side of straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit and loading platform modular unit; Be fixed on tiered warehouse facility modular unit and loading platform modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The shelf of tiered warehouse facility modular unit are corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the shelf of tiered warehouse facility modular unit.The workpiece positioning table of loading platform modular unit is corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the workpiece positioning table of loading platform modular unit.

Fixedly install master controller below the aggregate erection training platform; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform, implements the training request of batching/outbound/categorizing system mounting arrangement, carries out the training request of batching, outbound, detection and the letter sorting operation of batching/outbound/categorizing system.

Straight line moving manipulator unit and travelling belt detection module unit parallel being crisscross arranged on the aggregate erection training platform; The both sides of travelling belt detection module unit fixedly install inclined ramp detection module unit, horizontal slideway detection module unit, motor module unit and master controller; The side of straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit and loading platform modular unit; Storing two kinds of workpiece that mix on the goods yard of tiered warehouse facility modular unit; Straight line moving manipulator unit takes out workpiece from the goods yard of tiered warehouse facility modular unit; Be transplanted on and detect on the travelling belt detection module unit and letter sorting, send into inclined ramp detection module unit or horizontal slideway detection module unit respectively.

Mixing 2 kinds of workpiece of storage in the tiered warehouse facility modular unit is workpiece 1 and workpiece 2, detects from the workpiece that mixes through the workpiece sensing equipment that is provided with on the travelling belt detection module unit and picks out workpiece 1 and workpiece 2.Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, mechanical arm moves to the goods yard that Y type reclaimer robot is aimed at the shelf of tiered warehouse facility modular unit along guide rail; Start machinery gripper cylinder on hand, Y type reclaimer robot extracts and grasps the workpiece that mixes on the goods yard.Start rotary cylinder, displacement electromagnetic valve group and the motor of straight line moving manipulator unit; The clamping of Y type reclaimer robot the workpiece that mixes and is removed the goods yard, and driven by motor travelling belt, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, Y type reclaimer robot is aimed at the loading and unloading station of the other end of travelling belt detection module unit.Start machinery gripper cylinder on hand; Y type reclaimer robot is placed into the workpiece that mixes that grasps on the loading and unloading station of the other end of travelling belt detection module unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot from the loading and unloading station, implement from the shelf of tiered warehouse facility modular unit, to transfer the training request of operating to the workpiece that mixes to the loading and unloading station of travelling belt detection module unit through the Y type reclaimer robot of straight line moving manipulator unit.

Straight line moving manipulator unit takes out two kinds of workpiece that mix from the goods yard of tiered warehouse facility modular unit, is transplanted on the loading and unloading station of travelling belt detection module unit, implements to detect and the letter sorting operation.

The motor of starter motor modular unit; Motor counter-rotating operation; The driving wheel of driven by motor travelling belt detection module unit; Drive wheel travelling belt reverse direction operation, the workpiece that mixes on the travelling belt from the loading and unloading station of the travelling belt other end transmit to surveyed area, the workpiece that mixes during through surveyed area the detection probe on the workpiece sensing equipment workpiece that mixes is implemented to detect.

The workpiece that mixes is implemented to detect when the workpiece sensing equipment of travelling belt detection module unit, the Y type reclaimer robot of straight line moving manipulator unit is placed on the work positioning table of loading platform modular unit from the workpiece that mixes of the shelf extraction of tiered warehouse facility modular unit.The intact workpiece that mixes of the workpiece sensing Equipment Inspection of travelling belt detection module unit at the appointed time, the workpiece that the Y type reclaimer robot of straight line moving manipulator unit directly will mix is transplanted on the loading and unloading station of travelling belt detection module unit from the work positioning table of loading platform modular unit.The workpiece sensing equipment of travelling belt detection module unit has not detected the workpiece that mixes at the appointed time; The Y type reclaimer robot of straight line moving manipulator unit is directly transferred back the workpiece that mixes on the goods yard of shelf of tiered warehouse facility modular unit from the work positioning table of loading platform modular unit, treat to extract again.

When from the workpiece that mixes, detecting workpiece 1; Workpiece sensing equipment is to the numerical information of master controller feedback workpiece 1, and master controller sends instruction after receiving numerical information after treatment, starts the cylinder of selecting materials that is fixed on the cylinder support; The pusher window that the expansion link of cylinder of selecting materials passes on the locating support pushes workpiece 1 in the slideway of corresponding inclined ramp modular unit; The detection probe of inclined ramp modular unit detects workpiece 1, and the detection probe of inclined ramp modular unit is to the numerical information of master controller feedback workpiece 1, after master controller receives numerical information; Send instruction through after the digital processing, workpiece 1 is waited for and is got into subsequent processing.

The workpiece that mixes is sent on the loading and unloading station of travelling belt detection module unit through straight line moving manipulator unit; Travelling belt detection module unit transports the workpiece that mixes; The workpiece that mixes gets into surveyed area; Workpiece sensing equipment detects workpiece 1 from the workpiece that mixes, the cylinder of selecting materials pushes workpiece 1 in the slideway of inclined ramp detection module unit.

When from the workpiece that mixes, detecting workpiece 2; Workpiece sensing equipment is to the numerical information of master controller feedback workpiece 2; Master controller sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials that is fixed on the cylinder support, the pusher window that the expansion link of the cylinder of selecting materials passes on the locating support pushes workpiece 2 in the slideway of corresponding horizontal slideway modular unit.The detection probe of horizontal slideway modular unit detects workpiece 2; The detection probe of horizontal slideway modular unit is to the numerical information of master controller feedback workpiece 2; After master controller receives numerical information, send instruction through after the digital processing, workpiece 2 is waited for and is got into subsequent processing; Cycling mixes workpiece whole outbounds enforcement detection and letter sorting in the tiered warehouse facility modular unit repeatedly, carries out the training request of batching, outbound, detection and the letter sorting operation of batching/outbound/categorizing system.

The workpiece that mixes gets into surveyed area, and workpiece sensing equipment detects workpiece 2 from the workpiece that mixes, and the cylinder of selecting materials pushes workpiece 2 in the slideway of horizontal slideway detection module unit.

Two material loadings/two assembling/detections/warehouse-in system is made up of processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, inclined ramp detection module unit, well formula feed modular unit, terminal block, motor module unit, many processing/modular unit, aggregate erection training platform and master controllers, and processing/modular unit, many processing/modular unit and at least 2 group well formula feed modular units are set in two material loadings/two assembling/detections/warehouse-in/outbound system; 2 groups of well formula feed modular units are supplied with different workpiece separately; Processing/modular unit and many processing/modular unit are implemented processing and assembly manipulation separately, two material loadings/two assembling/detections/2 kinds of different workpiece feedings of warehouse-in system implementation, detection, processing, assemble, go into the training on operation requirement of library storage.

One end of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; The other end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; Straight line moving manipulator unit is fixedly installed on the other end of travelling belt detection module unit, and travelling belt detection module unit and straight line moving manipulator unit are T-shaped on the aggregate erection training platform.

One side of one end, straight line moving manipulator unit fixedly installs the tiered warehouse facility modular unit; Be fixed on the tiered warehouse facility modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The opposite side of one end, straight line moving manipulator unit fixedly installs loading platform modular unit, well formula feed modular unit, processing/modular unit and many processing/modular unit; Through the stationary positioned hole with bolt respectively the loading platform modular unit, wherein one group of well formula feed modular unit, processing/modular unit and many processing/modular unit are fixed on the aggregate erection training platform; It is corresponding that the workpiece positioning table of loading platform modular unit and well formula feed modular unit go out feed bin; The discharging port that goes out feed bin docks with the workpiece positioning table of loading platform modular unit; Wherein the operation circuit of the solenoid valve of one group of well formula feed modular unit is connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends, and wherein the circuit of the detection probe of one group of well formula feed modular unit is connected with the input signal interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.Start the pusher cylinder of well formula feed modular unit, the workpiece that goes out in the feed bin is directly shifted onto on the workpiece positioning table of loading platform modular unit.

Loading and unloading station in the processing/modular unit is corresponding with solid mechanical fingerprint module unit, and getting of solid mechanical fingerprint module unit expects that parallel folder extracts or place work piece from the loading and unloading station of processing/modular unit.The loading and unloading station of many processing/modular unit is corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the loading and unloading station of many processing/modular unit.

The other end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; One side of travelling belt detection module unit fixedly installs solid mechanical fingerprint module unit, inclined ramp detection module unit, well formula feed modular unit and motor module unit, is fixed on solid mechanical fingerprint module unit, inclined ramp detection module unit, well formula feed modular unit and motor module unit on the aggregate erection training platform respectively.

One end of travelling belt detection module unit is provided with wherein another group well formula feed modular unit of 2 groups of well formula feed modular units; Be fixed on another group well formula feed modular unit wherein on the aggregate erection training platform with bolt through the stationary positioned hole; Wherein the feed bin that goes out of another group well formula feed modular unit docks with the travelling belt of travelling belt detection module unit; It is corresponding with the loading and unloading station of travelling belt detection module unit to go out feed bin, starts the pusher cylinder and shifts the workpiece that in the feed bin on the loading and unloading station of travelling belt detection module unit onto.Wherein the operation circuit of the solenoid valve of another group well formula feed modular unit is connected with the output signaling interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends; Wherein the circuit of the detection probe of another group well formula feed modular unit is connected with the input signal interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.

The other end of travelling belt detection module unit is provided with the motor module unit; Be fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The motor of motor module unit is connected with the driving wheel of travelling belt detection module unit, and the operation circuit of the terminal box of motor module unit is connected with the output signaling interface of the terminal block of travelling belt detection module unit, and the cable interface of terminal block is connected with master controller through line cord; Carry out the instruction that master controller sends; The motor of starter motor modular unit, motor positive and inverse operation, the travelling belt both forward and reverse directions running of driven by motor travelling belt detection module unit.

The side of travelling belt detection module unit fixedly installs inclined ramp detection module unit; Be fixed on inclined ramp detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The port of the slideway of inclined ramp modular unit docks with the travelling belt of travelling belt detection module unit; The port of slideway is corresponding with travelling belt detection module unit workpiece sensing equipment separately; The circuit of the detection probe of inclined ramp detection module unit is connected with the input signal interface of the terminal block of travelling belt detection module unit, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.

The side of travelling belt detection module unit fixedly installs solid mechanical fingerprint module unit; Be fixed on solid mechanical fingerprint module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit of solid mechanical fingerprint module unit just extracts or place work piece from the loading and unloading station of travelling belt detection module unit, and the loading and unloading station of getting in many processing/modular unit of the parallel folder aligning of material of solid mechanical fingerprint module unit just extracts or place work piece from the loading and unloading station of many processing/modular unit.

Below the aggregate erection training platform master controller is set; Master controller with pass cable-through hole through line cord and get into the circuit connection groove and be connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform; Implement the training request of two material loadings/two assembling/detections/warehouse-in system mounting arrangement, carry out the training request of dibit material loading, dibit assembling workpiece and the in-stockroom operation of two material loadings/two assembling/detections/warehouse-in system.

Straight line moving manipulator unit and travelling belt detection module unit are T-shaped setting on the aggregate erection training platform; The both sides of straight line moving manipulator unit fixedly install loading platform modular unit, well formula feed modular unit, processing/modular unit, many processing/modular unit, tiered warehouse facility modular unit and master controllers, and the side of travelling belt detection module unit fixedly installs well formula feed modular unit, inclined ramp detection module unit and solid mechanical fingerprint module unit.Travelling belt detection module unit is implemented to detect and letter sorting to processed workpiece; Solid mechanical fingerprint module unit is transferred workpiece on one group of processing/modular unit wherein, is transplanted on processed workpiece on the goods yard of tiered warehouse facility modular unit through straight line moving manipulator unit; Straight line moving manipulator unit is transplanted on workpiece to be processed on processing/modular unit and many processing/modular unit from the loading platform modular unit, and processed workpiece is transplanted on the goods yard of tiered warehouse facility modular unit through straight line moving manipulator unit.

Placing 2 kinds of different workpiece in the well formula feed storehouse of 2 groups of well formula feed modular units is workpiece 1 and workpiece 2; Master controller sends instruction; Start the wherein pusher cylinder of another group well formula feed modular unit, the pusher cylinder is shifted the workpiece 1 in the well formula feed storehouse onto an end loading and unloading station of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit, motor are just being transported row, the driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt positive dirction operation, the workpiece 1 of travelling belt from the loading and unloading station of travelling belt one end to the other end transmission of travelling belt.Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit on the pivot arm starts solenoid valve, gets the parallel folder of material and grasps workpiece 1.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting on the pivot arm expects that parallel folder leaves the loading and unloading station of travelling belt detection module unit; And aim at the loading and unloading station of many processing/modular unit, start solenoid valve and be placed on the loading and unloading station of many processing/modular unit, startup rotary cylinder to workpiece 1; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is removed the loading and unloading station of many processing/modular unit, transfers to workpiece 1 on the loading and unloading station of many processing/modular unit the training request that enforcement workpiece 1 material loading is operated through the parallel folder of material of getting of solid mechanical fingerprint module unit.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 1 on the station dial position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 1 to the V-type locating piece along station dial; Workpiece 1 moves to by the V-type locating piece on the station dial and blocks, and workpiece 1 rests on the position of aiming at processing/assembly manipulator and implements processing.Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends, alignment pieces 1; Start and clamp cylinder; Machinery grasps workpiece 1, starts lift cylinder, and processing/assembly manipulator grasps workpiece 1 and promotes; Leave the loading and unloading station of station dial, to workpiece 1 implement processing and etc. to be assembled.

One group of processing/modular unit is wherein implemented the material loading of workpiece 1; Be placed into the workpiece 1 in one group of well formula feed modular unit wherein on the travelling belt detection module unit; Be transplanted on workpiece 1 on many processing/modular unit through solid mechanical fingerprint module unit, many processing/modular unit are implemented processing to workpiece.

Start the wherein pusher cylinder of one group of well formula feed modular unit, the pusher cylinder is shifted the workpiece 2 in the well formula feed storehouse on the workpiece positioning table of loading platform modular unit onto from the discharging opening that goes out feed bin.The detection probe of loading platform modular unit is to the numerical information of master controller feedback workpiece 2; Master controller sends instruction after receiving numerical information after treatment; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the workpiece 2 on the workpiece positioning table that passes the loading platform modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot grasps the workpiece 2 on the workpiece positioning table.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the workpiece positioning table of loading platform modular unit.Y type reclaimer robot is aimed at the loading and unloading station of many processing/modular unit; Starting solenoid valve is placed on workpiece 2 on the loading and unloading station of many processing/modular unit; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit.

Workpiece 2 in another group well formula feed modular unit is transplanted on many processing/modular unit through loading platform modular unit and straight line moving manipulator unit, and many processing/modular unit are implemented assembling to workpiece.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the loading and unloading station of one of them place work piece 2 on the station dial position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the workpiece on the loading and unloading station 2 to the V-type locating piece along station dial; Workpiece 2 moves to by the V-type locating piece on the station dial and blocks, and workpiece 2 rests on the position of aiming at processing/assembly manipulator and implements assembling.Start the lift cylinder on the lifting column; Processing/assembly manipulator descends; Put into the workpiece 2 on the loading and unloading station to the workpiece 1 of processing/assembly manipulator clamping, workpiece 1 and workpiece 2 are assembled into the assembling workpiece, start lift cylinder; Processing/assembly manipulator grasps workpiece 1 and promotes, and leaves the loading and unloading station of station dial.Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit; Rotate to the position of secured in alignment manipulator unit to the loading and unloading station of placing the workpiece after the assembling on the station dial, implements many processing/modular unit the processing of workpiece 1 and workpiece 2 and the training request of assembly manipulation.

Many processing/modular unit are anticipated a cylinder through getting, are got and expect that locating piece and V-type locating piece are transplanted on processing/assembly station to workpiece 2 from the loading and unloading station; The solenoid valve of many processing/modular unit, lift cylinder processing/assembly manipulator, clamping cylinder and the interlock of machinery folder are implemented to be placed into workpiece 1 in the workpiece 2, and many processing/modular unit implement to be assembled into the assembling workpiece to workpiece 1 and workpiece 2.

Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material of getting on the pivot arm is aimed at the assembling workpiece on the loading and unloading station of many processing/modular unit, starts solenoid valve, gets the parallel folder of material and grasps the assembling workpiece; Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting on the pivot arm expects that parallel folder leaves the loading and unloading station of many processing/modular unit; And aim at the loading and unloading station of the other end of travelling belt detection module unit, start solenoid valve and be placed on the assembling workpiece on the loading and unloading station, start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed the other end of travelling belt detection module unit on the pivot arm.

The motor of starter motor modular unit; Motor is just being transported row; The driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt positive dirction operation, travelling belt the assembling workpiece from the loading and unloading station of travelling belt one end to the other end transmission of travelling belt; In the assembling workpiece way when surveyed area the detection probe on the workpiece sensing equipment assembling workpiece is implemented to detect.

The assembling workpiece of many processing/modular unit assembling through solid mechanical fingerprint module unit the Workpiece transfer of assembling to travelling belt detection module unit, workpiece sensing equipment is implemented to detect and letter sorting to the assembling workpiece.

When detecting underproof assembling workpiece; Workpiece sensing equipment feeds back the numerical information of underproof assembling workpiece to master controller; Master controller sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials that is fixed on the cylinder support, the pusher window that the expansion link of the cylinder of selecting materials passes on the locating support pushes underproof assembling workpiece in the slideway of corresponding inclined ramp modular unit, and the detection probe of inclined ramp modular unit detects underproof assembling workpiece; The detection probe of inclined ramp modular unit is fed back the numerical information of underproof assembling workpiece to master controller; After master controller receives numerical information, send instruction through after the digital processing, underproof assembling workpiece is waited for and is got into subsequent processing.

Be placed into the assembling workpiece of many processing/modular unit assembling on the travelling belt detection module unit; Workpiece sensing equipment is implemented to detect and letter sorting to the assembling workpiece; When detecting underproof assembling workpiece, send into the inclined ramp modular unit to underproof assembling workpiece and wait for and get into subsequent processing.

When detecting qualified assembling workpiece; Workpiece sensing equipment is to the numerical information of the qualified assembling workpiece of master controller feedback, and master controller sends instruction after receiving numerical information after treatment, the motor of starter motor modular unit; Motor counter-rotating operation; The driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt reverse direction operation, travelling belt qualified assembling workpiece from the loading and unloading station of the travelling belt other end to the transmission of an end of travelling belt.

Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit on the pivot arm starts solenoid valve, gets the parallel folder of material and grasps qualified workpiece.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting on the pivot arm expects that parallel folder leaves the loading and unloading station of travelling belt detection module unit; And aim at the loading and unloading station of many processing/modular unit, start solenoid valve and be placed on the loading and unloading station of many processing/modular unit, startup rotary cylinder to qualified workpiece; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed many processing/modular unit on the pivot arm.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; The Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of many processing/modular unit, starts mechanical gripper cylinder on hand, and Y type reclaimer robot grasps the qualified assembling workpiece on the loading and unloading station of many processing/modular unit.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, Y type reclaimer robot is aimed at the goods yard of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into the assembling workpiece on the goods yard.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard of tiered warehouse facility modular unit; Implement the training request of the assembling workpiece in-stockroom operation of many processing/modular unit, cycling is filled the workpiece of assembling until reaching the tiered warehouse facility modular unit repeatedly.

Be placed into the assembling workpiece of many processing/modular unit assembling on the travelling belt detection module unit; Workpiece sensing equipment is implemented to detect and letter sorting to the assembling workpiece; When detecting qualified assembling workpiece, be transplanted on underproof assembling workpiece in the tiered warehouse facility modular unit through solid mechanical fingerprint module unit and straight line moving manipulator unit and store.

Meanwhile, master controller sends instruction, starts the pusher cylinder of another group well formula feed modular unit, and the pusher cylinder is shifted the workpiece 1 in the well formula feed storehouse onto an end loading and unloading station of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit, motor are just being transported row, the driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt positive dirction operation, the workpiece 1 of travelling belt from the loading and unloading station of travelling belt one end to the other end transmission of travelling belt; Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit on the pivot arm starts solenoid valve, gets the parallel folder of material and grasps workpiece 1.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting on the pivot arm expects that parallel folder leaves the loading and unloading station of travelling belt detection module unit; And aim at the loading and unloading station of many processing/modular unit, start solenoid valve and be placed on the loading and unloading station of many processing/modular unit, startup rotary cylinder to workpiece 1; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed many processing/modular unit on the pivot arm.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Workpiece 1 on the loading and unloading station of many processing/modular unit of Y type reclaimer robot aligning of mechanical arm starts machinery gripper cylinder on hand, and Y type reclaimer robot grasps the workpiece 1 on the loading and unloading station.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit.Y type reclaimer robot is aimed at the loading and unloading station of processing/modular unit; Starting solenoid valve is placed on workpiece 1 on the loading and unloading station of processing/modular unit; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the loading and unloading station of processing/modular unit; Be transplanted on workpiece 1 on the loading and unloading station of processing/modular unit through solid mechanical fingerprint module unit and straight line moving manipulator unit, implement the training request of workpiece 1 material loading operation.

Processing/modular unit is implemented the material loading of workpiece 1; Be placed into the workpiece 1 in one group of well formula feed modular unit wherein on the loading and unloading station of processing/modular unit through travelling belt detection module unit, solid mechanical fingerprint module unit and straight line moving manipulator unit, workpiece 1 is implemented processing.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station 1 to processing/assembly station along retention plate; Workpiece 1 moves to processing/assembly station and is blocked by the V-type locating piece on the retention plate, and workpiece 1 rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, machinery grasps the workpiece 1 on processing/assembly station, starts the air cylinder lifting processing/assembly manipulator of upgrading, and processing/assembly manipulator promotes workpiece 1 enforcement process operation.

Processing/modular unit is anticipated a cylinder through getting, is got and expect that locating piece and V-type locating piece are transplanted on processing/assembly station to workpiece 1 from the loading and unloading station, the processing of the solenoid valve of processing/modular unit, lift cylinder, processing/assembly manipulator, clamping cylinder and machinery folder interlock enforcement workpiece 1.

Start the wherein pusher cylinder of one group of well formula feed modular unit, the pusher cylinder is shifted the workpiece 2 in the well formula feed storehouse on the workpiece positioning table of loading platform modular unit onto from the discharging opening that goes out feed bin.The detection probe of loading platform modular unit is to the numerical information of master controller feedback workpiece 2; Master controller sends instruction after receiving numerical information after treatment; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the workpiece 2 on the workpiece positioning table that passes the loading platform modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot grasps the workpiece 2 on the workpiece positioning table.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the workpiece positioning table of loading platform modular unit.Y type reclaimer robot is aimed at the loading and unloading station of processing/modular unit; Starting solenoid valve is placed on workpiece 2 on the loading and unloading station of processing/modular unit; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the loading and unloading station of another group processing/modular unit.

Processing/modular unit is implemented the material loading of workpiece 2; Workpiece 2 in another group well formula feed modular unit is transplanted on processing/modular unit through loading platform modular unit and straight line moving manipulator unit, and processing/modular unit is implemented assembling to workpiece.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station 2 to processing/assembly station; Workpiece 2 moves to processing/assembly station along retention plate and is blocked by the V-type locating piece on the retention plate, and workpiece 2 rests on processing/assembly station; Start solenoid valve and lift cylinder decline processing/assembly manipulator; Start and clamp cylinder; The machinery folder is placed into the workpiece 1 that grasps in the workpiece 2 on processing/assembly station, starts solenoid valve and lift cylinder and promotes processing/assembly manipulator, and processing/assembly manipulator leaves processing/assembly station; Workpiece 1 is assembled into the assembling workpiece with workpiece 2; Start to get and anticipate a cylinder, drive to get and expect that locating piece revert to the loading and unloading station to the assembling workpiece, implements the training request of processing/modular unit assembling workpiece 1 and workpiece 2 operations.

Processing/modular unit is anticipated a cylinder through getting, is got and expect that locating piece and V-type locating piece are transplanted on processing/assembly station to workpiece 2 from the loading and unloading station; The solenoid valve of another group processing/modular unit, lift cylinder processing/assembly manipulator, clamping cylinder and the interlock of machinery folder are implemented to be placed into workpiece 1 in the workpiece 2, and another is organized processing/modular unit workpiece 1 and workpiece 2 are implemented to be assembled into the assembling workpiece.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of processing/modular unit, starts mechanical gripper cylinder on hand, and Y type reclaimer robot grasps the assembling workpiece on the loading and unloading station of processing/modular unit; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the loading and unloading station of processing/modular unit; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, Y type reclaimer robot is aimed at the loading and unloading station of many processing/modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot is placed the assembling workpiece on the loading and unloading station of many processing/modular unit.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit, Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit.

Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material of getting on the pivot arm is aimed at the assembling workpiece on the loading and unloading station of many processing/modular unit, starts solenoid valve, gets the parallel folder of material and grasps the assembling workpiece.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting on the pivot arm expects that parallel folder leaves the loading and unloading station of many processing/modular unit; And aim at the loading and unloading station of the other end of travelling belt detection module unit, start solenoid valve and be placed on the assembling workpiece on the loading and unloading station, start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed an end of travelling belt detection module unit on the pivot arm.

The motor of starter motor modular unit; Motor is just being transported row; The driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt positive dirction operation, travelling belt the assembling workpiece from the loading and unloading station of travelling belt one end to the other end transmission of travelling belt; In the assembling workpiece way when surveyed area the detection probe on the workpiece sensing equipment assembling workpiece is implemented to detect.

The assembling workpiece of processing/modular unit assembling through straight line moving manipulator unit and solid mechanical fingerprint module unit the Workpiece transfer of assembling to travelling belt detection module unit, workpiece sensing equipment is implemented to detect and sort to the assembling workpiece.

When detecting underproof assembling workpiece; Workpiece sensing equipment feeds back the numerical information of underproof assembling workpiece to master controller; Master controller sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials that is fixed on the cylinder support, the pusher window that the expansion link of the cylinder of selecting materials passes on the locating support pushes underproof assembling workpiece in the slideway of corresponding inclined ramp modular unit, and the detection probe of inclined ramp modular unit detects underproof assembling workpiece; The detection probe of inclined ramp modular unit is fed back the numerical information of underproof assembling workpiece to master controller; After master controller receives numerical information, send instruction through after the digital processing, underproof assembling workpiece is waited for and is got into subsequent processing.

Be placed into the assembling workpiece of processing/modular unit assembling on the travelling belt detection module unit; Workpiece sensing equipment is implemented to detect and letter sorting to the assembling workpiece; When detecting underproof assembling workpiece, send into the inclined ramp modular unit to underproof assembling workpiece and wait for and get into subsequent processing.

When detecting qualified assembling workpiece; Workpiece sensing equipment is to the numerical information of the qualified assembling workpiece of master controller and feedback, and master controller sends instruction after receiving numerical information after treatment, the motor of starter motor modular unit; Motor counter-rotating operation; The driving wheel of driven by motor travelling belt detection module unit, drive wheel travelling belt reverse direction operation, travelling belt qualified assembling workpiece from the loading and unloading station of the travelling belt other end to the transmission of an end of travelling belt.

Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit on the pivot arm starts solenoid valve, gets the parallel folder of material and grasps qualified workpiece.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting on the pivot arm expects that parallel folder leaves the loading and unloading station of travelling belt detection module unit; And aim at the loading and unloading station of many processing/modular unit, start solenoid valve and be placed on the loading and unloading station of many processing/modular unit, startup rotary cylinder to qualified workpiece; Rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is removed the wherein loading and unloading station of one group of processing/modular unit.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of many processing/modular unit, starts mechanical gripper cylinder on hand, and Y type reclaimer robot grasps the qualified assembling workpiece on the loading and unloading station of many processing/modular unit.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, Y type reclaimer robot is aimed at the goods yard of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into qualified assembling workpiece on the goods yard; Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard of tiered warehouse facility modular unit; Implement the training request of the assembling workpiece in-stockroom operation of processing/modular unit, cycling is filled the workpiece of assembling until reaching the tiered warehouse facility modular unit repeatedly.

Be placed into the assembling workpiece of processing/modular unit assembling on the travelling belt detection module unit; Workpiece sensing equipment is implemented to detect and letter sorting to the assembling workpiece; When detecting qualified assembling workpiece, be transplanted on underproof assembling workpiece in the tiered warehouse facility modular unit through solid mechanical fingerprint module unit and straight line moving manipulator unit and store.

Implement 2 groups of well formula feed modular units and place different workpiece; Processing/modular unit and many processing/each self-assembly different workpiece of modular unit difference; The training request of the qualified assembling workpiece in-stockroom operation of processing/modular unit and many processing/modular unit assemblings; Cycling is filled the workpiece of qualified assembling until reaching the tiered warehouse facility modular unit repeatedly, and two material loadings/two assembling/detections/warehouse-in/outbound system carries out the training request of double feed, double assembling and in-stockroom operation.

Thick finishing/detection/remove useless/warehouse-in/outbound system to form by processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, inclined ramp detection module unit, well formula feed modular unit, motor module unit, many processing/modular unit, terminal block, aggregate erection training platform and master controllers; Thick finishing/detections/remove gives up/processing/modular unit, many processing/modular unit and at least 2 group inclined ramp detection module unit are set in warehouse-in/outbound system; Processing/modular unit and many processing/modular unit are implemented roughing and accurately machined operation separately, thick finishing/detections/remove useless/warehouse-in/outbound system implementation roughing, finishing detection, propose waste product, go into the training on operation purpose of library storage and outbound.

One end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The other end of aggregate erection training platform fixedly installs straight line moving manipulator unit, is fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole.One side of one end of travelling belt detection module unit fixedly installs well formula feed modular unit; Be fixed on well formula feed modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The feed bin that goes out of well formula feed modular unit docks with the travelling belt of travelling belt detection module unit; It is corresponding with the loading and unloading station of travelling belt detection module unit to go out feed bin, and the operation circuit of the solenoid valve of well formula feed modular unit is connected with the output signaling interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord; Carry out the instruction that master controller sends; The circuit of the detection probe of well formula feed modular unit is connected with the input signal interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.Start the pusher cylinder of well formula feed modular unit, shift the workpiece in the well formula feed storehouse onto on the loading and unloading station of one end of travelling belt detection module unit.

One side of the other end of travelling belt detection module unit fixedly installs the motor module unit; Be fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The motor module unit is fixedly installed on the aggregate erection training platform; The motor module unit is connected with the driving wheel of travelling belt detection module unit, and the operation circuit of the terminal box of motor module unit is connected with the output signaling interface of the terminal block of travelling belt detection module unit, and the cable interface of terminal block is connected with master controller through line cord; Carry out the instruction that master controller sends; The motor of starter motor modular unit, motor positive and inverse operation, the travelling belt both forward and reverse directions running of driven by motor travelling belt detection module unit.

One side at the middle part of travelling belt detection module unit fixedly installs 2 groups of inclined ramp modular units; Be fixed on 2 groups of inclined ramp modular units on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The inlet of the slideway of inclined ramp modular unit all docks with the surveyed area of travelling belt detection module unit, and the inlet of the slideway of inclined ramp modular unit is all corresponding with workpiece sensing equipment.The circuit of the detection probe of 2 groups of inclined ramp detection module unit is connected with the input signal interface of the terminal block of travelling belt detection module unit; The cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.

The opposite side of one end of travelling belt detection module unit fixedly installs solid mechanical fingerprint module unit and processing/modular unit; Be fixed on solid mechanical fingerprint module unit and processing/modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The loading and unloading station of processing/modular unit is corresponding with travelling belt detection module unit; The parallel folder of material of getting of solid mechanical fingerprint module unit is aimed at the loading and unloading station of an end of travelling belt detection module unit and is just extracted or place work piece from the loading and unloading station of an end of travelling belt detection module unit, solid mechanical fingerprint module unit get loading and unloading station that the parallel folder of material aims at processing/modular unit just from the extraction of loading and unloading station or the place work piece of processing/modular unit.

The opposite side of the other end of travelling belt detection module unit fixedly installs many processing/modular unit; Be fixed on many processing/modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The loading and unloading station of many processing/modular unit is corresponding with straight line moving manipulator unit, and the loading and unloading station that the Y type reclaimer robot of straight line moving manipulator unit is aimed at many processing/modular unit just extracts or place work piece from the loading and unloading station of many processing/modular unit.

The other end of travelling belt detection module unit fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; Travelling belt detection module unit and straight line moving manipulator unit are T-shaped on the aggregate erection training platform, the loading and unloading station of the other end, robot alignment travelling belt detection module unit of straight line moving manipulator unit just extracts or place work piece from the loading and unloading station of the other end of travelling belt detection module unit.

The opposite side of straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit and loading platform modular unit; Be fixed on tiered warehouse facility modular unit and loading platform modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The goods yard of tiered warehouse facility modular unit is corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit is aimed at the goods yard of tiered warehouse facility modular unit and just extracted or place work piece from the goods yard of tiered warehouse facility modular unit.The workpiece positioning table of loading platform modular unit is corresponding with straight line moving manipulator unit, and the workpiece positioning table that the Y type reclaimer robot of straight line moving manipulator unit is aimed at the loading platform modular unit just extracts or place work piece from the workpiece positioning table of loading platform modular unit.

The bottom of aggregate erection training platform fixedly installs master controller; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Assembling training is with the training of modular unit on the aggregate erection training platform, carries out thick finishing/detections/except that giving up/training request of the mounting arrangement of warehouse-in/outbound system.

Travelling belt detection module unit and straight line moving manipulator unit are T-shaped setting on the aggregate erection training platform; The both sides of travelling belt detection module unit fixedly install processing/modular unit, many processing/modular unit, well formula feed modular unit, solid mechanical fingerprint module unit, motor module unit and 2 groups of inclined ramp detection module unit, and the side of straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit, loading platform modular unit and master controller.Monitoring of travelling belt detection module unit and letter sorting workpiece; Solid mechanical fingerprint module unit is transferred workpiece to processing/modular unit, and workpiece is transferred to many processing/modular unit, loading platform modular unit and tiered warehouse facility modular unit in straight line moving manipulator unit.

Deposit workpiece to be processed in the well formula feed storehouse of well formula feed modular unit; Master controller sends instruction; Start the pusher cylinder of well formula feed modular unit, the pusher cylinder is shifted the workpiece to be processed in the well formula feed storehouse onto on the loading and unloading station of one end of travelling belt of travelling belt detection module unit from the discharging opening that goes out feed bin.Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Workpiece on the loading and unloading station of the end of getting the parallel folder aligning of material travelling belt detection module unit on the pivot arm, the startup solenoid valve is got the parallel folder of material and is grasped workpiece.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material of getting on the pivot arm is aimed at the wherein loading and unloading station of one group of processing/modular unit, starts solenoid valve and expects that getting the workpiece that parallel folder grasps is placed on the loading and unloading station of processing/modular unit, starts rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is removed the loading and unloading station of processing/modular unit, through solid mechanical fingerprint module unit get the parallel folder of material workpiece transfer to the loading and unloading station of processing/modular unit, the training request that enforcement workpiece material loading is operated.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station to processing/assembly station along retention plate; Workpiece translational motion is blocked by the V-type locating piece on the retention plate to processing/assembly station, and workpiece rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, machinery grasps the workpiece on processing/assembly station, starts lift cylinder lifting processing/assembly manipulator, and processing/assembly manipulator promotes workpiece, enforcement roughing operation.After treating that workpiece is implemented roughing; Start solenoid valve and lift cylinder decline processing/assembly manipulator; Start the clamping cylinder, the machinery folder is placed on the workpiece of processing on processing/assembly station, and startup is got and anticipated a cylinder; The playback of material locating piece is got in drive, gets the material locating piece and places back processed workpiece on the loading and unloading station.

Workpiece through solid mechanical fingerprint module unit Workpiece transfer on processing/modular unit, its processing/modular unit is implemented roughing to workpiece.

Master controller sends instruction through after the data processing; Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the loading and unloading station of processing/modular unit, starts solenoid valve and extracts the workpiece on the loading and unloading station; Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed processing/modular unit and the loading and unloading station of the end that getting the parallel folder aligning of material travelling belt detection module unit on the pivot arm on the pivot arm; Start on the loading and unloading station of an end that solenoid valve is placed on the workpiece of getting the parallel folder clamping of material travelling belt detection module unit; Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that the parallel folder of material is removed travelling belt detection module unit on the pivot arm; Through solid mechanical fingerprint module unit get the parallel folder of material workpiece transfer to the loading and unloading station of an end of travelling belt detection module unit, implement the training request of workpiece material loading operation.

Master controller sends instruction; The motor of starter motor modular unit; Motor is carried out just to be changeed, the driving wheel of driven by motor travelling belt detection module unit, the operation of drive wheel travelling belt forward; With rough machined workpiece from the loading and unloading station of travelling belt one end to the transmission of the loading and unloading station of the other end of travelling belt detection module unit, workpiece arrives on the loading and unloading station of the other end of travelling belt detection module unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of the other end of travelling belt detection module unit, starts machinery gripper cylinder on hand, and Y type reclaimer robot extracts and grasp the workpiece on the loading and unloading station of the other end of travelling belt detection module unit; Y type reclaimer robot through straight line moving manipulator unit is organized workpiece transfer on the loading and unloading station of processing/modular unit to another, implements the training request of workpiece material loading operation.

Workpiece is implemented roughing through processing/modular unit, after the workpiece roughing again through solid mechanical fingerprint module unit Workpiece transfer to travelling belt detection module unit, get into finishing step.

Start rotary cylinder, displacement electromagnetic valve group and the motor of straight line moving manipulator unit; The loading and unloading station that processed workpiece is removed the other end of travelling belt detection module unit in the clamping of Y type reclaimer robot, and driven by motor travelling belt, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, Y type reclaimer robot is aimed at the loading and unloading station of many processing/modular unit; Start Y type reclaimer robot, be placed on the rough machined workpiece of Y type reclaimer robot clamping on the loading and unloading station of many processing/modular unit.Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into the processed workpiece of clamping on the loading and unloading station of many processing/modular unit.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed Y type reclaimer robot from the loading and unloading station of many processing/modular unit, implement the training request that processed workpiece gets into finishing operations.

Workpiece after the roughing is transplanted on many processing/modular unit through straight line moving manipulator unit, and the workpiece after the roughing is implemented finishing step.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to one of them loading and unloading station of placing rough machined workpiece on the station dial position of aligning processing/assembly manipulator.Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the rough machined workpiece on the loading and unloading station to the V-type locating piece along station dial; Rough machined workpiece translational motion is to being blocked by the V-type locating piece on the station dial, and rough machined workpiece rests on the position of aiming at processing/assembly manipulator and implements finishing.Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends, processing/assembly manipulator grasps rough machined workpiece, starts the lift cylinder on the lifting column, promotes rough machined workpiece, implements finishing.Start lift cylinder, processing/assembly manipulator grasps accurately machined workpiece and descends, and the workpiece after the finishing is placed the loading and unloading station, starts the lift cylinder on the lifting column, and processing/assembly manipulator leaves the loading and unloading station of station dial.Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit; Rotate to the position of aiming at straight line walking machine fingerprint module unit to the loading and unloading station of placing accurately machined workpiece on the station dial, implement the training request of finishing operations.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Workpiece after the finishing on the loading and unloading station of many processing/modular unit of Y type reclaimer robot aligning of mechanical arm starts machinery gripper cylinder on hand, and Y type reclaimer robot extracts and grasp the workpiece after the finishing.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; The loading and unloading station that workpiece after the finishing is removed many processing/modular unit in the clamping of Y type reclaimer robot; Move to the loading and unloading station of the other end of travelling belt detection module unit; Start machinery gripper cylinder on hand, the workpiece of Y type reclaimer robot after the finishing of clamping is placed on the loading and unloading station of the other end of travelling belt detection module unit.Master controller sends instruction; Counter-rotating is carried out in the motor module unit that starts travelling belt detection module unit; The travelling belt inverted running of travelling belt detection module unit; Move the loading and unloading station of accurately machined workpiece to the loading and unloading station of an end from the other end, the monitored area by way of travelling belt detection module unit, workpiece sensing equipment is implemented to detect to accurately machined workpiece.It is qualified through the detection probe on the workpiece sensing equipment accurately machined workpiece sensing to be judged whether, two kinds of situation can appear in accurately machined workpiece: underproof waste product and certified products, implement training request to the detection and the letter sorting operation of accurately machined workpiece.

Workpiece after the finishing is transplanted on the other end loading and unloading station of travelling belt detection module unit through straight line moving manipulator unit; The counter-rotating operation of travelling belt detection module unit; Accurately machined workpiece approach monitored area; The workpiece sensing equipment of travelling belt detection module unit is implemented to detect to accurately machined workpiece, accurately machined workpiece is implemented to detect the underproof waste product of rejecting in the accurately machined workpiece, with qualified Workpiece transfer in the tiered warehouse facility modular unit.

When workpiece sensing equipment testing probe detects accurately machined workpiece is underproof waste product; Detection probe is fed back the numerical information of the workpiece of underproof waste product to master controller; Master controller sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials that is fixed on the cylinder support, the pusher window that the expansion link of the cylinder of selecting materials passes on the locating support pushes the workpiece of underproof waste product in the slideway of corresponding inclined ramp modular unit.The workpiece of underproof waste product gets in the slideway; The detection probe of inclined ramp modular unit detects the workpiece that can't repair; The detection probe of inclined ramp modular unit is fed back the numerical information of the workpiece of underproof waste product to master controller; Master controller sends instruction after receiving numerical information after treatment, and the workpiece of underproof waste product is waited for the processing of subsequent processing.The training request of operation is implemented to detect and sort in cycling repeatedly to the workpiece of underproof waste product.

The workpiece sensing equipment testing probe of travelling belt detection module unit is sent underproof waste product workpiece into inclined ramp detection module unit, subsequent processing to be got into to detecting underproof waste product workpiece in the accurately machined workpiece.

When detecting qualified workpiece; Detection probe is fed back the numerical information of qualified workpiece to master controller; Master controller sends instruction after receiving numerical information after treatment; The motor of starter motor modular unit is carried out just to be changeed, and the travelling belt of travelling belt detection module unit is just being transported row, is transferred to qualified workpiece from surveyed area the loading and unloading station of the travelling belt other end.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the qualified workpiece on the loading and unloading station that is transferred to the travelling belt other end.Start machinery gripper cylinder on hand, the qualified workpiece on the loading and unloading station of the Y type reclaimer robot grip belts other end; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the goods yard of tiered warehouse facility modular unit, starts machinery gripper cylinder on hand, Y type reclaimer robot the finishing of clamping after qualified workpiece be placed on the goods yard of tiered warehouse facility modular unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot from the goods yard of tiered warehouse facility modular unit, qualified accurately machined workpiece is filled in cycling on each goods yard of tiered warehouse facility modular unit repeatedly, the training request of the workpiece in-stockroom operation after the enforcement finishing.

The workpiece sensing equipment testing probe of travelling belt detection module unit is to detecting qualified workpiece in the accurately machined workpiece; Through straight line moving manipulator unit with qualified accurately machined Workpiece transfer to the goods yard of tiered warehouse facility modular unit, subsequent processing to be got into.

When qualified accurately machined workpiece is filled in each goods yard of tiered warehouse facility modular unit; Need be with workpiece outbound qualified after the finishing, master controller sends instruction, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Mechanical arm moves to the goods yard that Y type reclaimer robot is aimed at the tiered warehouse facility modular unit along guide rail, starts machinery gripper cylinder on hand, accurately machined workpiece on the Y type reclaimer robot clamping goods yard.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; Mechanical arm moves to the workpiece positioning table that Y type reclaimer robot is aimed at the loading platform modular unit along guide rail, starts machinery gripper cylinder on hand, and Y type reclaimer robot is placed into the accurately machined workpiece of clamping on the workpiece positioning table; Subsequent processing to be changed over to, cycling whole outbounds of accurately machined workpiece in the tiered warehouse facility modular unit repeatedly.Carry out in roughing, finishing, detection, letter sorting, removal waste product, warehouse-in and the adjustment outbound of the useless/warehouse-in/outbound system of thick finishing/detection/remove workpiece and arrange the training request of operating in order.

Material loading/maintenance/waste product/warehouse-in system is made up of processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, tiered warehouse facility modular unit, travelling belt detection module unit, horizontal slideway detection module unit, well formula feed modular unit, motor module unit, many processing/modular unit, terminal block, aggregate erection training platform and master controllers; Processing/modular unit and many processing/modular unit are set in material loading/maintenance/waste product/warehouse-in system; Processing/modular unit and many processing/modular unit are implemented processing and accurately machined operation separately, implement roughing and accurately machined training on operation purpose through 2 groups of processing/modular unit.

One end of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; The other end of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The both sides of straight line moving manipulator unit fixedly install tiered warehouse facility modular unit, solid mechanical fingerprint module unit, processing/modular unit and many processing/modular unit respectively, are fixed on tiered warehouse facility modular unit, solid mechanical fingerprint module unit, processing/modular unit and many processing/modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole.

The shelf of tiered warehouse facility modular unit are corresponding with straight line moving manipulator unit, and the shelf that the Y type reclaimer robot of straight line moving manipulator unit is aimed at the tiered warehouse facility modular unit just extract or place work piece from the shelf of tiered warehouse facility modular unit.

Many processing/modular unit and solid mechanical fingerprint module unit are fixedly installed on the side of straight line moving manipulator unit; The loading and unloading station of getting many processing/modular unit of the parallel folder aligning of material of solid mechanical fingerprint module unit just extracts or place work piece from the loading and unloading station of many processing/modular unit, and just the loading and unloading station of one end extracts or place work piece the loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit one end of solid mechanical fingerprint module unit from travelling belt detection module unit.

Side in straight line moving manipulator unit fixedly installs processing/modular unit, and the loading and unloading station that the Y type reclaimer robot of straight line moving manipulator unit is aimed at processing/modular unit just extracts or place work piece from the loading and unloading station of processing/modular unit.

The other end of straight line moving manipulator unit is corresponding with an end of travelling belt detection module unit, and the loading and unloading station that the Y type reclaimer robot of straight line moving manipulator unit is aimed at an end of travelling belt detection module unit just extracts or place work piece from the loading and unloading station of the other end of travelling belt detection module unit.

One side of travelling belt detection module unit fixedly installs the motor module unit; Be fixed on the motor module unit on the aggregate erection training platform with bolt through the stationary positioned hole; The motor module unit is connected with the driving wheel of travelling belt detection module unit, and the operation circuit of the terminal box of motor module unit is connected with the output signaling interface of the terminal block of travelling belt detection module unit, and the cable interface of terminal block is connected with master controller through line cord; Carry out the instruction that master controller sends; The motor of starter motor modular unit, motor positive and inverse operation, the travelling belt both forward and reverse directions running of driven by motor travelling belt detection module unit.

One side at the middle part of travelling belt detection module unit fixedly installs horizontal slideway modular unit; Be fixed on horizontal slideway modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The inlet of the slideway of horizontal slideway modular unit all docks with the surveyed area of travelling belt detection module unit; The inlet of the slideway of horizontal slideway modular unit is all corresponding with workpiece sensing equipment; The circuit of the detection probe of horizontal slideway modular unit is connected with the input signal interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord, to master controller feedback digital information.

The opposite side of the other end of travelling belt detection module unit fixedly installs well formula feed modular unit; Be fixed on well formula feed modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; It is corresponding with the loading and unloading station of the other end, travelling belt detection module unit to go out feed bin; The feed bin that goes out of well formula feed modular unit docks with the travelling belt of travelling belt detection module unit; The operation circuit of the solenoid valve of well formula feed modular unit is connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord, carries out the instruction that master controller sends, and the circuit of the detection probe of well formula feed modular unit is connected with the input signal interface of terminal block; The cable interface of terminal block is connected with master controller through line cord; To master controller feedback digital information, start the pusher cylinder of well formula feed modular unit, shift the workpiece in the well formula feed storehouse onto on the loading and unloading station of the other end of travelling belt detection module unit.

The bottom of aggregate erection training platform fixedly installs master controller; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; The assembling training is carried out the training request of the mounting arrangement of material loading/maintenance/waste product/warehouse-in system with the training of modular unit on the aggregate erection training platform.

Straight line moving manipulator unit and travelling belt detection module unit parallel being crisscross arranged on the aggregate erection training platform; The both sides of straight line moving manipulator unit fixedly install processing/modular unit, many processing/modular unit, solid mechanical fingerprint module unit and tiered warehouse facility modular units, and the both sides of travelling belt detection module unit fixedly install horizontal slideway detection module unit, motor module unit and well formula feed modular unit.Well formula feed modular unit is placed into workpiece on the loading and unloading station of travelling belt detection module unit; Travelling belt detection module unit is through workpiece sensing Equipment Inspection workpiece; Underproof workpiece and certified products in the letter sorting workpiece, certified products are transplanted on processing/modular unit and many processing/modular unit, implement roughing and finishing respectively; Be transplanted on after the processing on the goods yard of tiered warehouse facility modular unit, treat next process.

Workpiece to be processed in the well formula feed storehouse of well formula feed modular unit; Master controller sends instruction; Start the pusher cylinder of well formula feed modular unit, the pusher cylinder is shifted the workpiece in the well formula feed storehouse onto on the loading and unloading station of the travelling belt other end of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit; Motor is just being transported row; The driving wheel of driven by motor travelling belt detection module unit; Drive wheel travelling belt positive dirction operation, travelling belt workpiece from the loading and unloading station of the travelling belt other end to one section loading and unloading station transmission of travelling belt, with workpiece transfer to be processed to the loading and unloading station of travelling belt one end.

Workpiece transfer in the well formula feed storehouse of well formula feed modular unit is implemented to detect through workpiece sensing equipment to travelling belt detection module unit, and the testing result of workpiece can two kinds of situation, certified products and unacceptable products.

Start the rotary cylinder of solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, the parallel folder of material of getting on the pivot arm is aimed at the workpiece on the loading and unloading station of travelling belt one end, and the startup solenoid valve is got the parallel folder of material and is grasped workpiece.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is aimed at the loading and unloading station of processing/modular unit, starts solenoid valve and expects that getting parallel folder grasps on the loading and unloading station that qualified workpiece is placed on one group of processing/modular unit wherein.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material of getting on the pivot arm is removed on the loading and unloading station of processing/modular unit, implements from the loading and unloading station of travelling belt one end of travelling belt detection module unit, to transfer the training request of operating to qualified workpiece to the loading and unloading station of processing/modular unit through solid mechanical fingerprint module unit.

When detecting qualified workpiece; Master controller sends instruction; Travelling belt detection module unit continues to move workpiece transfer to the loading and unloading station of travelling belt detection module unit one end, is transplanted on processing/modular unit by solid mechanical fingerprint module unit and implements roughing.

Start getting of processing/modular unit and anticipate a cylinder; Get and anticipate cylinder and drive and get the material locating piece and push the workpiece on the loading and unloading station to processing/assembly station along retention plate; Workpiece translational motion is blocked by the V-type locating piece on the retention plate to processing/assembly station, and workpiece rests on processing/assembly station.Start solenoid valve and lift cylinder decline processing/assembly manipulator, start the clamping cylinder, machinery grasps the workpiece on processing/assembly station, starts lift cylinder lifting processing/assembly manipulator, and processing/assembly manipulator promotes workpiece, enforcement roughing operation.After treating that workpiece is implemented roughing, start solenoid valve and lift cylinder, processing/assembly manipulator descends; Start and clamp cylinder; The machinery folder is placed into the workpiece after the roughing on processing/assembly station, starts solenoid valve and lift cylinder, and processing/assembly manipulator rises and leaves processing/assembly station; Start to get and anticipate a cylinder, drive and get the playback of material locating piece, get the workpiece of material locating piece after and place back on the loading and unloading station roughing.

Start the motor of the execution displacement of straight line moving manipulator unit; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of processing/modular unit.Start machinery gripper cylinder on hand, Y type reclaimer robot extracts and grasps the workpiece on the loading and unloading station of processing/modular unit.Start the motor of the execution displacement of straight line moving manipulator unit; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down the height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of many processing/modular unit, implements from the loading and unloading station of processing/modular unit, to transfer the training request of operating to rough machined workpiece to the loading and unloading station of many processing/modular unit through straight line moving manipulator unit.

Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit, rotate to the position of aiming at processing/assembly manipulator to the loading and unloading station of the workpiece after one of them placement roughing on the station dial.Start the positioning clamping cylinder; The positioning clamping cylinder drives positioning clamp holder and pushes the rough machined workpiece on the loading and unloading station to the V-type locating piece along station dial; Rough machined workpiece translational motion is to being blocked by the V-type locating piece on the station dial, and rough machined workpiece rests on the position of aiming at processing/assembly manipulator and implements finishing.Start the lift cylinder on the lifting column, the processing/assembly manipulator that descends is aimed at rough machined workpiece; Start and clamp cylinder; Machinery grasps rough machined workpiece, starts lift cylinder, and processing/assembly manipulator grasps rough machined workpiece and promotes; Leave the loading and unloading station of station dial, rough machined workpiece is implemented finishing.

Behind the finishing workpiece; Start the lift cylinder on the lifting column; Decline processing/assembly manipulator, the loading and unloading station of aligning station dial starts the clamping cylinder; The machinery folder is placed into the workpiece after the finishing on the loading and unloading station of station dial, starts lift cylinder and promotes the loading and unloading station that processing/assembly manipulator leaves station dial.Start the positioning of rotating motor-driven station dial rotation of many processing/modular unit; The loading and unloading station rotation of the workpiece after the placement finishing on the station dial; Rotate to the position of aiming at straight line walking machine fingerprint module unit, implement the training request of finishing operations.

After processing/modular unit is implemented roughing to workpiece, be transplanted on through straight line moving manipulator unit on the loading and unloading station of many processing/modular unit, workpiece is implemented accurately machined operation.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of many processing/modular unit, starts machinery gripper cylinder on hand, the extraction of Y type reclaimer robot and grasp the finishing on the loading and unloading station of many processing/modular unit after workpiece.Start to carry out motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of displacement are gone up and down, remove the Y type reclaimer robot that grasps the workpiece after the finishing.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station of travelling belt one end of travelling belt detection module unit, starts machinery gripper cylinder on hand, and the workpiece of Y type reclaimer robot after finishing is placed on the loading and unloading station of travelling belt one end that send band detection module unit.

The motor of starter motor modular unit; Motor counter-rotating operation; The driving wheel of driven by motor travelling belt detection module unit; Drive wheel travelling belt reverse direction operation, the workpiece after the finishing from the loading and unloading station of travelling belt one end to the transmission of the loading and unloading station travelling belt of the other end, through the surveyed area of travelling belt detection module unit; The workpiece of the workpiece sensing equipment of travelling belt detection module unit after to finishing implemented to detect; Through the detection probe (34) on the workpiece sensing equipment (97) accurately machined workpiece (36) detect is judged it is qualified workpiece or defective workpiece, rejects underproof workpiece, after the workpiece sensing Equipment Inspection to the numerical information of master controller feedback workpiece.

When underproof workpiece is arrived in the workpiece sensing Equipment Inspection; Workpiece sensing equipment feeds back to master controller to detected underproof workpiece numerical information through circuit; Master controller sends instruction through after the data processing; Start the cylinder of selecting materials of workpiece sensing equipment, the pusher window that the expansion link of the cylinder of selecting materials passes on the locating support pushes underproof workpiece in the slideway of corresponding horizontal slideway modular unit, and underproof workpiece gets in the slideway; The detection probe of horizontal slideway modular unit detects underproof workpiece; The detection probe of horizontal slideway modular unit is fed back the numerical information of underproof workpiece to master controller, and master controller sends instruction after receiving numerical information after treatment, and underproof workpiece is waited for the processing of subsequent processing.

When qualified workpiece is arrived in the workpiece sensing Equipment Inspection; Workpiece sensing equipment feeds back to master controller to detected qualified workpiece numerical information through circuit, sends instruction, the motor of starter motor modular unit after master controller and the process data processing; Motor is just being transported row; The driving wheel of driven by motor travelling belt detection module unit, the operation of drive wheel travelling belt positive dirction is the loading and unloading station of qualified workpiece transfer to travelling belt one end.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; The driven by motor travelling belt; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the loading and unloading station that is transferred to travelling belt one end, starts machinery gripper cylinder on hand, and Y type reclaimer robot grasps qualified workpiece.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the shelf of tiered warehouse facility modular unit.Start machinery gripper cylinder on hand, be placed into the qualified accurately machined workpiece of Y type reclaimer robot clamping on the goods yard.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; Y type reclaimer robot is removed the goods yard; Qualified accurately machined workpiece is filled in cycling in the tiered warehouse facility modular unit repeatedly; Implement to transfer on the shelf of tiered warehouse facility modular unit from the loading and unloading station of travelling belt detection module unit through the Y type reclaimer robot of straight line moving manipulator unit, carry out the training request of the operation of the material loading/maintenance/waste product/material loading of warehouse-in system, check, the defective workpiece of removal, roughing, finishing and warehouse-in detecting qualified accurately machined workpiece.

Workpiece is through after the finishing, through straight line moving manipulator unit accurately machined Workpiece transfer to the goods yard of tiered warehouse facility modular unit, treat subsequent processing.

Messy arrangement/ordering system is made up of straight line moving manipulator unit, tiered warehouse facility modular unit, loading platform modular unit, aggregate erection training platform and master controller, and messy arrangement/ordering system implements to put in order training on operation requirement messy, arranging order.

The middle part of aggregate erection training platform fixedly installs straight line moving manipulator unit; Be fixed on straight line moving manipulator unit on the aggregate erection training platform with bolt through the stationary positioned hole; One side of straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit and loading platform modular unit; Be fixed on tiered warehouse facility modular unit and loading platform modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The shelf of tiered warehouse facility modular unit are corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the shelf of tiered warehouse facility modular unit.The workpiece positioning table of loading platform modular unit is corresponding with straight line moving manipulator unit, and the Y type reclaimer robot of straight line moving manipulator unit extracts or place work piece from the workpiece positioning table of loading platform modular unit.Master controller be fixedly installed on the aggregate erection training platform below; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform, carries out the training request of the mounting arrangement of messy arrangement/ordering system.

Word order straight line moving manipulator unit on the aggregate erection training platform, the both sides of straight line moving manipulator unit fixedly install tiered warehouse facility modular unit, loading platform modular unit and master controller.Resequence through the workpiece on the goods yard of straight line moving manipulator unit and loading platform modular unit stereo warehouse modular unit.

The messy arrangement of workpiece on the shelf of tiered warehouse facility modular unit, the ordering of the workpiece of messy arrangement in the tiered warehouse facility modular unit being arranged through straight line moving manipulator unit and loading platform modular unit.Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the goods yard of the shelf of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot extracts and grasps the workpiece of messy arrangement on the goods yard.Start the rotary cylinder and the motor of carrying out displacement of straight line moving manipulator unit; The clamping of Y type reclaimer robot the workpiece of messy arrangement and is removed the goods yard; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the workpiece positioning table of loading platform modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into the workpiece of clamping on the workpiece positioning table of loading platform modular unit.Y type reclaimer robot through straight line moving manipulator unit is transplanted on the shelf of the workpiece of messy arrangement from the tiered warehouse facility modular unit on the workpiece positioning table of loading platform modular unit, and messy arrangement/ordering system is implemented the workpiece of messy arrangement on the shelf of tiered warehouse facility modular unit is arranged the training request of operation in order.

Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down are removed Y type reclaimer robot from the workpiece positioning table of loading platform modular unit.

Be placed on workpiece on the shelf of tiered warehouse facility modular unit and be the state of messy arrangement; Through straight line moving manipulator unit on one in the workpiece that is messy arrangement in the tiered warehouse facility modular unit workpiece positioning table that is transplanted on the loading platform modular unit; The room is vacateed in the goods yard of tiered warehouse facility modular unit, put in order the workpiece of the messy arrangement in the tiered warehouse facility modular unit again through straight line moving manipulator unit.

Vacate the room on the shelf of tiered warehouse facility modular unit; The detection probe of loading platform modular unit detects the workpiece on the workpiece positioning table; Detection probe is to master controller feedback data information, and master controller sends instruction after receiving numerical information after treatment, motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down; Carry out the driven by motor travelling belt of displacement; Travelling belt drives mechanical arm along the guide rail translation, and connecting line drag chain band connecting line translation together, starts to carry out the motor of up-down; The height of adjustment Y type reclaimer robot; The Y type reclaimer robot of mechanical arm is aimed at the goods yard of the shelf of tiered warehouse facility modular unit, the position of the workpiece of messy arrangement on the arrangement shelf, and the workpiece of the messy arrangement of cycling in the tiered warehouse facility modular unit reaches arrangement in order repeatedly.

Master controller sends instruction; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the workpiece positioning table of loading platform modular unit.Start machinery gripper cylinder on hand; Y type reclaimer robot grasps the workpiece on the workpiece positioning table of loading platform modular unit; Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of the execution displacement of startup straight line moving manipulator unit gone up and down, the driven by motor travelling belt of execution displacement, travelling belt drive mechanical arm along the guide rail translation; Connecting line drag chain band connecting line translation together; Start and carry out the motor of up-down, the height of adjustment Y type reclaimer robot, the Y type reclaimer robot of mechanical arm is aimed at the goods yard of the shelf of tiered warehouse facility modular unit; Start machinery gripper cylinder on hand, Y type reclaimer robot is placed into the workpiece of clamping in the tiered warehouse facility modular unit on the corresponding goods yard.Motor and mechanical arm electromagnetic valve group that motor, rotary cylinder, the execution of startup execution displacement gone up and down; Remove Y type reclaimer robot from the goods yard of tiered warehouse facility modular unit, the training request of the workpiece arranging order operation of messy arrangement on the shelf of messy arrangement/ordering system execution stereo warehouse modular unit.

On the tiered warehouse facility modular unit after the workpiece of the messy arrangement arrangement in order, last straight line moving manipulator unit the Workpiece transfer on the workpiece positioning table of loading platform modular unit in the tiered warehouse facility modular unit on the corresponding goods yard.

The travelling belt ordering system is made up of solid mechanical fingerprint module unit, loading platform modular unit, travelling belt detection module unit, well formula feed modular unit, motor module unit, terminal block, aggregate erection training platform and master controller, and the travelling belt ordering system is implemented the training on operation requirement to workpiece adjustment ordering on the travelling belt.

The middle part of aggregate erection training platform fixedly installs travelling belt detection module unit; Be fixed on travelling belt detection module unit on the aggregate erection training platform with bolt through the stationary positioned hole; One side of one end of travelling belt detection module unit fixedly installs motor module unit, solid mechanical fingerprint module unit and loading platform modular unit; Be fixed on motor module unit, solid mechanical fingerprint module unit and loading platform modular unit on the aggregate erection training platform respectively with bolt through the stationary positioned hole; The motor module unit is connected with the driving wheel of travelling belt detection module unit, and the operation circuit of the terminal box of motor module unit is connected with the output signaling interface of the terminal block of travelling belt detection module unit, and the cable interface of terminal block is connected with master controller through line cord; Carry out the instruction that master controller sends; The motor of starter motor modular unit, motor positive and inverse operation, the travelling belt both forward and reverse directions running of driven by motor travelling belt detection module unit.

Solid mechanical fingerprint module unit is corresponding with the travelling belt of travelling belt detection module unit, and the loading and unloading station of getting the parallel folder aligning of material travelling belt detection module unit of solid mechanical fingerprint module unit just extracts or place work piece from the loading and unloading station of travelling belt detection module unit.

The workpiece positioning table of loading platform modular unit is corresponding with solid mechanical fingerprint module unit, and the workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit of solid mechanical fingerprint module unit just extracts or place work piece from the workpiece positioning table of loading platform modular unit.

The opposite side of the other end of travelling belt detection module unit fixedly installs well formula feed modular unit; Be fixed on well formula feed modular unit on the aggregate erection training platform with bolt through the stationary positioned hole; The feed bin that goes out of well formula feed modular unit docks with the travelling belt of travelling belt detection module unit; The operation circuit of the solenoid valve of well formula feed modular unit is connected with the output signaling interface of terminal block; The cable interface of terminal block is connected with master controller through line cord; Carry out the instruction that master controller sends, the circuit of the detection probe of well formula feed modular unit is connected with the input signal interface of terminal block, and the cable interface of terminal block is connected with master controller through line cord; To master controller feedback digital information, it is corresponding with the loading and unloading station of travelling belt detection module unit to go out feed bin.

The bottom of aggregate erection training platform fixedly installs master controller; Master controller passes cable-through hole entering circuit connection groove through line cord and is connected with modular unit with each group training; Master controller sends instruction and receiving feedback information; Modular unit is used in training assembling training on the aggregate erection training platform, implements the training request of travelling belt ordering system mounting arrangement.

Word order travelling belt detection module unit on the aggregate erection training platform; Both sides, travelling belt detection module unit fixedly install solid mechanical fingerprint module unit, loading platform modular unit, well formula feed modular unit, motor module unit and master controller; Well formula feed modular unit is to travelling belt detection module unit labor and materials; Solid mechanical fingerprint module unit extracts and place work piece from travelling belt detection module unit, loading platform modular unit turnover workpiece.

Deposit the workpiece of lack of alignment in the well formula feed storehouse of well formula feed modular unit; Master controller sends instruction; Start the pusher cylinder of well formula feed modular unit, the pusher cylinder is shifted the workpiece in the well formula feed storehouse onto on the loading and unloading station of the other end of travelling belt of travelling belt detection module unit from the discharging opening that goes out feed bin.The motor of starter motor modular unit, motor are just being transported row, the travelling belt positive dirction running of driven by motor travelling belt detection module unit.

Well formula feed modular unit is constantly to the travelling belt conveying workpieces of travelling belt detection module unit; The travelling belt of travelling belt detection module unit transmits the loading and unloading station of the workpiece on the travelling belt from the other end of travelling belt to the surveyed area of travelling belt; Workpiece is through surveyed area; The workpiece sensing equipment of travelling belt detection module unit is implemented to detect to workpiece, and workpiece sensing equipment feeds back to master controller to the data message that detects workpiece simultaneously.After master controller receives numerical information; Send instruction through after the data processing; Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation, the workpiece of lack of alignment starts solenoid valve and gets the workpiece that the parallel folder of material grasps lack of alignment on the loading and unloading station of the end of getting the parallel folder aligning of material travelling belt detection module unit on the pivot arm.Start rotary cylinder, rotary cylinder driven rotary platform, support column and pivot arm rotation being got the loading and unloading station that workpiece that the parallel folder of material grasps lack of alignment is removed an end of travelling belt detection module unit on the pivot arm.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting the workpiece positioning table that the parallel folder of material is aimed at the loading platform modular unit on the pivot arm, starting solenoid valve and be placed on the workpiece positioning table of loading platform modular unit, starting rotary cylinder getting the workpiece that the parallel folder of material grasps lack of alignment; Rotary cylinder driven rotary platform, support column and pivot arm rotation being got the workpiece positioning table that the parallel folder of material is removed the loading platform modular unit on the pivot arm.The detection probe of loading platform modular unit feeds back to master controller to the numerical information of the workpiece of the lack of alignment on the workpiece positioning table; Travelling belt continues operation; Workpiece sensing equipment testing probe detects the position of workpiece on travelling belt of lack of alignment, and workpiece sensing equipment feeds back to master controller to detected data message.After master controller receives numerical information; Send instruction through after the data processing; Start the rotary cylinder of solid mechanical fingerprint module unit; Rotary cylinder driven rotary platform, support column and pivot arm rotation, the workpiece of the lack of alignment on the workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit on the pivot arm starts solenoid valve and gets the workpiece that the parallel folder of material grasps lack of alignment.Start rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; Getting the workpiece positioning table that workpiece that the parallel folder of material grasps lack of alignment is removed the loading platform modular unit on the pivot arm; The parallel folder of material of getting on the pivot arm is aimed at the position of workpiece on travelling belt that travelling belt detection module unit detection probe detects lack of alignment; Start solenoid valve and be placed into the position on the travelling belt getting the workpiece that the parallel folder of material grasps lack of alignment, the workpiece on the travelling belt is arranged in order, starts rotary cylinder; Rotary cylinder driven rotary platform, support column and pivot arm rotation; The parallel folder of material got on the pivot arm is removed the travelling belt of travelling belt detection module unit, and the workpiece of cycling on travelling belt reaches and arrange in order repeatedly, carries out the workpiece arrangement training request of operation in order on the travelling belt of travelling belt ordering system.

The workpiece of placing in the well formula feed storehouse of well formula feed modular unit is a lack of alignment; It is lack of alignment equally that well formula feed modular unit is transferred workpiece to travelling belt detection module unit; Then cause subsequent processing is exerted an influence; Need be to the adjustment of the workpiece on the travelling belt of travelling belt detection module unit ordering, through the ordering of the workpiece on the travelling belt of solid mechanical fingerprint module unit and loading platform modular unit adjustment travelling belt detection module unit.

Modularization is made the training module device and is comprised: processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, tiered warehouse facility modular unit, loading platform modular unit, travelling belt detection module unit, inclined ramp modular unit, horizontal slideway modular unit, well formula feed modular unit and motor module unit may command modular unit, and the Training Methodology of modularization being made the training module device is:

Each modularization is made the training module device and is implemented assembling training request, the training request that can normally move.

The operation circuit of solenoid valve is connected with terminal block; Terminal block is connected with the may command modular unit through circuit; Solenoid valve receives the instruction of master controller, and according to the opening and closing of instruction execution pneumatic line, the pneumatic line of solenoid valve is connected with the cylinder of modularization manufacturing training module device respectively through pipeline separately; Drive the opening and closing of cylinder, the executable operations training.The rotary cylinder of mechanical arm can conveniently be implemented the training request that mechanical arm extracts or places workpiece through the stroke of regulating oil buffer in 0-360 ° of scope.

Be provided with earth leakage protection, short-circuit protection in the terminal block, suddenly stop various defencive functions such as protection, insulation blocking, intelligent protection, can guarantee the safety of the person and equipment in case break down in the operational process.Detecting sensor is connected with terminal block, to the operation training of master controller and may command modular unit feedback digital information.

Training according to the interchangeable stepper motor of designing requirement, AC servo motor and brushless electric machine, reaches the training request of using different motor with motor.

Checkout equipment adopts inductance detection probe or capacitance detecting probe or Photoelectric Detection probe according to designing requirement; In inductance detection probe, capacitance detecting probe and Photoelectric Detection probe, be provided with earth leakage protection, short-circuit protection, suddenly stop defencive functions such as protection, insulation blocking, intelligent protection, can guarantee the safety of the person and equipment in case break down in the operational process.

The position of rotary encoder is adjusted according to designing requirement in the position of rotary encoder on travelling belt, help travelling belt detection module unit best user mode in making training system.Rotary encoder is applicable to automatic measurement and automatic control system, energy measurement angular displacement, rotational speed etc.; And can be with measured value with cyclic binary code or natural binary code output.Fine structure is compact, and volume is little in light weight, and is stable and reliable for performance.In travelling belt detection module unit, realize accurate location, and realize the position of various motors, the training on operation requirement that speed detects through scrambler to workpiece through rotary encoder.

According to designing requirement the circuit connection groove is set on the table top of aggregate erection training platform; Training is connected with the link tester oversampling circuit connecting groove of modular unit; And training system is made in the composition module combination; The circuit connection groove constitutes network line and the circuit connection of training with modular unit, the training request of the operation of each parts of enforcement modular combination manufacturing training system.

Under the situation that does not change device hardware, through changing different Programmable Logic Controllers, different Programmable Logic Controllers exchanges on same base in the master controller, implements the requirement to the Programmable Logic Controller training of different brands, model.Link to each other with the Programmable Logic Controller modular unit through cable,, be convenient to the training, maintenance, troubleshooting of module etc. through the crawl that starts, stop button can be realized corresponding modular unit, interlock action.

The present invention is that modularization is made the training module device and modular combination is made training system.Design science, rational in infrastructure, cost is low, take up an area of little, the multi-usage training, each modular unit not only can independent operating, can also carry out modular unit and constitute new training system.But each modular unit detachment system is implemented the dynamo-electric integrated of self; Input/Output Devices such as the various kinds of sensors in the modular unit, motor, solenoid electric valve all are aggregated in the terminal block module of band protective device; Be convenient to the flexible combination between each modular unit; Each modular unit adopts PLC control respectively, and Using P C-LINK network and PROFIBUS fieldbus are implemented total system control and computer management and monitoring.The present invention can realize processes such as the processing, assembling, carrying, detection, classification, identification, transmission, storage, management of freight all kinds, can carry out process monitoring, management etc. to each operation link through last microcomputer software.The present invention is as the mock-up of training; Be machinery, electric integrated; The teaching platform of training, assembling, every cover training system floor area is about 3 square metres, is the ideal equipment of training, assembling, innovation training; Solve the teaching means of present China present stage electromechanical integration training, filled up domestic and international blank.Be applicable to the training in the active set; Can be directed against the equipment sub-module, the branch knowledge point gives training; All kinds of knowledge points that help electrical category specialty related in student's facility for study; Carry out the training and the cultivation of the material object training, graduation field work, graduation project, Course Exercise, skill training, the innovative talent etc. of each knowledge point of electrical category specialty; Compare with existing training apparatus cultivating the student and grasp and played the effect of getting twice the result with half the effort aspect the professional knowledge, especially playing the important and pivotal role aspect the innovative talent's choice, the cultivation.Training set is safe and reliable; All be provided with earth leakage protection, short-circuit protection, the anxious various defencive functions such as protection, insulation blocking, intelligent protection that stop in each module, the entire system; In case system's emerged in operation fault; System can stop in automatic diagnosis, can guarantee the safety of the person and equipment in the process of training.What the present invention adopted is the actual industrial components and parts, farthest shortens the gap of training process and actual production process, improves the comprehensive application ability of student's multidisciplinary professional knowledge.Each standalone module of teaching platform of the integrated multi-subject knowledge training of electrical-mechanical can work independently; But multimode reconfigures and constitutes multiple different teaching, training device again; Needs according to oneself carry out the step configuration; Every kind of configuration all has the new technology fresh content, has demonstrated fully advance, diversity and the novelty of teaching, training training technique that platform is contained.Contain technology such as the integrated related physical construction of electrical-mechanical, sensor, motor (alternating current generator, direct current generator, stepper motor, servomotor) drive controlling, PROFIBUS fieldbus, computer management and monitoring, PC-LINK network, helped the integrated training with multi-subject knowledge of electrical-mechanical.

Description of drawings

Below in conjunction with accompanying drawing and embodiment to the detailed description of the invention.

Fig. 1 modularization is made the synoptic diagram of the processing/modular unit of training module device.

Fig. 2 modularization is made the synoptic diagram of the straight line moving manipulator unit of training module device.

Fig. 3 modularization is made the synoptic diagram of the solid mechanical fingerprint module unit of training module device.

Fig. 4 modularization is made the synoptic diagram of the tiered warehouse facility modular unit of training module device.

Fig. 5 modularization is made the synoptic diagram of the loading platform modular unit of training module device.

Fig. 6 modularization is made the synoptic diagram of the travelling belt detection module unit of training module device.

Fig. 7 modularization is made the synoptic diagram of the workpiece sensing equipment of training module device.

Fig. 8 modularization is made the synoptic diagram of the inclined ramp modular unit group of training module device.

Fig. 9 modularization is made the synoptic diagram of the horizontal slideway modular unit of training module device.

Figure 10 modularization is made the synoptic diagram of the well formula feed modular unit of training module device.

Figure 11 modularization is made the synoptic diagram of the motor module unit of training module device.

Figure 12 modularization is made the synoptic diagram of many processing/modular unit of training module device.

Figure 13 modularization is made the synoptic diagram of the terminal block of training module device.

Figure 14 modularization is made the synoptic diagram of the aggregate erection training platform of training module device, (A) is vertical view, (B) is side view.

Figure 15 modularization is made the synoptic diagram of the circuit connection groove of training module device.

Figure 16 modular combination is made the synoptic diagram of the two material loading/processing/assembling/warehouse-in/outbound system of training system.

Figure 17 modular combination is made the synoptic diagram of the raw material/processing/turnover/warehouse-in/outbound system of training system.

Figure 18 modular combination is made the synoptic diagram of the double assembling/warehouse-in/outbound system of training system.

That Figure 19 modular combination is made the material loading/check of training system/remove is residual/put the synoptic diagram of system in storage.

Figure 20 modular combination is made the synoptic diagram of the check/correction/sorting system of training system.

Figure 21 modular combination is made single preface of training system, the synoptic diagram of two preface processing/outbound/warehouse-in/turnaround systems.

Figure 22 modular combination is made single preface/dibit of training system and is processed/go out the synoptic diagram of part system.

Figure 23 modular combination is made the synoptic diagram of the check/correction/warehouse-in system of training system.

Figure 24 modular combination is made the synoptic diagram of the multiple spot material loading/processing/assembling/warehouse-in system of training system.

Figure 25 modular combination is made the synoptic diagram of the batching/outbound/categorizing system of training system.

Figure 26 modular combination is made the synoptic diagram of the two material loadings/two assembling/detections/warehouse-in system of training system.

Figure 27 modular combination is made thick finishing/detections of training system/remove and is given up/synoptic diagram of warehouse-in/outbound system.

Figure 28 modular combination is made the synoptic diagram of the material loading/maintenance/waste product/warehouse-in system of training system.

Figure 29 modular combination is made the synoptic diagram of the messy arrangement/ordering system of training system.

Figure 30 modular combination is made the synoptic diagram of the travelling belt ordering system of training system.

The training framework synoptic diagram of the two material loading/processing of Figure 31/assembling/warehouse-in/outbound system.

The training framework synoptic diagram of Figure 32 raw material/processing/turnover/warehouse-in/outbound system.

The training framework synoptic diagram of Figure 33 double assembling/warehouse-in/outbound system.

Figure 34 material loading/check/remove training framework synoptic diagram of residual/warehouse-in system.

The training framework synoptic diagram of Figure 35 check/correction/sorting system.

The training framework synoptic diagram of Figure 36 list preface, two preface processing/outbound/warehouse-in/turnaround systems.

The training framework synoptic diagram of part system is processed/gone out to Figure 37 list preface/dibit.

The training framework synoptic diagram of Figure 38 check/correction/warehouse-in system.

The training framework synoptic diagram of Figure 39 multiple spot material loading/processing/assembling/warehouse-in system.

The training framework synoptic diagram of Figure 40 batching/outbound/categorizing system.

The training framework synoptic diagram of the two material loadings of Figure 41/two assembling/detections/warehouse-in system.

The thick finishing of Figure 42/detection/the remove training framework synoptic diagram of useless/warehouse-in/outbound system.

The training framework synoptic diagram of Figure 43 material loading/maintenance/waste product/warehouse-in system.

The training framework synoptic diagram of the messy arrangement/ordering system of Figure 44.

The training framework synoptic diagram of Figure 45 travelling belt ordering system.

1 processing/modular unit, 2 straight line moving manipulator unit, 3 solid mechanical fingerprint module units, 4 tiered warehouse facility modular units, 5 loading platform modular units, 6 travelling belt detection module unit, 7 inclined ramp modular units; 8 horizontal slideway modular units, 9 well formula feed modular units, 10 motor module unit, more than 11 processing/modular unit, 12 aggregate erection training platforms, 13 pairs of material loading/processing/assembling/warehouse-in/outbound systems, 14 raw materials/processing/turnover/warehouse-in/outbound system; 15 double assembling/warehouse-ins/outbound system, 16 material loading/checks/remove residual/warehouse-in system, 17 check/corrections/sorting system, 18 single prefaces, two preface processing/outbound/warehouse-in/turnaround systems, the part system is processed/gone out to 19 single preface/dibits, 20 check/corrections/warehouse-in system, 21 multiple spots material loading/processing/assembling/warehouse-in system; 22 batching/outbounds/categorizing system, 23 pairs of material loading/two assembling/detections/warehouse-in systems, 24 thick finishing/detections/remove and give up/warehouse-in/outbound system 25 material loading/maintenance/waste products/warehouse-in system, 26 messy arrangement/ordering systems, 27 travelling belt ordering systems, 28 terminal blocks; 29 section bar matrixes, 30 fixed base plates, 31 rotary cylinders, 32 section bar end caps, 33 slideways, 34 detection probe, 35 limiting blocks; 36 workpiece, 37 circuit connection grooves, 38 stationary positioned holes, 39 benchmark are installed sign, 40 rotary encoders, 41 solenoid valves; 42 slideway supports, 43 fixed orifices, 44 master controllers, 45 loading and unloading stations, 46 surveyed areas, 47 processing/assembly stations; 48 wire casings lids, 49 wire casing pedestals, 50 advance wire hole, 51 lift cylinders, 52 retention plates, 53 get and anticipate a cylinder; 54 processing/assembly manipulators, 55 line slideways, 56 clamp cylinder, 57V type locating piece, 58 get the material locating piece, 59 bases; 60 lifting columns, 61 machinery folders, 62 right limit terminal group, 63 left limit terminal group, 64 driven drive tab, 65 transmit bracing frame; 66Y type reclaimer robot, 67 mechanical arm electromagnetic valve group, 68 motors, 69 translation chassis, 70 connecting line drag chains, 71 mechanical arms; 72 guide rails, 73 travelling belts, 74 swivel bases, 75 reclaimer robot supports, 76 gripper cylinders, 77 bracing frames; 78 upper limit terminal group, 79 lower limit terminal group, 80 lifting motors, 81 pivot arms, 82 support columns, 83 are got the parallel folder of material, 84 universal stages, 85 retention plates; 86 goods yards, 87 shelf, 88 section bar bases, 89 workpiece positioning tables, 90 loading platforms, 91 positioning of rotating motors; 92 driving wheels, 93 supports, 94 station dials, 95 cylinder supports, 96 pusher windows, 97 workpiece sensing equipment; 98 travelling belts, 99 locating supports, 100 cylinders of selecting materials, 101 travelling belt bracing frames, 102 drive wheel bracket, 103 well formula feed storehouses; 104 positioning clamping cylinders, 105 positioning clamp holders, 106 pusher cylinders, 107 go out feed bin, platform at the bottom of 108 storehouses, 109 terminal boxes; 110 cable-through holes, 111 connection terminal bases, 112 input signal interfaces, 113 output signaling interfaces, 114 cable interfaces, 115 circuit interface plates.

Embodiment

Embodiment 1

It is that training constitutes with modular unit and aggregate erection training platform (12) that modularization is made the training module device; This training is made up of processing/modular unit (1), straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp modular unit (7), horizontal slideway modular unit (8), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block and aggregate erection training platform (12) with modular unit; Training is with modular unit independent groups shipment row training separately; Each training all is installed on the aggregate erection training platform (12) after assembling with modular unit; Training constitutes modular combination respectively with modular unit and makes training system; It is 4 trainings to be set at least constitute two material loading/processing/assembling/warehouse-in/outbound system (13), raw material/processing/turnover/warehouse-in/outbound system (14), double assembling/warehouse-in/outbound system (15), material loading/check/process/go out part system (19), check/correction/warehouse-in system (20), multiple spot material loading/processing/assembling/warehouse-in system (21), batching/outbound/categorizing system (22), two material loading/two assembling/detections/warehouse-in system (23), slightly finishing/detection/except that giving up/warehouse-in/outbound system (24), material loading/maintenance/waste product/warehouse-in system (25), messy arrangement/ordering system (26) and travelling belt ordering system (27) except that residual/warehouse-in system (16), check/correction/sorting system (17), single preface/two preface processing/outbound/warehouse-in-turnaround systems (18), single preface/dibit with modular unit on aggregate erection training platform (12) that modular combination is made training system; Modular combination is made training system independent groups shipment row training separately; The combination of at least 2 series of modular is made training system and is constituted the manufacturing training system each other, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, shown in Figure 15.

Embodiment 2

Processing/modular unit (1) by retention plate (52), get anticipate a cylinder (53), processing/assembly manipulator (54), guide rail (55), locating piece (57), get material locating piece (58), lift cylinder (51), clamp cylinder (56), base (59), lifting column (60), machinery folder (61), terminal block (28), section bar matrix (29), fixed base plate (30) and electromagnetic valve group (41) form; Place, both sides of the edge on the bottom fixed base plate (30) of processing/load module group (1) is oppositely arranged section bar matrix (29); Fixed base plate (30) is whole rectangular; The top of section bar matrix (29) is provided with retention plate (52); The place, both sides of the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on processing/modular unit (1) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38).Solenoid valve (41), processing/assembly manipulator (54), locating piece (57) are set on the retention plate (52) and get material locating piece (58); Retention plate (52) is whole rectangular; Solenoid valve (41) is set on one end of retention plate (52); One side setting of section bar matrix (29) is got and is anticipated a cylinder (53) and guide rail (55); One end of section bar matrix (29) is provided with terminal block (28); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of the terminal block (28) of processing/modular unit (1); Master controller (44) was connected below the terminal block (28) of processing/modular unit (1) was passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114), and solenoid valve (41) receives the instruction of master controller (44), carries out the opening and closing of pneumatic line according to instruction.The pneumatic line of solenoid valve (41) through pipeline respectively separately with the lift cylinder (51) of processing/modular unit (1), get and anticipate a cylinder (53) and clamp cylinder (56) and be connected, driving lift cylinder (51), get opening and closing and extraction and the place work piece (36) of anticipating a cylinder (53) and clamping cylinder (56).The middle part of retention plate (52) is provided with processing/assembly manipulator (54); The bottom of processing/assembly manipulator (54) is base (59); Base (59) is gone up the fixing lifting column (60) of erectting; Lift cylinder (51) is set on the lifting column (60), clamps cylinder (56) and machinery folder (61); One side of lifting column (60) is provided with lift cylinder (51), and the opposite side of lifting column (60) is provided with and clamps cylinder (56), and the end that clamps cylinder (56) fixedly installs machinery folder (61); Clamp cylinder (56) and machinery folder (61) and pass through lift cylinder (51) along lifting column (60) up-down, machinery folder (56) is through clamping cylinder (56) grasping workpiece (36).On the preceding retention plate (52) of base (59) locating piece (57) is set; Locating piece (57) is preceding to be processing/assembly station (47); Processing/assembly station (47) is corresponding with machinery folder (56), can realize that through locating piece (57) processing/assembly station (47) concentricity accurately locatees.The other end of retention plate (52) is provided with gets material locating piece (58); It is L-shaped to get material locating piece (58); A L shaped end of getting material locating piece (58) is connected with the end of getting the expansion link of anticipating a cylinder (53); One end of getting material locating piece (58) embeds guide rail (55); Get material locating piece (58) and reach automatic location along with getting the flexible of expansion link of anticipating a cylinder (53) along guide rail (55), L shaped the other end integral body of getting material locating piece (58) is spill, and the recess and the workpiece (36) of L shaped the other end of getting material locating piece (58) match; The recess of L shaped the other end of getting material locating piece (58) is corresponding with the locating piece (57) on the fixed head (52); Reach processing, the assembling that workpiece (36) was accurately located and realized to concentricity through locating piece (57), the indent of getting material locating piece (58) that the other end of retention plate (52) is L shaped constitutes loading and unloading stations (45), and is as shown in Figure 1.

Embodiment 3

Straight line moving manipulator unit (2) is by right limit terminal group (62); Left limit terminal group (63); Driven drive tab (64); Transmit bracing frame (65); Carry out the motor (68) of displacement; Connecting line drag chain (70); Mechanical arm (71); Translation chassis (69); Support column (82); The guide rail of elevation and subsidence mechanical hand (72); Upper limit terminal group (78); Lower limit terminal group (79); Carry out the motor (68) of elevation and subsidence mechanical hand; Y type reclaimer robot (66); Solenoid valve (41); Swivel base (74); Reclaimer robot support (75); Rotary cylinder (31); Guide rail (72); Travelling belt (73); Terminal block (28) and rotary encoder (40) are formed.The both ends of transmitting bracing frame (65) are provided with driven drive tab (64), on the driven drive tab (64) of an end of transmission bracing frame (65) rotary encoder (40) are set, and rotary encoder (40) is connected with driven drive tab (64).A side that transmits an end of bracing frame (65) is provided with left limit terminal group (63); Left limit terminal group (63) is connected with the input signal interface (112) of terminal block (28) through circuit, and the master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected.A side that transmits the other end of bracing frame (65) is provided with right limit terminal group (62); Right limit terminal group (62) is connected with the input signal interface (112) of terminal block (28) through circuit; Left limit terminal group (63) and right limit terminal group (62) limit mechanical hand (71) are in the displacement that transmits on the bracing frame (65); Left limit terminal group (63) and right limit terminal group (62) are transmitting bracing frame (65) upper edge transmission bracing frame (65) adjustment shift position and shift length according to designing requirement, suppress mechanical arm (71) at the control shift position and the shift length that transmit on the bracing frame (65).The motor (68) of carrying out displacement is set on the driven drive tab in the other end (64) of transmission bracing frame (65); Motor (68) output terminal of carrying out displacement is connected with driven drive tab (64); Carry out the motor (68) of displacement according to designing requirement and select stepper motor or AC servo motor or brushless electric machine for use, in same modular unit, realize training requirement different motors.The bottom at the both ends of straight line moving manipulator unit (2) is provided with bracing frame (77) separately, is fixedly installed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) through bracing frame (77) with bolt.Transmit in the bracing frame (65) travelling belt (73) and guide rail (72) are set; The bottom of mechanical arm (71) is provided with translation chassis (69); Translation chassis (69) is embedded on the guide rail (72), and translation chassis (69) are connected to a fixed with travelling belt (73), drives travelling belt (73); Travelling belt (73) drives moving chassis (69) translation of translation, and translation chassis (69) carry mechanical arm (71) and transmitting bracing frame (73) top offset along guide rail (72).One end of connecting line holder chain (70) is connected with translation chassis (69); The other end of connecting line holder chain (70) is connected with terminal block (28); Place connecting line in the connecting line holder chain (70), the both ends of connecting line separately with the input signal interface (112) of mechanical arm (71) and terminal block (28) and output signaling interface (113) be connected.Rotary cylinder (31) is set on the translation chassis (69); The top of rotary cylinder (31) is provided with swivel base (74); Mechanical arm solenoid valve (41), support column (82) are set on the swivel base (74) and carry out the motor (68) of up-down; One side of support column (82) is provided with the guide rail (72) of up-down Y type reclaimer robot, and the opposite side of support column (82) is provided with the motor (68) of carrying out up-down, carries out the motor (68) that goes up and down and goes up and down to locate Y type reclaimer robot (66) arbitrarily.The upper end of support column (82) opposite side and bottom are provided with upper limit terminal group (78) and lower limit terminal group (79) separately, and upper limit terminal group (78) and lower limit terminal group (79) restriction are carried out the motor (68) that goes up and down and driven the upgrading stroke of Y type reclaimer robot (66) on support column (82).One end of swivel base (74) is provided with solenoid valve (41); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28); Terminal block (28) is passed cable-through hole (67) entering circuit connection groove (37) through line cord and is arranged on the following master controller (44) of aggregate erection training platform (12) by cable interface (114) and is connected, and carries out the instruction that master controller (44) sends.The other end of swivel base (74) is provided with support column (82); Driven in rotation cylinder (31); 0-360 ° of scope of rotary cylinder (31) driven rotary chassis (74) rotation, motor (68), reclaimer robot support (75) and Y type reclaimer robot (66) that the support column (82) on the swivel base (74), execution are gone up and down together rotate with swivel base (74).Reclaimer robot support (75) is set on the support column (82), and reclaimer robot support (75) is the U type, and reclaimer robot support (75) embeds the guide rail (72) on the support column (82), and reclaimer robot support (75) is along guide rail (72) up-down displacement.One end of reclaimer robot support (75) fixedly installs gripper cylinder (76) and Y type reclaimer robot (66), starts the motor of carrying out (68) and drives reclaimer robot support (75), gripper cylinder (76) and Y type reclaimer robot (66) oscilaltion.One end of reclaimer robot support (75) fixedly installs gripper cylinder (76), and an end of gripper cylinder (76) is provided with Y type reclaimer robot (66), starts gripper cylinder (76) Y type reclaimer robot (66) and extracts or place work piece (36).The pneumatic line of solenoid valve (41) is connected with gripper cylinder (76) with rotary cylinder (31) respectively through pipeline separately; Solenoid valve (41) receives the instruction of master controller (44); Carry out the opening and closing of pneumatic line according to instruction; The opening and closing of driven in rotation cylinder (31) and gripper cylinder (76), and rotation, extraction and place work piece (36), as shown in Figure 2.

Embodiment 4

Solid mechanical fingerprint module unit (3) by pivot arm (81), support column (82), get material parallel folder (83), universal stage (84), rotary cylinder (31), terminal block (28), section bar matrix (29), fixed base plate (30), rotating electromagnetic valve group (41) and stationary positioned hole (38) are formed; Fixed base plate (30) is whole rectangular; Place, both sides of the edge relative fixed on the fixed base plate (30) is provided with section bar matrix (29); One end of section bar matrix (29) and fixed base plate (30) are connected to a fixed; One side of section bar matrix (29) is provided with terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and carries out the instruction that master controller (44) sends.Place, both sides of the edge on the fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on solid mechanical fingerprint module unit (3) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38).The top of the other end of section bar matrix (29) fixedly installs retention plate (85); Fixedly install rotary cylinder (31) on the retention plate (85); Universal stage (84) is set on the rotary cylinder (31); Support column (82) is set on the universal stage (84), and the upper end of support column (82) fixedly installs pivot arm (81), driven in rotation cylinder (31) driven rotary platform (84) and support column (82) rotation pivot arm (81).The other end of pivot arm (81) fixedly installs gets material parallel folder (83), and an end of getting the parallel folder of material (83) is connected with the other end of pivot arm (81), extracts or place work piece (36) through getting the parallel folder of material (83).One end of pivot arm (81) fixedly installs solenoid valve (41); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Solenoid valve (41) receives the instruction of master controller (44); Carry out the opening and closing of pneumatic line according to instruction; The pneumatic line of solenoid valve (41) through pipeline respectively separately with rotary cylinder (31) with get the parallel folder of material (83) and be connected, driven in rotation cylinder (31) and get opening and closing and the extraction and the place work piece (36) of expecting parallel folder (83), as shown in Figure 3.

Embodiment 5

Tiered warehouse facility modular unit (4) is made up of goods yard (86), shelf (87), section bar base (88), section bar end cap (32) and section bar matrix (29); Be oppositely arranged section bar base (88); At least 2 section bar bases (88); The top ends at the both ends of section bar base (88) fixedly installs section bar end cap (32); Section bar matrix (29) is set on one end of section bar base (88) separately, and an end of section bar matrix (29) is connected with an end of section bar base (88), and the top ends of the other end of section bar matrix (29) fixedly installs section bar end cap (32).The side of section bar matrix (29) fixedly installs shelf (87); At least 3 layers of shelf (87) are provided with goods yard (86) on every layer of shelf (87), at least 5 goods yards (86); Place work piece (36) is gone up in each goods yard (86); Workpiece (36) is deposited in the goods yard (86) of tiered warehouse facility modular unit (4), and is through the quantity and the position of master controller (44) the record interior workpiece of tiered warehouse facility modular unit (4) (36), as shown in Figure 4.

Embodiment 6

Loading platform modular unit (5) is made up of workpiece positioning table (89), loading platform (90), detection probe (34), terminal block (28), section bar matrix (29) and fixed base plate (30); Fixed base plate (30) is whole rectangular; Fixed base plate (30) is gone up the both sides relative fixed section bar matrix (29) is set; One side on the top of section bar matrix (29) is provided with terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and carries out the instruction that master controller (44) sends.The top of section bar matrix (29) fixedly installs loading platform (90); Loading platform (90) is whole rectangular; Workpiece positioning table (89) is set on the loading platform (90); Workpiece positioning table (89) global sections is shaped as spill, and workpiece (36) is placed in the spill gap of loading platform (90) and workpiece positioning table (89).Fixedly install detection probe (34) on one end of workpiece positioning table (89); Detection probe (34) is selected photoelectric sensor for use; Detection probe (34) is connected with the input signal interface (112) of terminal block (28) through circuit; Detection probe (34) detects and puts into the workpiece (36) on the loading platform (90) by the gap of workpiece positioning table (89), and feeds back to master controller (44) to detected numerical information; Place, both sides of the edge on the stationary positioned plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched; Be fixed on loading platform module (5) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38), as shown in Figure 5.

Embodiment 7

Travelling belt detection module unit (6) is made up of driving wheel (92), support (93), workpiece sensing equipment (97), detection probe (34), cylinder support (95), pusher window (96), locating support (99), the cylinder of selecting materials (100), terminal block (28), solenoid valve (41), locating support (99), the cylinder of selecting materials (100), travelling belt (98), travelling belt bracing frame (101), drive wheel bracket (102) and rotary encoder (40); The bottom of travelling belt bracing frame (101) is provided with support (93); The bottom of support (93) is provided with stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched; Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The top of support (93) is connected with travelling belt bracing frame (101); Support (93) supports travelling belt bracing frame (101); The both ends of travelling belt bracing frame (101) are provided with drive wheel bracket (102) separately; Drive wheel bracket (102) is concave shape, and drive wheel bracket is provided with the adjusting slideway on (102).Install driving wheel (92) on the drive wheel bracket (102); Install endless belt conveyer (98) on the driving wheel (92) at travelling belt bracing frame (101) and both ends; Driving wheel (92) is through the rate of tension of the adjusting slideway adjustment travelling belt (98) of drive wheel bracket (102); The both ends on travelling belt (98) top on the travelling belt bracing frame (101) are the loading and unloading station (45) of workpiece (36); Start driving wheel (92), driving wheel (92) drives travelling belt (98) conveying work pieces (36).One of them driving wheel (92) in the driving wheel (92) at rotary encoder (40) and travelling belt bracing frame (101) both ends is connected; The location swap of rotary encoder (40) still realizes driving travelling belt (98); The motor (68) of motor module unit (10) is connected with driving wheel (92), and rotary encoder (40) is implemented the main story operation or the counter-rotating operation of travelling belt (98).Fixedly install workpiece sensing equipment (97) on the travelling belt bracing frame (101); At least 1 group workpiece sensing equipment (97); Workpiece sensing equipment (97) is gone up at travelling belt (98) and is constituted surveyed area (46); Workpiece sensing equipment (97) detects the workpiece (36) of flowing through on the travelling belt (98) and releases travelling belt (98) to detected workpiece (36) and gets into slideway (33); The both ends of travelling belt (98) are respectively loading and unloading station (45), so as respectively from travelling belt (98) two ends feed with get material.Workpiece sensing equipment (97) is made up of detection probe (34), cylinder support (95), pusher window (96), locating support (99), the cylinder of selecting materials (100) and solenoid valve (41); Detection probe (34) is installed on the top of locating support (99); Detection probe (34) is selected inductance detection probe or capacitance detecting probe or Photoelectric Detection probe for use; Require to install the relevant detection probe according to different detection; Detection probe (34) is connected with the input signal interface (112) of terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, to the numerical information of master controller (44) detection feedback workpiece.Locating support (99) is fixedly installed on the travelling belt bracing frame (101); Locating support (99) is whole L-shaped; The bottom of locating support (99) is provided with the gentle jar support of solenoid valve (41) (95); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through circuit; Carry out the instruction that master controller (44) transmission comes, the pneumatic line of solenoid valve (41) is connected with the cylinder of selecting materials (100), and solenoid valve (41) drives the cylinder (100) of selecting materials according to instruction and releases travelling belt (98) to selected workpiece (36).Pusher window (96) is offered at the middle part of locating support (99); Pusher window (96) is corresponding with detection travelling belt (98); Cylinder support (95) is whole L-shaped; One end of cylinder support (95) and locating support (99) are connected to a fixed, and the cylinder of selecting materials (100) is installed in the other end of cylinder support (95), and the expansion link of the cylinder of selecting materials (100) is corresponding with the pusher window (96) of locating support (99); The expansion link of cylinder (100) of selecting materials passes pusher window (96) and releases travelling belt (98) to the workpiece on the travelling belt (98), like Fig. 6, shown in Figure 7.

Embodiment 8

Inclined ramp modular unit (7) is made up of slideway support (42), slideway (33), detection probe (34) and limiting block (35); Slideway support (42) integral body is at right angles trapezoidal; The base plate that extends along the right angle, edge is set respectively on two limits at the right angle of slideway support (42); 2 stationary positioned holes (38) are set on the base plate at least; Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on inclined ramp detection module unit (7) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38).On the edge of the hypotenuse of slideway support (42) and the edge of straight flange 3 fixed orifices (43) are set at least, are fixed on slideway (33) on the slideway support (42) through fixed orifice (43).Fixedly install slideway (33) on the last hypotenuse of slideway support (42); Slideway (33) is the slideway (33) that skewed formation tilts; Slideway (33) cross sectional shape is spill, and the surface of slideway (33) is provided with some grooves, reduces the friction force of workpiece (36) and slideway (33).One end of slideway (33) is provided with limiting block (35), and restriction workpiece (36) is accurately located in the end of slideway (33).One side of one end of slideway (33) is provided with detection probe (34); Detection probe (34) is connected with the input signal interface (112) of terminal block (28) on being installed in travelling belt detection module unit (6); Master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and the digital information transmission that gets into workpiece (36) in slideway (33) is given master controller (44); Workpiece (36) slides from the top of slideway (33), slides to the bottom of slideway (33), and limiting block (35) blocks workpiece (36), and the detection probe (34) of slideway (33) one sides detects workpiece (36) situation on the slideway (33), and is as shown in Figure 8.

Embodiment 9

Horizontal slideway modular unit (8) is made up of slideway support (42), slideway (33), detection probe (34) and limiting block (35); Slideway support (42) integral body is at right angles trapezoidal; The base plate that extends along the right angle, edge is set respectively on two limits at the right angle of slideway support (42); 2 stationary positioned holes (38) are set on the base plate at least; Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on horizontal slideway detection module unit (8) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38).On the edge of the hypotenuse of slideway support (42) and the edge of straight flange 3 fixed orifices (43) are set at least, are fixed on slideway (33) on the slideway support (42) through fixed orifice (43).Fixedly install slideway (33) on the straight flange of slideway support (42); The slideway (33) of the horizontal formation level of slideway (33); Slideway (33) cross sectional shape is spill, and the surface of slideway (33) is provided with some grooves, reduces the friction force of workpiece (36) and slideway (33).One end of slideway (33) is provided with limiting block (35), and restriction workpiece (36) is accurately located in the end of slideway (33).One side of one end of slideway (33) is provided with detection probe (34); Detection probe (34) is connected with the input signal interface (112) of terminal block (28) on being installed in travelling belt detection module unit (6); Master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and the digital information transmission that gets into workpiece (36) in slideway (33) is given master controller (44).Workpiece (36) gets into from the other end of slideway (33), fills slideway (33) until workpiece (36), and the workpiece (36) that the detection probe (34) of slideway (33) one sides detects on the slideway (33) is filled situation, and is as shown in Figure 9.

Embodiment 10

Well formula feed modular unit (9) by well formula feed storehouse (103), detection probe (34), solenoid valve (41), pusher cylinder (106), go out platform (108) at the bottom of feed bin (107), the storehouse, terminal block group (28), section bar matrix (29) and fixed base plate (30) and form; Fixed base plate (30) is whole rectangular; The place, both sides of the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on well formula feed modular unit (9) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38).The both sides of fixed base plate (30) are oppositely arranged section bar matrix (29); One end of section bar matrix (29) and fixed base plate (30) are connected to a fixed; Detection probe (34), solenoid valve (41) and terminal block (28) are set on the sidewall of section bar matrix (29); Detection probe (34) is connected with the input signal interface (112) of terminal block (28) on being installed in aggregate erection training platform (12); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected; Feed back to master controller (44) to the numerical information of detected workpiece (36) through circuit, and receive the instruction that master controller (44) transmission comes; The pneumatic line of solenoid valve (41) is connected with pusher cylinder (106); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28) on being installed in aggregate erection training platform (12); Solenoid valve (41) drives the opening and closing of pusher cylinder (106) according to instruction, and releases out feed bin (107) to workpiece (36).Fixedly install well formula feed storehouse (103) on the other end of section bar matrix (29); Bottom, well formula feed storehouse (103) is for going out platform (108) at the bottom of feed bin (107) and the storehouse; Platform at the bottom of the storehouse (108) is whole rectangular, and platform (108) is connected to a fixed at the bottom of the other end of section bar matrix (29) and the storehouse, and an end of platform at the bottom of the storehouse (108) sets out feed bin (107); Go out feed bin (107) integral body and be cube; A side that goes out feed bin (107) is provided with discharging opening, and the top that goes out feed bin (107) is provided with charging aperture, and the top that goes out feed bin (107) fixedly installs well formula feed storehouse (103); The charging aperture that goes out feed bin (107) is connected with the discharging opening in well formula feed storehouse (103), and the charging aperture that goes out feed bin (107) is corresponding with the discharging opening in well formula feed storehouse (103).Well formula feed storehouse (103) integral body is column; Designing requirement need be set at rectangle or circle to the interior cross sectional shape in well formula feed storehouse (103) according to workpiece (36); Top, well formula feed storehouse (103) is provided with charging aperture, and the bottom in well formula feed storehouse (103) is provided with discharging opening.The other end of platform at the bottom of the storehouse (108) is provided with pusher cylinder (106); The expansion link of pusher cylinder (106) is corresponding with the charging aperture and the discharging opening that go out feed bin (107); Start pusher cylinder (106); The expansion link of pusher cylinder (106) is released the workpiece (36) that in the feed bin (107) from discharging opening, shown in figure 10.

Embodiment 11

Motor module unit (10) is made up of motor (68), terminal box (109) and fixed base plate (30); Fixed base plate (30) is whole rectangular; The place, both sides of the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38).Terminal box (109) is set on one end of fixed base plate (30); Terminal box (109) is connected with the output signaling interface (113) of terminal block (28) on being installed in travelling belt detection module unit (6) through circuit; Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected; Carry out the instruction that master controller (44) transmission comes; Motor module unit (10) receives the instruction that master controller (44) sends, according to the unlatching of instruction drive motor (109), just change, reverse and close.Motor (68) is set on the other end of fixed base plate (30); The clutch end of motor (68) is connected with the driving wheel (92) of travelling belt detection module unit (6); Motor (68) is selected alternating current generator or servomotor or stepper motor or brushless electric machine for use according to the needs of training request, in same modular unit, realizes the training requirement to different motors through exchanging different motor.The motor (68) of motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); Order about motor (109) and implement rotating; Driving wheel (92) through Synchronous Belt Drives travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) both forward and reverse directions, and workpiece (36) is gone up the training request of implementing different operating at travelling belt (98), and is shown in figure 11.

Embodiment 12

Many processing/modular unit (11) are made up of fixed base plate (30), support column (82), terminal block (28), positioning of rotating motor (91), station dial (94), positioning clamp holder (111) and processing/assembly manipulator (54); Fixed base plate (30) is whole rounded; The edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on many processing/modular unit (11) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38).The middle part of fixed base plate (30) fixedly installs support column (82); One side of support column (82) is installed terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and carries out the instruction that master controller (44) sends.The opposite side of support column (82) is installed positioning of rotating motor (91); The control circuit of positioning of rotating motor (91) is connected with the output signaling interface (113) of terminal block (28); Station dial (94) is installed in the upper end of support column (82); Station dial (94) is whole Y-shaped, and each end of Y type of station dial (94) is a spill, and the gap of spill constitutes loading and unloading stations (45).On the station dial (94) of the spill gap bottom of loading and unloading station (45), fixedly install V-type locating piece (57); V-type locating piece (57) is corresponding with the spill gap of loading and unloading station (45), and positioning of rotating motor (91) drives central part rotation or the location of station dial (94) around support column (82).Station dial (94) wherein an end below fixedly install positioning clamping cylinder (104); The control circuit of positioning clamping cylinder (104) is connected with the output signaling interface (113) of terminal block (28); Station dial (a 94) wherein end is provided with positioning clamp holder (105); Positioning clamp holder (105) is whole L-shaped; One end of positioning clamp holder (111) is connected with positioning clamping cylinder (104); The other end of positioning clamp holder (105) is spill; The spill gap of the other end of positioning clamp holder (105) is corresponding with V-type locating piece (57), drives positioning clamping cylinder (104) drive positioning clamp holder (105) and passes workpiece (36) to V-type locating piece (57), reaches processing or the assembling that workpiece (36) was accurately located and realized to concentricity through V-type locating piece (57).The middle part of station dial (94) is provided with processing/assembly manipulator (54); The bottom of processing/assembly manipulator (54) is base (59); Base (59) is gone up the fixing lifting column (60) of erectting; Lift cylinder (51) is set on the lifting column (60), clamps cylinder (56) and machinery folder (61); One side of lifting column (60) is provided with lift cylinder (51) and solenoid valve (41), and the opposite side of lifting column (60) is provided with and clamps cylinder (56), and the end that clamps cylinder (56) fixedly installs machinery folder (61); Clamp cylinder (56) and machinery folder (61) and pass through lift cylinder (51) along lifting column (60) up-down, machinery folder (56) is through clamping cylinder (56) grasping clamping workpiece (36).The preceding loading and unloading station (45) of locating piece (57) is corresponding with machinery folder (56), can realize that through locating piece (57) processing/assembly station (47) concentricity accurately locatees.The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected; Solenoid valve (41) receives the instruction of master controller (44), carries out the opening and closing of pneumatic line according to instruction.The pneumatic line of solenoid valve (41) is connected with lift cylinder (51), positioning clamping cylinder (104) and clamping cylinder (56) respectively through pipeline separately, drives opening and closing and the extraction and the place work piece (36) of lift cylinder (51), positioning clamping cylinder (104) and clamping cylinder (56).

Terminal block (28) is made up of connection terminal base (111), input signal interface (112), output signaling interface (113), circuit interface plate (115) and cable interface (114); Circuit interface plate (115) is set on the connection terminal base (111); The route protection of earth leakage protection, short-circuit protection, insulation blocking, intelligent protection is set in the circuit interface plate (115); Circuit interface plate (115) top is provided with input signal interface (112), output signaling interface (113) and cable interface (114); Input signal interface (112), output signaling interface (113) are connected with cable interface (114) through the circuit of circuit interface plate (115); Cable interface (114) is connected with master controller (44) through cable; Give master controller (44) digital information transmission of the detection means of each modular unit feedback; And be transferred to the performer of each modular unit to the instruction of master controller (44), be provided with the route protection of earth leakage protection, short-circuit protection, insulation blocking, intelligent protection in the base, in case break down in the operational process; Guarantee the safety of the person and equipment; Terminal block (28) is attached on the modular unit or is installed on the table top of aggregate erection training platform (12), and is the instruction that the feedback digital information of modular unit is given master controller (44) and received master controller (44), shown in figure 12.

Embodiment 13

Aggregate erection training platform (12) is whole rectangular; Install circuit connection groove (37), cable-through hole (110) and benchmark on the aggregate erection training platform (12) sign (39) is installed; 4 benchmark are set on the aggregate erection training platform (12) at least sign (39) is installed; Benchmark install sign (39) each other X be integral multiple with Y direction spacing, install according to benchmark and identify (39) and install training and realize training request with modular unit; Circuit connection groove (37) is set on the table top of aggregate erection training platform (12); Circuit connection groove (37) global sections shape is rectangular, and the bottom of circuit connection groove (37) is wire casing pedestal (49), and wire casing pedestal (49) global sections shape is spill; The concave bottom of wire casing pedestal (49) is provided with the stationary positioned hole; Go up laying wire casing pedestal (49) according to designing requirement at aggregate erection training platform (12), and be fixed on wire casing pedestal (49) on the aggregate erection training platform (12) through bolt, wire hole (50) is advanced in the equidistance setting on the both sides cell wall of wire casing pedestal (49); The link tester that connects between each modular unit is crossed into wire hole (50) turnover circuit connection groove (37); The top of circuit connection groove (37) is wire casing lid (48), and the global sections shape of wire casing lid (48) is spill, and the port of wire casing pedestal (49) is provided with interior buckle; The lower port of wire casing lid (48) is provided with outer buckle; Wire casing lid (48) covers on the port of wire casing pedestal (49), and the interior buckle of the port of wire casing pedestal (49) buckles into the outer buckle of the lower port of wire casing lid (48), and wire casing lid (48) matches with wire casing pedestal (49).Training is connected with the link tester oversampling circuit connecting groove (37) of modular unit; And training system is made in the composition module combination; Circuit connection groove (37) constitutes network line and the circuit connection of training with modular unit, implements the operation that modular combination is made each parts of training system.The cable-through hole (110) of perforation is set on the table top of aggregate erection training platform (12); At least be provided with 4; Terminal block (28) is passed cable-through hole (110) through line cord and is arranged on the following master controller (44) of aggregate erection training platform (12) by cable interface (114) and is connected the instruction that transmission comes with execution master controller (44) of the numerical information of feedback module unit.Master controller (44) is set below the aggregate erection training platform (12); Master controller (44) by control enclosure, master control board, urgency is stopped and some groups of startups, stop buttons are formed; Link to each other with terminal block (28) through circuit; Master controller (44) receives the numerical information of feedback and sends operational order; Drive each modular unit and carry out crawl, the interlock action that training operation start, stop button can be realized corresponding modular unit, be convenient to the training, maintenance, troubleshooting barrier of module etc., like Figure 13, Figure 14, shown in Figure 15.

Embodiment 14

Two material loading/processing/assembling/warehouse-in/outbound system (13) is made up of processing/modular unit (1), straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp modular unit (7), horizontal slideway modular unit (8), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28), aggregate erection training platform (12) and master controller (44); Processing/modular unit (1), many processing/modular unit (11), at least 2 group inclined ramp modular units (7) and at least 2 group well formula feed modular units (9) are set in two material loading/processing/assembling/warehouse-in/outbound system (13); Processing/modular unit (1) and many processing/modular unit (11) are carried out the operation of continuous process operation and assembling; 2 groups of well formula feed modular units (9) are supplied with different workpiece separately, and 2 kinds of different workpiece realize feeding, detection, processing, assemble, go into the training on operation requirement of library storage, outbound, detection, letter sorting.

One end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38), straight line moving manipulator unit (2) and travelling belt detection module unit (6) are T-shaped on aggregate erection training platform (12).One side of straight line moving manipulator unit (2) fixedly installs processing/modular unit (1) and many processing/modular unit (11).Processing/modular unit (1) and many processing/modular unit (11) laterally arrange along a side of straight line moving manipulator unit (2); Be fixed on processing/modular unit (1) and many processing/modular unit (11) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2); The Y type reclaimer tool folder (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11), and different workpiece (36) is processed or assembled to processing/modular unit (1) and many processing/modular unit (11) separately.The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4); Be fixed on tiered warehouse facility modular unit (4) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38), the Y type reclaimer tool folder (66) of straight line moving manipulator unit (2) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4) and is just extracted or place work piece (36) from the goods yard (86) of tiered warehouse facility modular unit (4).The opposite side of straight line moving manipulator unit (2) fixedly installs loading platform modular unit (5); Loading platform modular unit (5) fixedly installs with tiered warehouse facility modular unit (4) side by side; Be fixed on loading platform modular unit (5) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with straight line moving manipulator unit (2); The workpiece positioning table (89) that the Y type reclaimer tool folder (66) of straight line moving manipulator unit (2) is aimed at loading platform modular unit (5) just extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5), and the workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5).

One side of one end of travelling belt detection module unit (6) fixedly installs 2 groups of well formula feed modular units (9); Be fixed on 2 groups of well formula feed modular units (9) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The feed bin (107) that goes out of 2 groups of well formula feed modular units (9) docks with the travelling belt (98) of travelling belt detection module unit (6), and it is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107).One side of the other end of travelling belt detection module unit (6) fixedly installs solid mechanical fingerprint module unit (3); Be fixed on solid mechanical fingerprint module unit (3) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The parallel folder of material (83) of getting of solid mechanical fingerprint module unit (3) is aimed at the loading and unloading station (45) of the other end, travelling belt detection module unit (6) or the workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) of solid mechanical fingerprint module unit (3); Just the loading and unloading station (45) from the other end, travelling belt detection module unit (6) extracts or place work piece (36), and perhaps the workpiece positioning table (89) from loading platform modular unit (5) extracts or place work piece (36).The opposite side of the other end of travelling belt detection module unit (6) fixedly installs motor module unit (10), horizontal slideway modular unit (8) and 2 groups of inclined ramp modular units (7); Motor module unit (10) is arranged on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (109) of starter motor modular unit (10), motor (109) drive travelling belt (98) running of travelling belt detection module unit (6).Horizontal slideway modular unit (8) is fixedly installed on the opposite side of travelling belt detection module unit (6); Be fixed on horizontal slideway modular unit (8) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The port of the slideway (33) of horizontal slideway modular unit (8) docks with the travelling belt (98) of travelling belt detection module unit (6), and the port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97).

2 groups of inclined ramp modular units (7) are fixedly installed on the opposite side of travelling belt detection module unit (6); Be fixed on 2 groups of inclined ramp modular units (7) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The port of the slideway (33) of inclined ramp modular unit (7) docks with the travelling belt (98) of travelling belt detection module unit (6); The port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97) separately, and travelling belt detection module unit (6), 2 groups of inclined ramp modular units (7) and workpiece sensing equipment (97) are gone up at travelling belt (98) and constituted surveyed area (46).Master controller (44) is arranged on the bottom of aggregate erection training platform (12); Master controller (44) passes cable-through hole entering circuit connection groove (37) through line cord and is connected with the terminal block (28) of each group training with modular unit; Master controller (44) sends instruction and receives feedback digital information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request of the mounting arrangement of two material loading/processing/assembling/warehouse-in/outbound system (13).

Placing 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9) is workpiece 1 (36) and workpiece 2 (36); Master controller (44) sends on the loading and unloading station (45) of travelling belt (98) one ends that instruct the wherein pusher cylinder (106) of one group of well formula feed modular unit (9) of startup, pusher cylinder (106) to shift the workpiece in the well formula feed storehouse (103) 1 (36) onto from the discharging opening that goes out feed bin (107) travelling belt detection module unit (6).

The motor (109) of starter motor modular unit (10) is implemented just to change; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) and is just transporting row, the workpiece 1 (36) on the travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the loading and unloading station (45) of travelling belt (98) other end.Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece 1 (36) on the loading and unloading station (45) of travelling belt (98) one ends; Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 1 (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expect that parallel folder (83) leaves the workpiece positioning table (89) of loading and unloading station (45) the aligning loading platform modular unit (5) of travelling belt (98) other end.Starting solenoid valve (41) is placed on workpiece 1 (36) on the workpiece positioning table (89) of loading platform modular unit (5); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the workpiece positioning table (89) of loading platform modular unit (5), transfers from travelling belt detection module unit (6) workpiece 1 (36) to straight line moving manipulator unit (2) training request of operation through loading platform modular unit (5).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and mechanical arm (71) moves to the workpiece positioning table (89) of aiming at loading platform modular unit (5) along guide rail (72), starts the motor (68) of the execution up-down of mechanical arm (71); Regulate the height of Y type reclaimer tool folder (66); Workpiece 1 (36) on the alignment pieces positioning table (89) starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer tool folder (66) extracts workpiece 1 (36).Start the motor (68) of the execution up-down of mechanical arm (71); Promote Y type reclaimer robot (66); Workpiece 1 (36) is along with Y type reclaimer robot (66) promotes together; Workpiece 1 (36) leaves the workpiece positioning table (89) of loading platform modular unit (5), and Y type reclaimer robot (66) keeps the state of clamping workpiece 1 (36).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is with connecting line translation together and aim at the loading and unloading station (45) of processing/modular unit (1).Start the motor of carrying out (68) and regulate the height of mechanical arm (71), aim at the loading and unloading station (45) of processing/modular unit (1).Start the gripper cylinder (76) on the mechanical arm (71); Be placed on the workpiece 1 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66), implement the training request of material loading processing work operation.

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 1 (36) to processing/assembly station (47) along retention plate (52); Workpiece 1 (36) moves to the position of processing/assembly station (47) and is then blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 1 (36) rests on processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece 1 (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece 1 (36), processing work 1 (36); Processed workpiece 1 (36) is being placed on processing/assembly station (47); Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the processing/assembly station (47) 1 (36) to loading and unloading station (45) along retention plate (52); Workpiece 1 (36) moves to the position of loading and unloading station (45), and is to be assembled.

Simultaneously; Master controller (44) sends instruction; Start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) onto on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).

The motor (109) of starter motor modular unit (10) is implemented just to change; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) main story, the workpiece 2 (36) on the travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the loading and unloading station (45) of travelling belt (98) other end.Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece 2 (36) on the loading and unloading station (45) of travelling belt (98) other end.Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 2 (36); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expect that parallel folder (83) leaves the workpiece positioning table (89) of loading and unloading station (45) the aligning loading platform modular unit (5) of travelling belt (98) other end.Starting solenoid valve (41) is placed on workpiece 2 (36) on the workpiece positioning table (89) of accurate loading platform modular unit (5); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the workpiece positioning table (89) of loading platform modular unit (5), transfers from travelling belt detection module unit (6) workpiece 2 (36) to straight line moving manipulator unit (2) training request of operation through loading platform modular unit (5).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together.Start the motor (68) of the execution up-down of mechanical arm (71); Regulate the height of Y type reclaimer tool folder (66); Workpiece 2 (36) on the workpiece positioning table (89) of Y type reclaimer robot (66) aligning loading platform modular unit (5);, starting the gripper cylinder (76) on the mechanical arm (71), folder (66) clamping of Y type reclaimer tool is also extracted workpiece 2 (36).Start the motor (68) that the execution on the mechanical arm (71) is gone up and down; Promote Y type reclaimer robot (66); Workpiece 2 (36) is along with Y type reclaimer robot (66) promotes together; Workpiece 2 (36) leaves the workpiece positioning table (89) of loading platform modular unit (5), and Y type reclaimer robot (66) keeps the state of clamping workpiece 2 (36).

The motor (68) of rotary cylinder (31) on the startup mechanical arm (71) and execution displacement; Aim at the workpiece 2 (36) of Y type reclaimer robot (66) clamping the loading and unloading station (45) of the station dial (94) of many processing/modular unit (11); Start the gripper cylinder (76) on the mechanical arm (71); Be placed on the workpiece 2 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of station dial (94); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove Y type reclaimer robot (66).

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 2 (36) rotates to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 2 (36) to V-type locating piece (57) along station dial (94); Workpiece 2 (36) translations; V-type locating piece (57) by on the station dial (94) blocks, and workpiece 2 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling.Start the lift cylinder (51) on the lifting column (60); Decline processing/assembly manipulator (54), alignment pieces 2 (36) starts clamping cylinder (56); Machinery folder (61) grasps workpiece 2 (36); Start lift cylinder (51), processing/assembly manipulator (54) grasps workpiece 2 and promotes, and leaves the loading and unloading station (45) of station dial (94).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the workpiece 1 (36) of the loading and unloading station (45) of processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) extracts workpiece 1 (36).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Aim at the loading and unloading station (45) of many processing/modular unit (11), be placed on the workpiece 1 (36) of mechanical arm (71) clamping on the loading and unloading station (45) of many processing/modular unit (11).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove Y type reclaimer robot (66), implement the training request of assembling workpiece operation.

The positioning of rotating motor (91) that starts many processing/modular unit (1) drives station dial (94), and the loading and unloading station (45) of going up station dial (94) one of them place work piece 1 (36) rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 1 (36) to V-type locating piece (57) along station dial (94); Workpiece 1 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 1 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling.

Start the lift cylinder (51) on the lifting column (60); Processing/assembly manipulator (54) descends; Alignment pieces 1 (36) starts clamping cylinder (56), and machinery folder (61) is put into workpiece 1 to the workpiece that grasps 2 (36); Start lift cylinder (51); Processing/assembly manipulator (54) promotes the loading and unloading station (47) that leaves station dial (94), and workpiece 2 (36) suits are assembled in the workpiece 1 (36), and the workpiece 1 (36) of the suit after the assembling and workpiece 2 (36) are made into the workpiece (36) of suit assembling.The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; The loading and unloading station (45) of going up station dial (94) workpiece (36) of placing the suit assembling rotates to the position of aiming at straight line walking machine fingerprint module unit (2), implements the training request of suit assembling workpiece operation.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) are aimed at the loading and unloading station (45) of many processing/modular unit (11) and are gone up the workpiece (36) of suit assembling.Start the gripper cylinder (76) on the mechanical arm (71); (66) clamping of Y type reclaimer robot is also extracted the workpiece (36) of the suit assembling on the loading and unloading station (45); The motor (68) that starts rotary cylinder (31) and execution up-down leaves many processing/modular unit (11); Aim at the goods yard (86) of tiered warehouse facility modular unit (4), start the gripper cylinder (76) on the mechanical arm (71), be placed on the workpiece (36) of suit assembling on the goods yard (86).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Move Y type reclaimer robot (66) and leave tiered warehouse facility modular unit (4); The workpiece (36) of suit assembling is filled in cycling on each goods yard (86) of tiered warehouse facility modular unit (4) repeatedly, implements the training request of workpiece in-stockroom operation.

The ordering of the workpiece (36) of suit assembling occurs mixed and disorderly in tiered warehouse facility modular unit (4); Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and the workpiece (36) of the mixed and disorderly suit assembling of ordering is gone up in Y type reclaimer robot (66) clamping goods yard (86).Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) is placed into the workpiece (36) of the mixed and disorderly suit assembling of the ordering of clamping on the workpiece positioning table (89).Start rotary cylinder (31), displacement electromagnetic valve group (2-2) and the motor (68) of straight line moving manipulator unit (2); Y type reclaimer robot (66) is removed workpiece positioning table (89); The room is vacateed in the goods yard (86) of tiered warehouse facility modular unit (4); The room that utilizes tiered warehouse facility modular unit (4) to vacate; Go up the workpiece (36) of the mixed and disorderly suit assembling of ordering through mechanical arm (71) adjustment tiered warehouse facility modular unit (4) shelf (87) of straight line moving manipulator unit (2), go up tiered warehouse facility modular unit (4) shelf (87) workpiece (36) of suit assembling and arrange in order.Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), the arrangement of the last workpiece (36) in goods yard (86) of workpiece (36) the adjustment tiered warehouse facility modular unit (4) on Y type reclaimer robot (66) the extraction goods yard (86) is orderly, the ordering ordering of the workpiece (36) of cycling in tiered warehouse facility modular unit (4) repeatedly.

Go up workpiece (36) arrangement in order of suit assembling when tiered warehouse facility modular unit (4) shelf (87) after; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71); Y type reclaimer robot (66) is placed into workpiece (36) clamping on the workpiece positioning table (89) and playback on the goods yard (86) of soaring in the tiered warehouse facility modular unit (4), implements the workpiece (36) of suit assembling in the tiered warehouse facility modular unit (4) and arranges the training request of operation in order.

When the workpiece (36) of suit assembling is filled in each goods yard (86) of tiered warehouse facility modular unit (4); Master controller (44) is received the full data message in tiered warehouse facility modular unit (4) storehouse; After processing data information; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down, the motor (68) of carrying out displacement drives travelling belt (73), and travelling belt (73) drive mechanical arm (71) is along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece (36) of the suit assembling on the goods yard (86) of Y type reclaimer robot (66) aligning tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts the workpiece (36) of suit assembling.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece (36) of suit assembling on the workpiece positioning table (89); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the workpiece positioning table (89) of loading platform modular unit (5), shift the workpiece (36) of suit assembling from straight line moving manipulator unit (2) to travelling belt detection module unit (6), and reach the training request of the workpiece outbound operation of suit assembling through loading platform modular unit (5).

Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Get the parallel folder of material (83) and aim at the workpiece positioning table (89) of loading platform modular unit (5); Start solenoid valve (41), get the workpiece (36) that the parallel folder of material (83) grasps assembling.Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Get the parallel folder of material (83) and aim at the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6), start solenoid valve (41) and be placed on the workpiece (36) of suit assembling on the loading and unloading station (45) of travelling belt (98) one ends.Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of travelling belt (98) one ends.

The motor (68) of starter motor modular unit (10) is implemented counter-rotating; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) the counter-rotating operation of travelling belt detection module unit (6); The workpiece (36) of suit assembling from the loading and unloading station (45) of travelling belt (98) other end transmit to surveyed area (46); The workpiece (36) of suit assembling during through surveyed area (46) detection probe (34) on the workpiece sensing equipment (97) workpiece (36) of suit assembling is implemented to detect; When the workpiece (36) that detects the suit lattice assembling of closing; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95), the pusher window (96) that the expansion link of the cylinder of selecting materials (100) passes on the locating support (99) pushes the workpiece (36) of qualified suit assembling in the slideway (33) of corresponding horizontal slideway modular unit (8).When the workpiece (36) that detects underproof suit assembling; The cylinder of selecting materials (100) that is fixed on cylinder support (95) starts; The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes the workpiece (36) of underproof suit assembling in the slideway (33) of corresponding inclined ramp modular unit (7); Cycling is until the clear storehouse of workpiece (36) of the stock's of tiered warehouse facility modular unit (4) suit assembling repeatedly; Implement the training request of detection, letter sorting and outbound operation; Carry out two material loading/processing/assembling/warehouse-in/outbound system (13) 2 kinds of different labor and materials are implemented the training request that processing, assembling, warehouse-in, outbound, detection and letter sorting are operated, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 16, shown in Figure 31.

Embodiment 15

Raw material/processing/turnover/warehouse-in/outbound system (14) is made up of processing/modular unit (1), straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), loading platform modular unit (5), many processing/modular unit (11), aggregate erection training platform (12) and master controller (44); Processing/modular unit (1) and many processing/modular unit (11) are set in raw material/processing/turnover/warehouse-in/outbound system (14), and single group processing/modular unit (1) and many processing/modular unit (11) fill order's preface process operation or processing/modular unit (1) and many processing/modular unit (11) are carried out the training on operation requirement that two preface process operations or processing/modular unit (1) and many processing/modular unit (11) are carried out continuous process operation, assembly manipulation, workpiece turnover, workpiece warehouse-in and workpiece outbound.

The middle part of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Straight line moving manipulator unit (2) one sides fixedly install tiered warehouse facility modular unit (4) and loading platform modular unit (5); Loading platform modular unit (5) is fixedly installed on a side of tiered warehouse facility modular unit (4); Be fixed on tiered warehouse facility modular unit (4) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The shelf (87) of tiered warehouse facility modular unit (4) are corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the shelf (87) of tiered warehouse facility modular unit (4).The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5).

Straight line moving manipulator unit (2) opposite side fixedly installs processing/modular unit (1); With many processing/modular unit (11); Be fixed on processing/modular unit (1) and many processing/modular unit (11) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); Processing/modular unit (1) is corresponding with straight line moving manipulator unit (2) with many processing/modular unit (11); And be arranged side by side; The loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11); The bottom of aggregate erection training platform (12) fixedly installs master controller (44); Be fixed on master controller (44) with bolt the bottom of aggregate erection training platform (12) through stationary positioned hole (38); Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receives feedback digital information; Go up the training of assembling training at aggregate erection training platform (12), implement the training request of the mounting arrangement of raw material/processing/turnover/warehouse-in/outbound system (14) with modular unit.

Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of the shelf (87) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), extract and grasp the workpiece (36) on the goods yard (86), start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) clamping workpiece (36) and is removed goods yard (86); Start and carry out the motor (68) of up-down, Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71); Be placed on the workpiece (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove Y type reclaimer robot (66), implement the training request of outbound and material loading operation.

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece (36) on the loading and unloading station (45) to processing/assembly station (47); Workpiece (36) along retention plate (52) to processing/assembly station (47) translation; Workpiece (36) moves to the position of processing/assembly station (47) and is then blocked by the V-type locating piece (57) on the retention plate (52), and workpiece (36) rests on processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece (36).Start solenoid valve (41), lift cylinder (51) and clamp cylinder (56) and be put into processing work (36) on processing/assembly station (47); Start to get and anticipate a cylinder (53); Material locating piece (58) playback is got in drive; Place back processed workpiece (36) on the loading and unloading station (45), implement the training request of single preface outbound, processing and in-stockroom operation.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of processing/modular unit (1).Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamping is placed on the workpiece (36) on the loading and unloading station (45) of processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove the Y type reclaimer robot (66) that grasps workpiece (36).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed into the workpiece (36) of Y type reclaimer robot (66) clamping on the goods yard (86), start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed goods yard (86), repeatedly cycling workpiece (36) completion of processing in tiered warehouse facility modular unit (4).

The mechanical arm (71) of straight line moving manipulator unit (2) takes out workpiece (36) from the shelf (87) of tiered warehouse facility modular unit (4); Simultaneously respectively to processing/modular unit (1) and many processing/modular unit (11) conveying workpieces (36); Processing/modular unit (1) and many processing/modular unit (11) are distinguished processing work (36) simultaneously; Processing/modular unit (1) and many processing/modular unit (11) processed workpiece (36) are transferred back respectively on the shelf (87) of tiered warehouse facility modular unit (4) by the mechanical arm (71) of straight line moving manipulator unit (2) again; Cycling is implemented the training request of outbound, the processing of two preface and in-stockroom operation until workpiece (36) completion of processing in the tiered warehouse facility modular unit (4) repeatedly.

The ordering of the workpiece (36) in tiered warehouse facility modular unit (4) occurs mixed and disorderly; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts the height of motor (68) the adjustment Y type reclaimer robot of carrying out (66), and Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), the mixed and disorderly workpiece (36) of ordering is gone up in Y type reclaimer robot (66) clamping goods yard (86).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start the height of motor (68) the adjustment Y type reclaimer robot of carrying out (66); Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed into the mixed and disorderly workpiece of the ordering of clamping (36) on the workpiece positioning table (89).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed workpiece positioning table (89); The room is vacateed in the goods yard (86) of tiered warehouse facility modular unit (4); The detection probe (34) of loading platform modular unit (5) detects the mixed and disorderly workpiece (36) of ordering on the workpiece positioning table (89); Detection probe (34) is through the numerical information of circuit to the mixed and disorderly workpiece (36) of master controller (44) feedback ordering; After master controller (44) receives numerical information, send instruction after treatment, mechanical arm (71) adjustment tiered warehouse facility modular unit (4) shelf (87) of straight line moving manipulator unit (2) are gone up the mixed and disorderly workpiece (36) of ordering; Utilize the room of vacateing on tiered warehouse facility modular unit (4) shelf (87), arrange the workpiece (36) on tiered warehouse facility modular unit (4) shelf (87) in order.

Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), the arrangement of the last workpiece (36) in goods yard (86) of workpiece (36) the adjustment tiered warehouse facility modular unit (4) on Y type reclaimer robot (66) the extraction goods yard (86) is orderly, the ordering of the workpiece (36) of cycling in tiered warehouse facility modular unit (4) repeatedly.

After tiered warehouse facility modular unit (4) shelf (87) are gone up workpiece (36) arrangement in order; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5); Start the gripper cylinder (76) on the mechanical arm (71); Y type reclaimer robot (66) is placed into workpiece (36) clamping on the workpiece positioning table (89) and playback on the goods yard (86) of soaring in the tiered warehouse facility modular unit (4), implements the workpiece (36) of tiered warehouse facility modular unit (4) through loading platform modular unit (5) and arranges the training request of operation in order, like Fig. 1, Fig. 2, Fig. 4, Fig. 5, Figure 12, Figure 14, Figure 15, Figure 17, shown in Figure 32.

Embodiment 16

Processing/modular unit (1) and many processing/modular unit (11) are carried out process operation, repeat process operation, implement the training request of two process operations.Processing/modular unit (1) and many processing/modular unit (11) are carried out continuous 2 process operations; Workpiece (36) is carried out the operation of 2 processing; Enforcement is to the training request of 2 process operations of workpiece; Implement the training request that raw material/processing/turnover/warehouse-in/outbound system (14) realizes the operation of single preface processing, two preface processing, turnover, warehouse-in and outbound, like Fig. 1, Fig. 2, Fig. 4, Fig. 5, Figure 12, Figure 14, Figure 15, Figure 17, shown in Figure 32.

Embodiment 17

Double assembling/warehouse-in/outbound system (15) is made up of processing/modular unit (1), straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), travelling belt detection module unit (6), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), aggregate erection training platform (12) and master controller (44); Processing/modular unit (1), many processing/modular unit (11), at least 2 group well formula feed modular units (9) are set in double assembling/warehouse-in/outbound system (15); 2 groups of well formula feed modular units (9) are supplied with different workpiece separately, and 2 kinds of different workpiece are implemented to detect, assemble, go into the overfill training on operation requirement in storehouse of library storage and storehouse separately.

One end, middle part of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end, middle part of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One end of travelling belt detection module unit (6) is corresponding with the other end of straight line moving manipulator unit (2); The Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the loading and unloading station (45) of an end of travelling belt detection module unit (6), just from loading and unloading station (45) extraction or the place work piece (36) of an end of travelling belt detection module unit (6).One side of straight line moving manipulator unit (2) fixedly installs processing/modular unit (1) and many processing/modular unit (11); Be separately fixed at processing/modular unit (1) and many processing/modular unit (11) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); Processing/modular unit (1) and many processing/modular unit (11) are arranged side by side, and the loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2) respectively; The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4); Be fixedly installed on tiered warehouse facility modular unit (4) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The goods yard (86) of tiered warehouse facility modular unit (4) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4) and just extracted or place work piece (36) from the goods yard (86) of tiered warehouse facility modular unit (4).The opposite side of the other end, travelling belt detection module unit (6) fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (68) of motor module unit (10) is carried out forward or reverse; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6), and driving wheel (92) drives operation of travelling belt (98) forward or inverted running; One side of the other end of travelling belt detection module unit (6) fixedly installs 2 groups of well formula feed modular units (9); Be fixed on 2 groups of well formula feed modular units (9) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The port that goes out feed bin (107) of well formula feed modular unit (9) docks with travelling belt detection module unit (6) travelling belt (98), and it is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107).One side of the other end of travelling belt detection module unit (6) fixedly installs connection terminal base (28); The operation circuit of the operation circuit of the solenoid valve (41) of 2 groups of well formula feed modular units (9) and the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends.Master controller (44) is fixedly installed on the bottom of aggregate erection training platform (12); Be fixed on aggregate erection training platform (12) bottom to master controller (44) through stationary positioned hole (38) with bolt; Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request of the mounting arrangement of double assembling/warehouse-in/outbound system (15).

Placing 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9) is workpiece 1 (36) and workpiece 2 (36); Master controller (44) sends instruction; Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece 1 (36) in one group of well formula feed storehouse (103) wherein onto on the loading and unloading station (45) of travelling belt (98) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).

The motor (109) of starter motor modular unit (10) is carried out just to be changeed; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, and the workpiece 1 (36) on the travelling belt (98) is transferred to the loading and unloading station (45) of travelling belt (98) one ends from the loading and unloading station (45) of travelling belt (98) other end.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of travelling belt (98) one ends, starts mechanical torch magnet valve group (67), and Y type reclaimer tool folder (66) grasps workpiece 1 (36); Extract workpiece 1 (36), implement the training request of workpiece 1 material loading operation.

Start and carry out the motor (68) of up-down; Promote Y type reclaimer robot (66); Workpiece 1 (36) is along with Y type reclaimer robot (66) promotes together; Y type reclaimer robot (66) leaves the loading and unloading station (45) of travelling belt (98), and Y type reclaimer robot (66) keeps the state of clamping workpiece 1 (36).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece 1 (36) of Y type reclaimer robot (66) clamping is aimed at the loading and unloading station (45) of processing/modular unit (1); Start the gripper cylinder (76) on the mechanical arm (71), be placed on the workpiece 1 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of processing/modular unit (1).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66); Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transplanted on workpiece 1 on the loading and unloading station (45) of processing/modular unit (1), implements the training request of workpiece 1 material loading operation.

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 1 (36) to processing/assembly station (47) along retention plate (52); Workpiece 1 (36) moves to the position of processing/assembly station (47) and is then blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 1 (36) rests on the position of processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece 1 (36) on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) grasps workpiece 1 (36), starts lift cylinder (51) and promotes processing/assembly manipulator (54); Processing/assembly manipulator (54) promotes workpiece 1 (36), implements the training request of assembling workpiece 1 operation.

Start the pusher cylinder (106) of another group well formula feed modular unit (9) in 2 groups of well formula feed modular units (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) onto on the loading and unloading station (45) of travelling belt (98) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (109) of starter motor modular unit (10) is carried out just to be changeed; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, and the workpiece 2 (36) on the travelling belt (98) is transferred to the loading and unloading station (45) of travelling belt (98) one ends from the loading and unloading station (45) of travelling belt (98) other end.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and mechanical arm (71) moves to the loading and unloading station (45) that Y type reclaimer robot (66) is aimed at travelling belt (98) one ends along guide rail (72); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer tool folder (66) grasps workpiece 2 (36), extracts workpiece 2 (36), implements the training request of workpiece 2 material loadings operation.

Start and carry out the motor (68) of up-down; Promote Y type reclaimer robot (66); Workpiece 2 (36) is along with Y type reclaimer robot (66) promotes together; Y type reclaimer robot (66) leaves the loading and unloading station (45) of travelling belt (98), and Y type reclaimer robot (66) keeps the state of clamping workpiece 2 (36).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (68); The workpiece 2 (36) of Y type reclaimer robot (66) clamping is aimed at the loading and unloading station (45) of processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece 2 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66), transfer to workpiece 2 on the loading and unloading station (45) of processing/modular unit (1), implement the training request of workpiece 2 material loadings operation through the Y type reclaimer robot (66) of straight line moving manipulator unit (2).

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 2 (36) to processing/assembly station (47) along retention plate (52); Workpiece 2 (36) moves to the position of processing/assembly station (47) and is then blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 2 (36) rests on the position of processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); The workpiece 1 (36) of machinery folder (61) clamping is put into workpiece 2 (36); Workpiece 2 (36) suits are assembled in the workpiece 1 (36), and workpiece 1 (36) after the assembling and workpiece 2 (36) are made into the workpiece (36) of suit assembling.Start solenoid valve (41) and lift cylinder (51) and promote processing/assembly manipulator (54); Processing/assembly manipulator (54) leaves processing/assembly station (47); Start to get and anticipate a cylinder (53); Drive is got material locating piece (58) and is revert to loading and unloading station (45) to the workpiece (36) of suit assembling, implements the training request of assembling workpiece 1 and workpiece 2 operations.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; Motor (68) drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Mechanical arm (71) moves to the loading and unloading station (45) of processing/modular unit (1) along guide rail (72), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) grasps the workpiece (36) of the assembling on the loading and unloading station (45).Start motor (68) and mechanical arm electromagnetic valve group (67) that the execution on the mechanical arm (71) is gone up and down; Extract the workpiece (36) of assembling; Start rotary cylinder (31) and carry out the motor (68) of up-down, Y type reclaimer robot (66) leaves the loading and unloading station (45) of processing/modular unit (1).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (68), the goods yard (86) on the shelf (87) of aligning tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed on the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling on the goods yard (86).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66); The workpiece (36) of assembling is filled in cycling on each goods yard (86) of tiered warehouse facility modular unit (4) repeatedly; Implement the training request of the workpiece in-stockroom operation of assembling; The training request of the workpiece (36) of assembling is filled in cycling in tiered warehouse facility modular unit (4) repeatedly, reaches the training request of single station assembling and in-stockroom operation.

Master controller (44) sends instruction; Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece 1 (36) in one group of well formula feed storehouse (103) wherein onto on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).

The motor (109) of starter motor modular unit (10) is carried out just to be changeed; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, and the workpiece 1 (36) on the travelling belt (98) is transferred to the loading and unloading station (45) of travelling belt (98) one ends from the loading and unloading station (45) of travelling belt (98) other end.

The motor (68) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down is carried out the motor (68) and the mechanical arm electromagnetic valve group (67) of up-down; The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of travelling belt (98) one ends, starts mechanical torch magnet valve group (67), and Y type reclaimer tool folder (66) grasps workpiece 1 (36); Extract workpiece 1 (36), implement the training request of workpiece 1 material loading operation.

Start and carry out the motor (68) of up-down; Promote Y type reclaimer robot (66); Workpiece 1 (36) is along with Y type reclaimer robot (66) promotes together; Y type reclaimer robot (66) leaves the loading and unloading station (45) of travelling belt (98), and Y type reclaimer robot (66) keeps the state of clamping workpiece 1 (36).

The motor (68) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down is carried out the motor (68) and the mechanical arm electromagnetic valve group (67) of up-down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The workpiece 1 (36) of Y type reclaimer robot (66) clamping is aimed at the loading and unloading station (45) of many processing/modular unit (11), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece 1 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of many processing/modular unit (1).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66); Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transplanted on workpiece 1 on the loading and unloading station (45) of many processing/modular unit (11), implements the training request of workpiece 1 material loading operation.

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 1 (36) rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 1 (36) to V-type locating piece (57) along station dial (94); Workpiece 1 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 1 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling.Start the lift cylinder (51) on the lifting column (60); Decline processing/assembly manipulator (54), alignment pieces 1 (36) starts clamping cylinder (56); Machinery folder (61) grasps workpiece 1 (36); Start lift cylinder (51), processing/assembly manipulator (54) grasps workpiece 1 and promotes, and leaves the loading and unloading station (45) of station dial (94).

Start the pusher cylinder (106) of another group well formula feed modular unit (9) in 2 groups of well formula feed modular units (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) onto on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (109) of starter motor modular unit (10) is carried out just to be changeed; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, and the workpiece 2 (36) on the travelling belt (98) is transferred to the loading and unloading station (45) of travelling belt (98) one ends from the loading and unloading station (45) of travelling belt (98) other end.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and mechanical arm (71) moves to the loading and unloading station (45) that Y type reclaimer robot (66) is aimed at travelling belt (98) one ends along guide rail (72); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer tool folder (66) grasps workpiece 2 (36), extracts workpiece 2 (36), implements the training request of workpiece 2 material loadings operation.

Start and carry out the motor (68) of up-down; Promote Y type reclaimer robot (66); Workpiece 2 (36) is along with Y type reclaimer robot (66) promotes together; Y type reclaimer robot (66) leaves the loading and unloading station (45) of travelling belt (98), and Y type reclaimer robot (66) keeps the state of clamping workpiece 2 (36).Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The workpiece 2 (36) of Y type reclaimer robot (66) clamping is aimed at the loading and unloading station (45) of many processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece 2 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of many processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66), transfer to workpiece 2 on the loading and unloading station (45) of many processing/modular unit (1), implement the training request of workpiece 2 material loadings operation through the Y type reclaimer robot (66) of straight line moving manipulator unit (2).

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94), and the loading and unloading station (45) of going up station dial (94) one of them place work piece 2 (36) rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 2 (36) to V-type locating piece (57) along station dial (94); Workpiece 2 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 2 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling.

Start the lift cylinder (51) on the lifting column (60); Processing/assembly manipulator (54) descends; Alignment pieces 2 (36); Start clamping cylinder (56), machinery folder (61) is put into workpiece 2 to the workpiece that grasps 1 (36), starts lift cylinder (51) processing/assembly manipulator (54) and promotes the loading and unloading station (45) that leaves station dial (94); Workpiece 1 (36) suit is assembled in the workpiece 2 (36), is made into the workpiece (36) that suit assembles to workpiece 1 (36) and workpiece 2 (36).The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; The loading and unloading station (45) of going up station dial (94) workpiece (36) of placing the suit assembling rotates to the position of aiming at straight line walking machine fingerprint module unit (2), implements the training request of suit assembling workpiece operation.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; Motor (68) drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Mechanical arm (71) moves to the loading and unloading station (45) of many processing/modular unit (11) along guide rail (72), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) grasps the workpiece (36) of the suit assembling on the loading and unloading station (45).Start motor (68) and mechanical arm electromagnetic valve group (67) that the execution on the mechanical arm (71) is gone up and down; Extract the workpiece (36) of suit assembling; Start rotary cylinder (31), carry out the motor (68) of up-down, Y type reclaimer robot (66) leaves the loading and unloading station (45) of many processing/modular unit (1).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the goods yard (86) on the shelf (87) of aligning tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed on the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling on the goods yard (86).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66); The workpiece (36) of assembling is filled in cycling on each goods yard (86) of tiered warehouse facility modular unit (4) repeatedly; Implement the training request of the workpiece in-stockroom operation of assembling; The training request of the workpiece (36) of assembling is filled in cycling in tiered warehouse facility modular unit (4) repeatedly, reaches the training request of single station assembling and in-stockroom operation.

The mechanical arm (71) of straight line moving manipulator unit (2) obtains workpiece 1 (36) and workpiece 2 (36) from the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6); Simultaneously respectively to processing/modular unit (1) and many processing/modular unit (11) conveying workpieces 1 (36) and workpiece 2 (36); Processing/modular unit (1) and many processing/modular unit (11) are assembled workpiece 1 (36) and workpiece 2 (36) simultaneously respectively; The workpiece (36) of the suit assembling after processing/modular unit (1) and many processing/modular unit (11) assembling is transported on the shelf (87) of tiered warehouse facility modular unit (4) by the mechanical arm (71) of straight line moving manipulator unit (2) again; Cycling is implemented the training request of double assembling and in-stockroom operation until filling the shelf (87) in the tiered warehouse facility modular unit (4) repeatedly.

When the workpiece (36) of suit assembling is filled in each goods yard (86) of tiered warehouse facility modular unit (4); Need be with workpiece (36) outbound of suit assembling; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down, the motor (68) of carrying out displacement drives travelling belt (73), and travelling belt (73) drive mechanical arm (71) is along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece (36) of the suit assembling on the goods yard (86) of Y type reclaimer robot (66) aligning tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts the workpiece (36) of suit assembling.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6); Start the gripper cylinder (76) on the mechanical arm (71), be placed into the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling the loading and unloading station (45) of travelling belt (98) one ends.Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Mechanical arm (71) leaves the loading and unloading station (45) of travelling belt (98) one ends, implements the training request of the workpiece outbound operation of assembling.

The motor (68) of starter motor modular unit (10) is carried out counter-rotating; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) inverted running, and the workpiece (36) that the loading and unloading station (45) of travelling belt (98) one ends is gone up the suit assembling transmits to surveyed area (46); When the workpiece (36) of suit assembling passes through surveyed area (46); Detection probe (34) on the workpiece sensing equipment (97) is implemented to detect to the workpiece (36) of suit assembling; The workpiece (36) of the suit assembling after the detection gets into the loading and unloading station (45) of travelling belt (98) one ends; Subsequent processing to be changed over to; Implement the workpiece outbound of assembling and the training request of detecting operation, carry out the training request that double assembling/warehouse-in/outbound system (15) implements single station assembling, double assembling, workpiece warehouse-in and workpiece outbound operation, like Fig. 1, Fig. 2, Fig. 4, Fig. 6, Fig. 7, Figure 10, Figure 11, Figure 12, Figure 14, Figure 15, Figure 18, shown in Figure 33.

Embodiment 18

Material loading/check/remove residual/warehouse-in system (16) to form by straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp detection module unit (7), well formula feed modular unit (9), terminal block (28), motor module unit (10), aggregate erection training platform (12) and master controller (44), material loading/check/remove residual/warehouse-in system (16) to implement material loading, check, remove training on operation requirement residual, warehouse-in.

One end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of one end of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9) and terminal block (28); Be fixed on well formula feed modular unit (9) and terminal block (28) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The port that goes out feed bin (107) of well formula feed modular unit (9) docks with travelling belt detection module unit (6) travelling belt (98), and it is corresponding with the loading and unloading station (45) of (6) one ends, travelling belt detection module unit to go out feed bin (107).One side of the other end of travelling belt detection module unit (6) fixedly installs inclined ramp detection module unit (7); Be fixed on inclined ramp detection module unit (7) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38), the loading and unloading station (45) of the port of the slideway (33) of inclined ramp detection module unit (7) and the other end, travelling belt detection module unit (6) connects; The opposite side of the other end of travelling belt detection module unit (6) fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (68) of starter motor modular unit (10), motor (68) drive travelling belt (98) running of travelling belt detection module unit (6).The detection probe (34) of inclined ramp detection module unit (7) is connected with the input signal interface (112) of terminal block (28) through circuit; Cable interface (114) by terminal block (28) is connected with master controller (44); The operation circuit of the operation circuit of the solenoid valve (41) of well formula feed modular unit (9) and the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends.The other end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Straight line moving manipulator unit (2) is T-shaped with travelling belt detection module unit (6) to be arranged, and the middle part of the other end of travelling belt detection module unit (6) and straight line moving manipulator unit (2) is relative.The both sides of one end of travelling belt detection module unit (6) fixedly install tiered warehouse facility modular unit (4) and loading platform modular unit (5) separately, are fixed on tiered warehouse facility modular unit (4) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38).Below training main unit (12), fixedly install master controller (44) through stationary positioned hole (38) with bolt master controller (44) be fixed on aggregate erection training platform (12) below; Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement material loading/check/except that the training request of the mounting arrangement of residual/warehouse-in system (16).

Place work piece (36) in the well formula feed storehouse (103) of well formula feed modular unit (9); Master controller (44) sends instruction; Start pusher cylinder (106), pusher cylinder (106) is shifted the workpiece (36) in the well formula feed storehouse (103) onto on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107); The motor (68) of starter motor modular unit (10); Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) operation; The workpiece (36) of travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends transmit to surveyed area (46); Detection probe (34) during workpiece (36) process surveyed area (46) on the workpiece sensing equipment (97) is implemented to detect to workpiece (36), implements the training request of material loading, detecting operation.

Detection probe (34) when workpiece sensing equipment (97) detects the workpiece (36) that can not repair; Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95) on the workpiece sensing equipment (97), the pusher window (96) that the expansion link of the cylinder of selecting materials (100) passes on the locating support (99) pushes the workpiece that can not repair (36) in the slideway (33) of corresponding inclined ramp modular unit (7).The workpiece that can not repair (36) gets into slideway (33) and blocks from the limited retaining in bottom (35) that the port of slideway (33) slides into slideway (33); The workpiece that can not repair (36) stops at limiting block (35) and locates; The detection probe (34) that the side of slideway (33) is provided with detects the workpiece (36) that can not repair; Detection probe (34) is fed back through circuit detected numerical information to master controller (44), workpiece is implemented to detect, remove the training request of defective goods operation.

Detection probe (34) when workpiece sensing equipment (97) detects qualified workpiece (36); Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Travelling belt (98) continues operation, workpiece (36) from the surveyed area (46) of travelling belt (98) to loading and unloading station (45) transmission of travelling belt (98) other end.Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece (36) on the loading and unloading station (45) of Y type reclaimer robot (66) aligning travelling belt (98) other end of mechanical arm (71).

Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) grasps qualified workpiece (36).Start straight line moving manipulator unit (2) the execution displacement and motor (68); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Goods yard (86) on the shelf (87) of Y type reclaimer robot (66) the aligning tiered warehouse facility modular unit (4) of mechanical arm (71); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) is placed into qualified workpiece (36) on the goods yard (86), starts motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4); Cycling is filled qualified workpiece (36) until reaching tiered warehouse facility modular unit (4) repeatedly, and the Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transplanted on the loading and unloading station (45) of qualified workpiece (36) from travelling belt detection module unit (6) on the shelf (87) of tiered warehouse facility modular unit (4), implements the training request of qualified workpiece in-stockroom operation.

Detection probe (34) when workpiece sensing equipment (97) detects defective recoverable workpiece (36); Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Travelling belt (98) continues operation, defective recoverable workpiece (36) from the surveyed area (46) of travelling belt (98) to loading and unloading station (45) transmission of travelling belt (98) other end.Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the defective recoverable workpiece (36) on the loading and unloading station (45) of Y type reclaimer robot (66) aligning travelling belt (98) other end of mechanical arm (71); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) grasps defective recoverable workpiece (36).Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and mechanical arm (71) grasps defective recoverable workpiece (36) and moves to the workpiece positioning table (89) that Y type reclaimer robot (66) is aimed at loading platform modular unit (5) along guide rail (72).

Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transplanted on the loading and unloading station (45) of defective recoverable workpiece from travelling belt detection module unit (6) on the workpiece positioning table (89) of loading platform modular unit (5), carries out defective recoverable workpiece is implemented to repair operation by loading platform modular unit (5) training request.

Start the gripper cylinder (76) on the mechanical arm (71); Y type reclaimer robot (66) is placed into workpiece (36) on the workpiece positioning table (89) of loading platform modular unit (5); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from workpiece positioning table (89), the workpiece (36) on the workpiece positioning table (89) of loading platform modular unit (5) is implemented to remove incomplete, reparation.After defective recoverable workpiece (36) is repaired; Detection probe (34) is passed through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Start straight line moving manipulator unit (2) the execution displacement and motor (68), the motor (68) of carrying out displacement drives travelling belt (73), travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), mechanical arm (71) moves to Y type reclaimer robot (66) along guide rail (72) and aims at the workpiece of having repaired (36) on the workpiece positioning table (89) of loading platform modular unit (5); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts the workpiece of having repaired (36) on the workpiece positioning table (89).Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Goods yard (86) on the shelf (87) of Y type reclaimer robot (66) the aligning tiered warehouse facility modular unit (4) of mechanical arm (71) starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed workpiece (36) on the goods yard (86); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4), implement the defective training request that workpiece removes residual, reparation and in-stockroom operation of repairing, cycling is filled the training request of qualified workpiece (36) until reaching tiered warehouse facility modular unit (4) repeatedly.Implement qualified workpiece transfer to the shelf (87) of tiered warehouse facility modular unit (4) through the Y type reclaimer robot (66) of straight line moving manipulator unit (2); Repair defective recoverable workpiece transfer to loading platform modular unit (5); After to be repaired; Transfer to qualified workpiece on the shelf (87) of tiered warehouse facility modular unit (4) from loading platform modular unit (5) again; Carry out the residual/warehouse-in system (16) of material loading/check/remove material loading, check, remove training request residual, the operation of repairing and putting in storage, like Fig. 2, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Figure 10, Figure 11, Figure 13, Figure 14, Figure 15, Figure 19, shown in Figure 34.

Embodiment 19

Check/correction/sorting system (17) is made up of processing/modular unit (1), solid mechanical fingerprint module unit (3), travelling belt detection module unit (6), inclined ramp detection module unit (7), horizontal slideway detection module unit (8), well formula feed modular unit (9), motor module unit (10), terminal block (28), aggregate erection training platform (12) and master controller (44), the training on operation requirement that at least 2 group inclined ramp detection module unit (7) are implemented check, revised, sort in the check/correction/sorting system (17).

One end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of travelling belt detection module unit (6) fixedly installs motor module unit (10), horizontal slideway detection module unit (8) and 2 groups of inclined ramp detection module unit (7); Be fixed on motor module unit (10), horizontal slideway detection module unit (8) and 2 groups of inclined ramp detection module unit (7) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The motor (109) of motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (68) of starter motor modular unit (10), motor (68) drive travelling belt (98) running of travelling belt detection module unit (6).Horizontal slideway modular unit (8) is fixedly installed on a side of travelling belt detection module unit (6); The port of the slideway (33) of horizontal slideway modular unit (8) docks with the travelling belt (98) of travelling belt detection module unit (6), and the port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97).2 groups of inclined ramp modular units (7) are fixedly installed on a side of travelling belt detection module unit (6); The port of the slideway (33) of inclined ramp modular unit (7) docks with the travelling belt (98) of travelling belt detection module unit (6), and the port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97) separately.The detection probe (34) of 2 groups of inclined ramp detection module unit (7) and inclined ramp detection module unit (7) is connected with the input signal interface (112) of terminal block (28) through circuit, and the cable interface (114) of terminal block (28) is given master controller (44) the numerical information feedback transmission through cable line.The opposite side of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9); Be fixed on well formula feed modular unit (9) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The feed bin (107) that goes out of well formula feed modular unit (9) docks with the travelling belt (98) of travelling belt detection module unit (6), and it is corresponding with the loading and unloading station (45) of (6) one ends, travelling belt detection module unit to go out feed bin (107).The operation circuit of the operation circuit of the solenoid valve (41) of well formula feed modular unit (9) and the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends.The other end of travelling belt detection module unit (6) fixedly installs solid mechanical fingerprint module unit (3); Be fixed on solid mechanical fingerprint module unit (3) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The loading and unloading station (45) of getting the parallel folder of material (83) aligning the other end, travelling belt detection module unit (6) of solid mechanical fingerprint module unit (3), just the loading and unloading station (45) from the other end, travelling belt detection module unit (6) extracts or place work piece (36).One side of solid mechanical fingerprint module unit (3) fixedly installs processing/modular unit (1); Be fixed on processing/modular unit (1) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The loading and unloading station (45) of getting the parallel folder of material (83) aligning processing/modular unit (1) of solid mechanical fingerprint module unit (3), just the loading and unloading station (45) from processing/modular unit (1) extracts or place work piece (36).Fixedly installing master controller (44) master controller (44) below the aggregate erection training platform (12) passes cable-through hole (110) through line cord and gets into circuit connection groove (37) and be connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request of the mounting arrangement of check/correction/sorting system (17).

Place work piece (36) in the well formula feed storehouse (103) of well formula feed modular unit (9); Master controller (44) sends instruction; Start the pusher cylinder (106) of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece (36) in the well formula feed storehouse (103) onto on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (68) of starter motor modular unit (10) just changes; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward; Workpiece (36) from the loading and unloading station (45) of travelling belt (98) one ends to surveyed area (46) transmission, workpiece (36) during through surveyed area (46) detection probe (34) on the workpiece sensing equipment (97) workpiece (36) is implemented to detect.Workpiece sensing equipment (97) through travelling belt detection module unit (6) is distinguished qualified workpiece and defective workpiece in the workpiece (36); Sort out qualified workpiece and defective workpiece, implement to detect the training request of workpiece, the qualified workpiece of letter sorting and the operation of defective workpiece.

When detecting the qualified workpiece (36) that need not to revise; Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes qualified workpiece (36) in the slideway (33) of corresponding inclined ramp modular unit (7); The workpiece (36) that detection probe (34) on the inclined ramp modular unit (7) detects, workpiece sensing equipment (97) pass through circuit to master controller (44) feedback digital information.

When detecting the underproof workpiece (36) that needs correction; Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Travelling belt (98) continues operation, workpiece (36) from the surveyed area (46) of travelling belt (98) to loading and unloading station (45) transmission of travelling belt (98) other end.Underproof workpiece (36) arrives the loading and unloading station (45) of travelling belt (98) other end; Master controller (44) sends instruction through after the data processing; Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) of getting on the pivot arm (81) is aimed at the underproof workpiece (36) on the loading and unloading station (45) of travelling belt (98) other end, and startup solenoid valve (41) is got the parallel folder of material (83) and grasped underproof workpiece (36).

Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the loading and unloading station (45) of getting the parallel folder of material (83) aligning processing/modular unit (1) on the pivot arm (81); Start solenoid valve (41) and expect that getting the underproof workpiece (36) that parallel folder (83) grasps is placed on the loading and unloading station (45) of processing/modular unit (1).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the loading and unloading station (45) of processing/modular unit (1), implements to detect, letter sorting and repair the training request of operating.

Master controller (44) sends instruction through after the data processing; Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the underproof workpiece (36) on the loading and unloading station (45) to processing/assembly station (47) along retention plate (52); Underproof workpiece (36) moves to processing/assembly station (47) and is blocked by the V-type locating piece (57) on the retention plate (52), and underproof workpiece (36) rests on processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the underproof workpiece (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) is revised underproof workpiece (36); After treating that underproof workpiece (36) is revised; Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start clamping cylinder (56), machinery folder (61) is placed on the workpiece (36) of processing on processing/assembly station (47), starts to get and anticipates a cylinder (53); Material locating piece (58) playback is got in drive, gets material locating piece (58) and places back the workpiece (36) after repairing on the loading and unloading station (45).

Master controller (44) sends instruction through after the data processing; Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of getting the parallel folder of material (83) aligning processing/modular unit (1) on the pivot arm (81); Workpiece (36) on the loading and unloading station (45) of startup solenoid valve (41) extraction processing/modular unit (1); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation being got loading and unloading station (45) that the parallel folder of material (83) is removed processing/modular unit (1) and the loading and unloading station (45) that getting the parallel folder of material (83) aligning travelling belt (98) other end on the pivot arm (81) on the pivot arm (81); Starting solenoid valve (41) is placed on the workpiece (36) of getting the clamping of material parallel folder (83) on the loading and unloading station (45) of travelling belt (98) other end; Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is removed loading and unloading station (45).

Master controller (44) sends instruction through after the data processing; The motor (68) of starter motor modular unit (10); Motor (68) is carried out counter-rotating; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) inverted running, with workpiece (36) from the loading and unloading station (45) of travelling belt (98) other end to surveyed area (46) transmission, workpiece (36) during through surveyed area (46) detection probe (34) on the workpiece sensing equipment (97) workpiece (36) of assembling is implemented to detect.Workpiece sensing equipment (97) detects qualified workpiece (36); Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes qualified workpiece (36) in the slideway (33) of corresponding horizontal slideway modular unit (8); The operation training requirement of repairing, checking and sorting is accomplished in cycling repeatedly, implements the training request of detection, reparation and the letter sorting operation of check/correction/sorting system (17), like Fig. 1, Fig. 3, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 13, Figure 14, Figure 15, Figure 20, shown in Figure 35.

Embodiment 20

Single preface/two preface processing/outbound/warehouse-in-turnaround systems (18) are made up of processing/modular unit (1), straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), loading platform modular unit (5), many processing/modular unit (11), aggregate erection training platform (12) and master controller (44); In single preface/two preface processing/outbound/warehouse-in-turnaround systems (18) processing/modular unit (1), many processing/modular unit (11) and at least 2 group may command modular units (11) are set; Single group processing/modular unit (1) and many processing/modular unit (11) fill order's preface process operation, or processing/modular unit (1) and the two preface process operation training requests of many processing/modular unit (11) execution.

The middle part of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of straight line moving manipulator unit (2) stationary arrangement side by side is provided with processing/modular unit (1), many processing/modular unit (11) and loading platform modular unit (5); Be fixed on processing/modular unit (1), many processing/modular unit (11) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The workpiece positioning table (89) of the loading and unloading station (45) of processing/modular unit (1), the loading and unloading station (45) of many processing/modular unit (11) and loading platform modular unit (5) is corresponding with straight line moving manipulator unit (2), and is arranged side by side.The Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the loading and unloading station (45) of processing/modular unit (1), the loading and unloading station (45) of many processing/modular unit (11) and the workpiece positioning table (89) of loading platform modular unit (5).Straight line moving manipulator unit (2) opposite side fixedly installs tiered warehouse facility modular unit (4); Be fixed on tiered warehouse facility modular unit (4) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The shelf (87) of tiered warehouse facility modular unit (4) are corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the shelf (87) of tiered warehouse facility modular unit (4).Fixedly install master controller (44) below the aggregate erection training platform (12); Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request of single preface/two preface processing/outbound/warehouse-in-turnaround system (18) mounting arrangements.

Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of the shelf (87) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) extracts and grasp the workpiece to be processed (36) on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) clamping workpiece to be processed (36) and is removed goods yard (86); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1), starts Y type reclaimer robot (66), is placed on the workpiece to be processed (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the loading and unloading station (45) of processing/modular unit (1), transfer the training request of operating to workpiece to be processed (36) from the shelf (87) of tiered warehouse facility modular unit (4) to the loading and unloading station (45) of processing/modular unit (1), implement the training request of outbound, material loading operation through straight line moving manipulator unit (2).

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece to be processed (36) on the loading and unloading station (45) to processing/assembly station (47) along retention plate (52); Workpiece to be processed (36) moves to processing/assembly station (47) and is blocked by the V-type locating piece (57) on the retention plate (52), and workpiece to be processed (36) rests on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece to be processed (36) on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51), the processing/assembly manipulator (54) that rises promotes the workpiece to be processed (36) on the processing/assembly station (47).Behind the processing work (36); Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) is placed on workpiece to be processed (36) on processing/assembly station (47), starts solenoid valve (41) and lift cylinder (51), and processing/assembly manipulator (54) rises.Start to get and anticipate a cylinder (53), drive and get material locating piece (58) playback, get material locating piece (58) and place back processed workpiece (36) on the loading and unloading station (45), implement the training request of process operation.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of processing/modular unit (1).Start the gripper cylinder (76) on the mechanical arm (71), processed workpiece (36) is extracted in Y type reclaimer robot (66) clamping.Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove the Y type reclaimer robot (66) that grasps processed workpiece (36); Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed into the processed workpiece (36) of Y type reclaimer robot (66) clamping on the goods yard (86).Start rotary cylinder (31), displacement electromagnetic valve group (2-2) and the motor (68) of straight line moving manipulator unit (2); Y type reclaimer robot (66) is removed goods yard (86); Cycling workpiece (36) completion of processing in tiered warehouse facility modular unit (4) is repeatedly implemented the training request of outbound, the processing of single preface and in-stockroom operation.

Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; Motor (68) drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of the shelf (87) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) extracts and grasp the workpiece to be processed (36) on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2), the motor (68) of execution displacement; Y type reclaimer robot (66) clamping workpiece to be processed (36) and is removed goods yard (86); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of many processing/modular unit (11), starts Y type reclaimer robot (66), is placed on the workpiece to be processed (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of many processing/modular unit (11); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the loading and unloading station (45) of many processing/modular unit (11), transfer the training request of operating to workpiece to be processed (36) from the shelf (87) of tiered warehouse facility modular unit (4) to the loading and unloading station (45) of many processing/modular unit (11), implement the training request of outbound, material loading operation through straight line moving manipulator unit (2).

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, goes up one of them loading and unloading station (45) of placing workpiece (36) to be processed to station dial (94) and rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece to be processed (36) on the loading and unloading station (45) to V-type locating piece (57) along station dial (94); Workpiece to be processed (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece to be processed (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling.Start the lift cylinder (51) on the lifting column (60), the processing/assembly manipulator (54) that descends is aimed at workpiece (36) to be processed; Start and clamp cylinder (56); Machinery folder (61) grasps workpiece to be processed (36), starts lift cylinder (51), and processing/assembly manipulator (54) grasps workpiece to be processed (36) and promotes; Leave the loading and unloading station (45) of station dial (94), workpiece to be processed (36) is implemented processing.

After processing workpiece; Start the lift cylinder (51) on the lifting column (60); Decline processing/assembly manipulator (54), the loading and unloading station (45) of aligning station dial (94) starts clamping cylinder (56); Machinery folder (61) is placed into processed workpiece (36) on the loading and unloading station (45) of station dial (94), starts lift cylinder (51) and promotes the loading and unloading station (45) that processing/assembly manipulator (54) leaves station dial (94).The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; Go up station dial (94) loading and unloading station (45) rotation of placing processed workpiece (36); Rotate to the position of aiming at straight line walking machine fingerprint module unit (2), implement the training request of process operation.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of many processing/modular unit (1).Start the gripper cylinder (76) on the mechanical arm (71), processed workpiece (36) is extracted in Y type reclaimer robot (66) clamping.Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove the Y type reclaimer robot (66) that grasps processing back workpiece (36).Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed into the processed workpiece (36) of Y type reclaimer robot (66) clamping on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed goods yard (86); Cycling workpiece (36) completion of processing in tiered warehouse facility modular unit (4) is repeatedly implemented the training request of outbound, the processing of single preface and in-stockroom operation.

The mechanical arm (71) of straight line moving manipulator unit (2) takes out workpiece (36) to be processed from the shelf (87) of tiered warehouse facility modular unit (4); Simultaneously respectively to processing/modular unit (1) and many processing/modular unit (11) conveying workpieces (36); Processing/modular unit (1) and many processing/modular unit (11) are distinguished processing work (36) simultaneously; Processing/modular unit (1) and many processing/modular unit (11) processed workpiece (36) are transferred back respectively on the shelf (87) of tiered warehouse facility modular unit (4) by the mechanical arm (71) of straight line moving manipulator unit (2) again; Cycling is implemented the training request of outbound, the processing of two preface and in-stockroom operation until workpiece (36) completion of processing in the tiered warehouse facility modular unit (4) repeatedly.

When processed workpiece (36) is filled in each goods yard (86) of tiered warehouse facility modular unit (4); Need be with processed workpiece (36) outbound; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down, the motor (68) of carrying out displacement drives travelling belt (73), and travelling belt (73) drive mechanical arm (71) is along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), the workpiece (36) on Y type reclaimer robot (66) the clamping goods yard (86); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the workpiece positioning table (89) of loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed into the workpiece of clamping (36) on the workpiece positioning table (89).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed workpiece positioning table (89), and workpiece positioning table (89) is gone up processed workpiece (36) and waited for the entering subsequent processing.The detection probe (34) of loading platform modular unit (5) feeds back to master controller (44) to numerical information; Master controller (44) sends instruction; Processed workpiece (36) on the workpiece positioning table (89) of loading platform modular unit (5) is transplanted on subsequent processing; All outbounds of the processed workpiece (36) of cycling on the goods yard (86) of tiered warehouse facility modular unit (4) repeatedly; Implement the training request of single preface processing, two preface processing, outbound, warehouse-in and the turnover operation of single preface/two preface processing/outbound/warehouse-in-turnaround systems (18), like Fig. 1, Fig. 2, Fig. 4, Fig. 5, Figure 12, Figure 14, Figure 15, Figure 21, shown in Figure 36.

Embodiment 21

Single preface/dibit is processed/is gone out part system (19) and is made up of processing/modular unit (1), solid mechanical fingerprint module unit (3), travelling belt detection module unit (6), inclined ramp detection module unit (7), horizontal slideway detection module unit (8), well formula feed modular unit (9), motor module unit (10), terminal block (28), many processing/modular unit (11), aggregate erection training platform (12) and master controller (44); Single preface/dibit is processed/is gone out processing/modular unit (1), many processing/modular unit (11), at least 2 group solid mechanical fingerprint module units (3) and at least 2 group well formula feed modular units (9) are set in the part system (19); 2 groups of solid mechanical fingerprint module units (3) are carried out single separately preface process operation with processing/modular unit (1) and many processing/modular unit (11); 2 groups of well formula feed modular units (9) are supplied with different workpiece separately, and 2 kinds of different workpiece are implemented the training on operation requirement of feeding, detection, processing and letter sorting separately.

One end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of one end of travelling belt detection module unit (6) fixedly installs 2 groups of well formula feed modular units (9); Be fixed on 2 groups of well formula feed modular units (9) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The port that goes out feed bin (107) of well formula feed modular unit (9) docks with travelling belt detection module unit (6) travelling belt (98), and it is corresponding with the loading and unloading station (45) of (6) one ends, travelling belt detection module unit to go out feed bin (107).The opposite side of one end of travelling belt detection module unit (6) fixedly installs inclined ramp detection module unit (7) and horizontal slideway detection module unit (8); Be fixed on inclined ramp detection module unit (7) and horizontal slideway detection module unit (8) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38), the port of the slideway (33) of inclined ramp detection module unit (7) and horizontal slideway detection module unit (8) connects with the loading and unloading station (45) of (6) one ends, travelling belt detection module unit separately; The opposite side of the other end of travelling belt detection module unit (6) fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (68) of starter motor modular unit (10); The operation of motor (68) forward, motor (109) drive travelling belt (98) the forward running of travelling belt detection module unit (6).The operation circuit of the operation circuit of the solenoid valve (41) of 2 groups of well formula feed modular units (9) and the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends; The circuit of the detection probe (34) of inclined ramp detection module unit (7) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.

One side of the other end of travelling belt detection module unit (6) fixedly installs processing/modular unit (1), many processing/modular unit (11) and 2 groups of solid mechanical fingerprint module units (3); Be fixed on processing/modular unit (1), many processing/modular unit (11) and 2 groups of solid mechanical fingerprint module units (3) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); Processing/modular unit (1), many processing/modular unit (11) and the L-shaped arrangement of 2 groups of solid mechanical fingerprint module units (3), the loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11) is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6).One side of processing/modular unit (1) and many processing/modular unit (11) fixedly installs 2 groups of solid mechanical fingerprint module units (3) respectively separately; Wherein the loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt detection module unit (6) of one group of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the loading and unloading station (45) of travelling belt detection module unit (6), and wherein the loading and unloading station (45) of getting the parallel folder of material (83) aligning processing/modular unit (1) of one group of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the loading and unloading station (45) of processing/modular unit (1).One end of many processing/modular unit (11) fixedly installs another group solid mechanical fingerprint module unit (3); The parallel folder of material (83) of getting of another group solid mechanical fingerprint module unit (3) is aimed at loading and unloading station (45) of travelling belt detection module unit (6) and is just extracted or place work piece (36) from the loading and unloading station (45) of travelling belt detection module unit (6), another group solid mechanical fingerprint module unit (3) get loading and unloading station (45) that the parallel folder of material (83) aims at many processing/modular unit (11) just from loading and unloading station (45) extraction or the place work piece (36) of many processing/modular unit (11).Fixedly install master controller (44) below the training main unit (12); Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request that part system (19) mounting arrangement was processed/gone out to single preface/dibit.

Placing 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9) is workpiece 1 (36) and workpiece 2 (36); Master controller (44) sends instruction; Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 1 (36) onto on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (109) of starter motor modular unit (10); Motor (109) is just being transported row; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, the workpiece 1 (36) of travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the loading and unloading station (45) of travelling belt (98) other end.

Start the wherein rotary cylinder (31) of one group of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece 1 (36) on the loading and unloading station (45) of travelling belt (98) other end.Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 1 (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the loading and unloading station (45) of getting the parallel folder of material (83) aligning processing/modular unit (1) on the pivot arm (81).Starting solenoid valve (41) is placed on workpiece 1 (36) on the loading and unloading station (45) of processing/modular unit (1); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the loading and unloading station (45) of processing/modular unit (1), implements the training request that the material loading of single operation, the processing of single station is operated.

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 1 (36) to processing/assembly station (47) along retention plate (52); Workpiece 1 (36) moves to processing/assembly station (47) and is blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 1 (36) rests on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece 1 (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece 1 (36).After treating workpiece 1 (36) processing; Start solenoid valve (41) and lift cylinder (51); Decline processing/assembly manipulator (54) starts clamping cylinder (56), and machinery folder (61) is placed into processed workpiece 1 (36) on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51), processing/assembly manipulator (54) rises and leaves processing/assembly station (47); Start to get and anticipate a cylinder (53), drive and get material locating piece (58) playback, get material locating piece (58) and put back to processed workpiece 1 (36) on the loading and unloading station (45).Start the wherein rotary cylinder (31) of one group of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the processed workpiece 1 (36) on the loading and unloading station (45) of processing/modular unit (1); Start solenoid valve (41), get the parallel folder of material (83) and grasp processed workpiece 1 (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt (98) other end on the pivot arm (81); Starting solenoid valve (41) is placed on processed workpiece 1 (36) on the loading and unloading station (45) of travelling belt (98) other end; Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of travelling belt (98) other end.The motor (68) of starter motor modular unit (10); Motor (68) counter-rotating operation; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) reverse direction operation; The processed workpiece 1 (36) of travelling belt (98) from the loading and unloading station (45) of travelling belt (98) other end be transferred to the surveyed area (46) of travelling belt (98), processed workpiece 1 (36) during through surveyed area (46) detection probe (34) on the workpiece sensing equipment (97) processed workpiece 1 (36) is implemented to detect.When detecting processed workpiece 1 (36); Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes processed workpiece 1 (36) in the slideway (33) of corresponding inclined ramp modular unit (7); Processed workpiece 1 (36) gets in the slideway (33) of inclined ramp modular unit (7); The detection probe (34) of inclined ramp modular unit (7) detects processed workpiece 1 (36); Feed back to master controller (44) to the numerical information of processed workpiece 1 (36), master controller (44) is given subsequent processing the digital information transmission of processed workpiece 1 (36), and processed workpiece 1 (36) is waited for and got into subsequent processing; Cycling is repeatedly implemented single preface/dibit and is processed/go out the training request that the part operation was processed, detects, sorts and gone out to single operation of part system (19), single station.

Master controller (44) sends instruction; Start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) onto on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (68) of starter motor modular unit (10); Motor (68) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, the workpiece 2 (36) of travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the loading and unloading station (45) of travelling belt (98) other end.

Start the rotary cylinder (31) of another group solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece 2 (36) on the loading and unloading station (45) of travelling belt (98) other end.Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 2 (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the loading and unloading station (45) of getting the parallel folder of material (83) many processing/modular unit of aligning (11) on the pivot arm (81); Starting solenoid valve (41) is placed on workpiece 2 (36) on the loading and unloading station (45) of many processing/modular unit (11); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the loading and unloading station (45) of many processing/modular unit (11), implements the training request that the material loading of single operation, double processing is operated.

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 2 (36) rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 2 (36) to V-type locating piece (57) along station dial (94); Workpiece 2 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 2 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements processing.Start the lift cylinder (51) on the lifting column (60); Decline processing/assembly manipulator (54), alignment pieces 2 (36) starts clamping cylinder (56); Machinery folder (61) grasps workpiece 2 (36); Start lift cylinder (51), processing/assembly manipulator (54) grasps workpiece 2 (36) and promotes, and leaves the loading and unloading station (45) of station dial (94).Workpiece 2 (36) is implemented processing; After treating workpiece 2 (36) processing; Start the lift cylinder (51) on the lifting column (60), the processing/assembly manipulator (54) that descends is placed on processed workpiece 2 (36) on the loading and unloading station (45); Start lift cylinder (51), processing/assembly manipulator (54) leaves the loading and unloading station (45) of station dial (94).The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; Go up the loading and unloading station (45) of placing processed workpiece 2 (36) to station dial (94) and rotate to the position of aiming at another group solid mechanical fingerprint module unit (3), implement the training request of processing work 2 (36) operations.

Start the rotary cylinder (31) of another group solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the processed workpiece 2 (36) on the loading and unloading station (45) of many processing/modular unit (11).Start solenoid valve (41), get the parallel folder of material (83) and grasp processed workpiece 2 (36); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt (98) other end on the pivot arm (81); Starting solenoid valve (41) is placed on processed workpiece 2 (36) on the loading and unloading station (45) of travelling belt (98) other end; Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of travelling belt (98) other end.The motor (68) of starter motor modular unit (10); Motor (68) counter-rotating operation; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) reverse direction operation; Travelling belt (98) processed workpiece 2 (36) from the loading and unloading station (45) of travelling belt (98) other end be transferred to the surveyed area (46) of travelling belt (98), processed workpiece 2 (36) during through surveyed areas (46) detection probe (34) on the workpiece sensing equipment (97) processed workpiece 2 (36) is implemented to detect.When detecting processed workpiece 2 (36); Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes processed workpiece 2 (36) in the slideway (33) of corresponding horizontal slideway modular unit (8); Processed workpiece 2 (36) gets in the slideway (33) of horizontal slideway modular unit (8); The detection probe (34) of horizontal slideway modular unit (8) detects processed workpiece 2 (36); Feed back to master controller (44) to the numerical information of processed workpiece 2 (36); Master controller (44) is given subsequent processing the digital information transmission of processed workpiece 2 (36), and processed workpiece 2 (36) is waited for and got into subsequent processing, cycling repeatedly; Implement that the processing of single operation of part system (19), single station is processed/gone out to single preface/dibit, the training request that part is operated process, detects, sorts and gone out to double, like Fig. 1, Fig. 3, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 13, Figure 14, Figure 15, Figure 22, shown in Figure 37.

Embodiment 22

Check/correction/warehouse-in system (20) is made up of straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp detection module unit (7), well formula feed modular unit (9), motor module unit (10), terminal block (28), aggregate erection training platform (12) and master controller (44); At least 2 group well formula feed modular units (9) are set in check/correction/warehouse-in system (20); 2 groups of well formula feed modular units (9) are placed 2 many different workpiece respectively; Supply with not 2 kinds of workpiece together separately, 2 kinds of different workpiece implement to detect separately, sort, repair, go into the training on operation requirement of library storage.

One end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Straight line moving manipulator unit (2) is fixedly installed on the other end of travelling belt detection module unit (6), and travelling belt detection module unit (6) and straight line moving manipulator unit (2) are T-shaped on aggregate erection training platform (12).One side of one end of travelling belt detection module unit (6) fixedly installs 2 groups of well formula feed modular units (9); Be fixed on 2 groups of well formula feed modular units (9) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); 2 groups of well formula feed modular units (9) are arranged side by side; The operation circuit of the solenoid valve (41) of 2 groups of well formula feed modular units (9) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends; The circuit of the detection probe (34) of 2 groups of well formula feed modular units (9) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.The feed bin (107) that goes out of 2 groups of well formula feed modular units (9) all docks with the travelling belt (98) of travelling belt detection module unit (6), and it is all corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107).The opposite side of the other end of travelling belt detection module unit (6) fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The operation circuit of the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; The motor (68) of starter motor modular unit (10), the operation of motor (68) forward and backward, motor (68) drives the positive and negative direction running of travelling belt (98) of travelling belt detection module unit (6).

The opposite side at the middle part of travelling belt detection module unit (6) fixedly installs inclined ramp modular unit (7); Be fixed on inclined ramp modular unit (7) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The inlet of the slideway (33) of inclined ramp modular unit (7) docks with the surveyed area (46) of travelling belt detection module unit (6), and the inlet of the slideway (33) of inclined ramp modular unit (7) is corresponding with workpiece sensing equipment (97).The circuit of the detection probe (34) of inclined ramp modular unit (7) is connected with the input signal interface (112) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.

One side of the other end of travelling belt detection module unit (6) fixedly installs solid mechanical fingerprint module unit (3) and loading platform modular unit (5); Be fixed on manipulator unit (3) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with solid mechanical fingerprint module unit (3); The workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5); The loading and unloading station (45) of the other end of travelling belt detection module unit (6) is corresponding with solid mechanical fingerprint module unit (3), solid mechanical fingerprint module unit (3) get the loading and unloading station (45) of the other end that the parallel folder of material (83) aims at travelling belt detection module unit (6) just from loading and unloading station (45) extraction or the place work piece (36) of the other end of travelling belt detection module unit (6).The loading and unloading station (45) of the other end of travelling belt detection module unit (6) is corresponding with the Y type reclaimer robot (66) of the mechanical arm (71) of straight line moving manipulator unit (2); The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4); Be fixed on tiered warehouse facility modular unit (4) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The loading and unloading station (45) that the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the other end of travelling belt detection module unit (6) just extracts or place work piece (36) from the loading and unloading station (45) of the other end of travelling belt detection module unit (6), and the goods yard (86) that the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at tiered warehouse facility modular unit (4) is just from goods yard (86) extraction or the place work piece (36) of tiered warehouse facility modular unit (4).

Fixedly install master controller (44) below the aggregate erection training platform (12); Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request of check/correction/warehouse-in system (20) mounting arrangement.

Placing 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9) is workpiece 1 (36) and workpiece 2 (36); Master controller (44) sends instruction; Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 1 (36) onto on the loading and unloading station (45) of an end of travelling belt (98) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).

The motor (68) of starter motor modular unit (10); Motor (68) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, the workpiece 1 (36) on the travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the surveyed area (46) of travelling belt (98).During workpiece 1 (36) process surveyed area (46), the detection probe (34) on the workpiece sensing equipment (97) is implemented to detect to workpiece 1 (36).1 (36) detection need to judge whether to repair to workpiece through the detection probe (34) on the workpiece sensing equipment (97); Three kinds of situation can appear in workpiece 1 (36): defective workpiece, qualified workpiece of repairing and the defective workpiece that can't repair of needing, enforcement is to the training request of single feeding, detection and the letter sorting operation of workpiece 1 (36).

When detecting the workpiece 1 (36) that to repair; Detection probe (34) is fed back the numerical information of the workpiece 1 (36) that can't repair to master controller (44); After master controller (44) receives numerical information; Send instruction after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95), the pusher window (96) that the expansion link of the cylinder of selecting materials (100) passes on the locating support (99) pushes the workpiece that can't repair 1 (36) in the slideway (33) of corresponding inclined ramp modular unit (7), and the workpiece 1 (36) that can't repair gets in the slideway (33); The detection probe (34) of inclined ramp modular unit (7) detects the workpiece 1 (36) that can't repair; The numerical information of the workpiece 1 (36) that the detection probe (34) of inclined ramp modular unit (7) can't be repaired to master controller (44) feedback, master controller (44) sends instruction after receiving numerical information after treatment, and the workpiece 1 (36) that can't repair is waited for the processing of subsequent processing.The training request of operation is implemented to detect and sort in cycling repeatedly to the workpiece (36) that can't repair.

When detecting qualified workpiece 1 (36); Detection probe (34) is to the numerical information of the qualified workpiece 1 (36) of master controller (44) feedback; Master controller (44) sends instruction after receiving numerical information after treatment; The travelling belt (98) of travelling belt detection module unit (6) continues operation, is transferred to qualified workpiece 1 (36) the loading and unloading station (45) of travelling belt (98) other end.Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the qualified workpiece 1 (36) on the loading and unloading station (45) that is transferred to travelling belt (98) other end.Start the gripper cylinder (76) on the mechanical arm (71), the qualified workpiece 1 (36) on the loading and unloading station (45) of Y type reclaimer robot (66) grip belts (98) other end.Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) is placed into qualified workpiece (36) on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed the goods yard (86) of tiered warehouse facility modular unit (4); Cycling is filled qualified workpiece (36) on the shelf (87) of tiered warehouse facility modular unit (4) repeatedly, qualified workpiece (36) is implemented the training request of detection and in-stockroom operation.

When detecting the defective workpiece 1 (36) that needs reparation; Detection probe (34) is to the defective numerical information that needs the workpiece 1 (36) of reparation of master controller (44) feedback; Master controller (44) sends instruction after receiving numerical information after treatment; The travelling belt (98) of travelling belt detection module unit (6) continues operation, is transferred to the defective workpiece 1 (36) that need repair the loading and unloading station (45) of travelling belt (98) other end.Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting on the pivot arm (81) expected the upward defective workpiece 1 (36) that needs reparation of loading and unloading station (45) of parallel folder (83) aligning travelling belt (98) other end, and startup solenoid valve (41) is got and expected that parallel folder (83) grasps the defective workpiece 1 (36) that need repair.Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) on the pivot arm (81); Start solenoid valve (41) and expect that getting the defective workpiece (36) that needs to repair that parallel folder (83) grasps is placed on the workpiece positioning table (89) of loading platform modular unit (5), operation is repaired in defective workpiece 1 (36) enforcement that needs to repair on the workpiece positioning table (89).Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the workpiece positioning table (89) of loading platform modular unit (5).Implement to go up training request from operation to the workpiece positioning table (89) of loading platform modular unit (5) that transfer to the defective workpiece 1 (36) that needs to repair from the loading and unloading station (45) of travelling belt detection module unit (6) through solid mechanical fingerprint module unit (3).

The detection probe (34) of loading platform modular unit (5) detects workpiece positioning table (89) and goes up the defective workpiece 1 (36) that needs reparation; The defective workpiece 1 (36) that needs to repair is implemented to repair; Repair the numerical information that back workpiece 1 (36) is repaired to master controller (44) feedback in the back; After master controller (44) receives numerical information; Send instruction after treatment, start the rotary cylinder (31) of solid mechanical fingerprint module unit (3), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece 1 (36) after the workpiece positioning table (89) of loading platform modular unit (5) is gone up reparation, starts solenoid valve (41) and gets the workpiece 1 (36) after the parallel folder of material (83) grasps reparation.Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting the loading and unloading station (45) that the parallel folder of material (83) is aimed at travelling belt (98) other end on the pivot arm (81), starting solenoid valve (41) and be placed on the workpiece of getting after the reparation that the parallel folder of material (83) grasps (36) on the loading and unloading station (45) of travelling belt (98) other end; Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the loading and unloading station (45) of travelling belt (98) other end, implements to go up training request from operation to the loading and unloading station (45) of travelling belt detection module unit (6) that transfer to the workpiece 1 (36) after repairing from the workpiece positioning table (89) of loading platform modular unit (5) through solid mechanical fingerprint module unit (3).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the workpiece 1 (36) after the reparation on the loading and unloading station (45) that is transferred to travelling belt (98) other end.Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) grasps the workpiece 1 (36) after the reparation on the loading and unloading station (45) of travelling belt (98) other end; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4).Start the gripper cylinder (76) on the mechanical arm (71), the workpiece (36) of Y type reclaimer robot (66) after the reparation that grasps is placed on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed the goods yard (86) of tiered warehouse facility modular unit (4); Implement to go up training request from operation to the shelf (87) of tiered warehouse facility modular unit (4) that transfer to the workpiece 1 (36) after repairing from the loading and unloading station (45) of travelling belt detection module unit (6) through the Y type reclaimer robot (66) of straight line moving manipulator unit (2); Workpiece 1 (36) after cycling is filled reparation in reaching tiered warehouse facility modular unit (4) is repeatedly implemented check/correction/warehouse-in system (20) and is implemented the training request of single feed, check, letter sorting, reparation and in-stockroom operation.

Check/correction/warehouse-in system (20) is provided with 2 groups of well formula feed modular units (9); Place 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9); Place work piece 2 (36) in the well formula feed storehouse (103) of another group well formula feed modular unit (9); Workpiece 2 (36) will pass through the detection of travelling belt detection module unit (6) equally, divides to detect defective workpiece, qualified workpiece and the defective workpiece that can't repair that needs reparation.The defective Workpiece transfer that can't repair slides in the modular unit (8) to level, waits for the processing of subsequent processing.Qualified workpiece is transplanted on the goods yard (86) of tiered warehouse facility modular unit (4) through mechanical arm (71) by straight line moving manipulator unit (2).The defective workpiece that need repair is transplanted on workpiece positioning table (89) the enforcement reparation of loading platform modular unit (5) from the loading and unloading station (45) of travelling belt detection module unit (6) by solid mechanical fingerprint module unit (3); Repair the back and transfer back on the loading and unloading station (45) of travelling belt detection module unit (6), be transplanted on the goods yard (86) of tiered warehouse facility modular unit (4) through mechanical arm (71) by straight line moving manipulator unit (2) again by solid mechanical fingerprint module unit (3).Workpiece (36) after cycling is filled reparation in reaching tiered warehouse facility modular unit (4) repeatedly; Check/correction/warehouse-in system (20) realizes 2 kinds of different workpiece are implemented the training request of two feed, check, letter sorting, reparation and in-stockroom operation, like Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Figure 10, Figure 11, Figure 13, Figure 14, Figure 15, Figure 23, shown in Figure 38.

Embodiment 23

Multiple spot material loading/processing/assembling/warehouse-in system (21) is made up of processing/modular unit (1), straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28), aggregate erection training platform (12) and master controller (44); Processing/modular unit (1), many processing/modular unit (11) and at least 2 group well formula feed modular units (9) are set in multiple spot material loading/processing/assembling/warehouse-in system (21); Processing/modular unit (1) and many processing/modular unit (11) are implemented processing and assembly manipulation separately, and processing/modular unit (1) and many processing/modular unit (11) are implemented the training on operation purpose of processing and assembling.2 groups of well formula feed modular units (9) are supplied with different workpiece separately, and 2 kinds of different workpiece are implemented feeding, detection, processing, assembled, go into the training on operation requirement of library storage.

One end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of (6) one ends, travelling belt detection module unit fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit, motor module unit (10) (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (68) of starter motor modular unit (10), motor (68) rotating operation, motor (68) drives the positive and negative direction running of travelling belt (98) of travelling belt detection module unit (6).The other end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end of travelling belt detection module unit (6) is corresponding with an end of straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the loading and unloading station (45) of the other end of travelling belt detection module unit (6) just from loading and unloading station (45) extraction or the place work piece (36) of the other end of travelling belt detection module unit (6).

One side at middle part, travelling belt detection module unit (6) fixedly installs solid mechanical fingerprint module unit (3); Be fixed on solid mechanical fingerprint module unit (3) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The loading and unloading station (45) of one end of the travelling belt (98) of travelling belt detection module unit (6) is corresponding with solid mechanical fingerprint module unit (3), solid mechanical fingerprint module unit (3) get the loading and unloading station (45) of an end of travelling belt (98) that the parallel folder of material (83) aims at travelling belt detection module unit (6) just from loading and unloading station (45) extraction or the place work piece (36) of travelling belt (45) one ends of travelling belt detection module unit (6).One side of solid mechanical fingerprint module unit (3) fixedly installs loading platform modular unit (5); Be fixed on loading platform modular unit (5) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with solid mechanical fingerprint module unit (3), and the workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5).

The side of loading platform modular unit (5) fixedly installs wherein one group of well formula feed modular unit (9) of 2 groups of well formula feed modular units (9); Be fixed on one group of well formula feed modular unit (9) wherein on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Wherein the operation circuit of the solenoid valve (41) of one group of well formula feed modular unit (9) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; Wherein the circuit of the detection probe (34) of one group of well formula feed modular unit (9) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.Wherein one group of well formula feed modular unit (9) to go out feed bin (107) corresponding with the workpiece positioning table (89) of loading platform modular unit (5); Wherein the discharging opening that goes out feed bin (107) of one group of well formula feed modular unit (9) docks with the workpiece positioning table (89) of loading platform modular unit (5), shifts onto on the workpiece positioning table (89) of loading platform modular unit (5) through the workpiece (36) that pusher cylinder (106) will go out in the feed bin (107).

The opposite side of (6) one ends, travelling belt detection module unit fixedly installs another group well formula feed modular unit (9) of 2 groups of well formula feed modular units (9); Be fixed on another group well formula feed modular unit (9) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The operation circuit of the solenoid valve (41) of another group well formula feed modular unit (9) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; The circuit of the detection probe (34) of another group well formula feed modular unit (9) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; The feed bin (107) that goes out to another group well formula feed modular unit (9) of master controller (44) feedback digital information docks with the travelling belt (98) of travelling belt detection module unit (6), and it is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107).

One side of straight line moving manipulator unit (2) fixedly installs processing/modular unit (1) and many processing/modular unit (11); Be fixed on processing/modular unit (1) and many processing/modular unit (11) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); Processing/modular unit (1) and many processing/modular unit (11) are arranged side by side; The loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2), and the loading and unloading station (45) that the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at processing/modular unit (1) and many processing/modular unit (11) respectively just extracts or place work piece (36) from the loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11); In the processing/modular unit (1) workpiece (36) is implemented process operation, many processing/modular unit (11) are to workpiece (36) enforcement assembly manipulation.

The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4); Be fixed on tiered warehouse facility modular unit (4) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Tiered warehouse facility modular unit (4) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4) and just extracted or place work piece (36) from the goods yard (86) of tiered warehouse facility modular unit (4).Fixedly install master controller (44) below the aggregate erection training platform (12); Through stationary positioned hole (38) with bolt master controller (44) be fixed on aggregate erection training platform (12) below; Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit; Implement the training request of multiple spot material loading/processing/assembling/warehouse-in system (21) mounting arrangement, carry out the training request of multiple spot material loading, processing work, assembling workpiece and the in-stockroom operation of multiple spot material loading/processing/assembling/warehouse-in system (21).

Placing 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9) is workpiece 1 (36) and workpiece 2 (36); Master controller (44) sends instruction; Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 1 (36) on the workpiece positioning table (89) of loading platform modular unit (5) onto from the discharging opening that goes out feed bin (107).Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece 1 (36) on the workpiece positioning table (89) of loading platform modular unit (5); Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 1 (36); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting the loading and unloading station (45) that the parallel folder of material (83) leaves the workpiece positioning table (89) of loading platform modular unit (5) and aims at travelling belt (98) one ends of travelling belt detection module unit (6) on the pivot arm (81); Start on the loading and unloading station (45) of an end of travelling belt (98) that solenoid valve (41) is placed on workpiece 1 (36) travelling belt detection module unit (6); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation being got the loading and unloading station (45) of an end that the parallel folder of material (83) is removed the travelling belt (98) of travelling belt detection module unit (6) on the pivot arm (81); The motor (68) of starter motor modular unit (10); Motor (68) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, the workpiece 1 (36) of travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the loading and unloading station (45) of travelling belt (98) other end.

Workpiece 1 (36) is through the surveyed area (46) of travelling belt detection module unit (6) in the process of transmission; The workpiece sensing equipment (97) of detection module unit (6) is implemented to detect to workpiece 1 (36); Workpiece sensing equipment (97) is to the numerical information of master controller (44) feedback workpiece 1 (36); Master controller (44) sends instruction after receiving numerical information after treatment; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6).Start the gripper cylinder (76) on the mechanical arm (71); Y type reclaimer robot (66) grasps the workpiece 1 (36) on the loading and unloading station (45); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and carry out displacement motor (68), Y type reclaimer robot (66) is removed the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71); Be placed on the workpiece 1 (36) that is clamped on the Y type reclaimer robot (66) on the loading and unloading station (45) of processing/modular unit (1); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the loading and unloading station (45) of processing/modular unit (1), implements the feeding of workpiece 1 (36) and the training request of detecting operation.

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 1 (36) to processing/assembly station (47) along retention plate (52); Workpiece 1 (36) moves to processing/assembly station (47) and is blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 1 (36) rests on processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece 1 (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece (36); After treating that workpiece 1 (36) is implemented processing; Start solenoid valve (41) and lift cylinder (51); Decline processing/assembly manipulator (54) starts clamping cylinder (56), and machinery folder (61) is placed into processed workpiece 1 (36) on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51), processing/assembly manipulator (54) rises and leaves processing/assembly station (47); Start to get and anticipate a cylinder (53), drive and get material locating piece (58) playback, get material locating piece (58) and place back processed workpiece 1 (36) on the loading and unloading station (45), implement training request the process operation of workpiece 1 (36).

Master controller (44) sends instruction; Start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) onto on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (68) of starter motor modular unit (10) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, the workpiece 2 (36) on the travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the loading and unloading station (45) of travelling belt (98) other end; Workpiece 2 (36) is through the surveyed area (46) of travelling belt detection module unit (6) in the process of transmission; The workpiece sensing equipment (97) of detection module unit (6) is implemented to detect to workpiece 2 (36); Workpiece sensing equipment (97) is to the numerical information of master controller (44) feedback workpiece 2 (36); Master controller (44) receives numerical information and sends instruction through after the digital processing; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Workpiece 2 (36) on the loading and unloading station (45) of travelling belt (98) other end of Y type reclaimer robot (66) the aligning travelling belt detection module unit (6) of mechanical arm (71) starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) grasps workpiece 2 (36).Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of many processing/modular unit (11), starts the gripper cylinder (76) on the mechanical arm (71); Be placed on the workpiece 2 (36) that is clamped on the Y type reclaimer robot (66) on the loading and unloading station (45) of many processing/modular unit (11); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the loading and unloading station (45) of many processing/modular unit (11), implements the training request to workpiece 2 (36) feedings and detecting operation.

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 2 (36) rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 2 (36) to V-type locating piece (57) along station dial (94); Workpiece 2 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 2 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements processing.Start the lift cylinder (51) on the lifting column (60), the processing/assembly manipulator (54) that descends, alignment pieces 2 (36); Start and clamp cylinder (56); Machinery folder (61) grasps workpiece 2 (36), starts lift cylinder (51), and processing/assembly manipulator (54) grasps workpiece 2 (36) and promotes; Leave the loading and unloading station (45) of station dial (94), to workpiece 2 (36) implement processing and etc. to be assembled.

Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) extracts processed workpiece 1 (36); Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Mechanical arm (71) moves to the loading and unloading station (45) of many processing/modular unit (11) along guide rail (72), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece 1 (36) that is clamped on the Y type reclaimer robot (66) on the loading and unloading station (45) of many processing/modular unit (11); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the loading and unloading station (45) of many processing/modular unit (11).

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 1 (36) rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 1 (36) to V-type locating piece (57) along station dial (94); Workpiece 1 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 1 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling.

Start the lift cylinder (51) on the lifting column (60); Processing/assembly manipulator (54) descends; Put into workpiece 1 (36) to processed workpiece 2 (36), accomplish assembly manipulation, workpiece 1 (36) and workpiece 2 (36) are made into the workpiece (36) after the assembling; Start lift cylinder (51), processing/assembly manipulator (54) leaves the loading and unloading station (45) of station dial (94).The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; Go up the loading and unloading station (45) of placing the workpiece (36) after assembling to station dial (94) and rotate to the position of aiming at straight line walking machine fingerprint module unit (2), implement training request the assembly manipulation of workpiece 1 (36) and workpiece 2 (36).

Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of many processing/modular unit (11); Start the gripper cylinder (76) on the mechanical arm (71), the workpiece (36) of the assembling on the loading and unloading station (45) of Y type reclaimer robot (66) many processing/modular unit of extraction (11).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) is placed into the workpiece (36) of assembling on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed the goods yard (86) of tiered warehouse facility modular unit (4); Implement the training request of assembling workpiece in-stockroom operation; Cycling is filled the workpiece of assembling (36) until reaching the tiered warehouse facility modular unit repeatedly; Carry out multiple spot material loading/processing/assembling/warehouse-in system (21) the training request of different workpiece, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 24, shown in Figure 39 by multiple spot material loading, processing work, assembling workpiece and warehouse-in.

Embodiment 24

Batching/outbound/categorizing system (22) is made up of straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp detection module unit (7), horizontal slideway detection module unit (8), motor module unit (10), aggregate erection training platform (12) and master controller (44), and the training on operation requirement of batching, outbound, classification is implemented at least 2 group inclined ramp detection module unit (7) in the batching/outbound/categorizing system (22).

One end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The side of (6) one ends, travelling belt detection module unit fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The motor (68) of motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The operation circuit of the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends, the motor (68) of starter motor modular unit (10); Motor (68) rotating operation, motor (68) drive travelling belt (98) the both forward and reverse directions running of travelling belt detection module unit (6).The other end of travelling belt detection module unit (6) is corresponding with an end of straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the loading and unloading station (45) of the other end of travelling belt detection module unit (6) just from loading and unloading station (45) extraction or the place work piece (36) of the other end of travelling belt detection module unit (6).

The side of (6) one ends, travelling belt detection module unit fixedly installs horizontal slideway detection module unit (8) and 2 groups of inclined ramp detection module unit (7); Be fixed on horizontal slideway detection module unit (8) and 2 groups of inclined ramp detection module unit (7) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The circuit of the detection probe (34) of horizontal slideway modular unit (8) and 2 groups of inclined ramp detection module unit (7) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.Horizontal slideway modular unit (8) is fixedly installed on the side of travelling belt detection module unit (6); The port of the slideway (33) of horizontal slideway modular unit (8) docks with the travelling belt (98) of travelling belt detection module unit (6), and the port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97).2 groups of inclined ramp modular units (7) are fixedly installed on the side of travelling belt detection module unit (6); The port of the slideway (33) of inclined ramp modular unit (7) docks with the travelling belt (98) of travelling belt detection module unit (6), and the port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97) separately.

The side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4) and loading platform modular unit (5); Be fixed on tiered warehouse facility modular unit (4) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The shelf (87) of tiered warehouse facility modular unit (4) are corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the shelf (87) of tiered warehouse facility modular unit (4); The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5).

Fixedly install master controller (44) below the aggregate erection training platform (12); Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit; Implement the training request of batching/outbound/categorizing system (22) mounting arrangement, carry out the training request of batching, outbound, detection and the letter sorting operation of batching/outbound/categorizing system (22).

Mixing 2 kinds of workpiece of storage (36) in the tiered warehouse facility modular unit (4) is workpiece 1 (36) and workpiece 2 (36), goes up the workpiece sensing equipment (97) that is provided with through travelling belt detection module unit (6) and from the workpiece (36) that mixes, detects, distinguishes and sort out workpiece 1 (36) and workpiece 2 (36).Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Mechanical arm (71) is along guide rail (72) translation; Y type reclaimer robot (66) is aimed at the goods yard (86) of the shelf (87) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) extracts and grasp the workpiece that mixes (36) on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) clamping the workpiece (36) that mixes and is removed goods yard (86); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of the other end of travelling belt detection module unit (6).Start the gripper cylinder (76) on the mechanical arm (71); Y type reclaimer robot (66) is placed into the workpiece that mixes (36) that grasps on the loading and unloading station (45) of the other end of travelling belt detection module unit (6); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from loading and unloading station (45), implement to go up training request from operation to the loading and unloading station (45) of travelling belt detection module unit (6) that transfer to the workpiece (36) that mixes from the shelf (87) of tiered warehouse facility modular unit (4) through the Y type reclaimer robot (66) of straight line moving manipulator unit (2).

The motor (68) of starter motor modular unit (10); Motor (68) counter-rotating operation; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) reverse direction operation; The workpiece that mixes (36) on the travelling belt (98) from the loading and unloading station (45) of travelling belt (98) other end to surveyed area (46) transmission, the workpiece that mixes (36) during through surveyed area (46) detection probe (34) on the workpiece sensing equipment (97) workpiece (36) that mixes is implemented to detect.

The workpiece (36) that mixes is implemented to detect when the workpiece sensing equipment (97) of travelling belt detection module unit (6), the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is placed on the work positioning table (89) of loading platform modular unit (5) from the workpiece that mixes (36) of shelf (87) extraction of tiered warehouse facility modular unit (4).The workpiece sensing equipment (97) of travelling belt detection module unit (6) has detected the workpiece (36) that mixes at the appointed time, and the workpiece (36) that the Y type reclaimer robot (66) of straight line moving manipulator unit (2) directly will mix is transplanted on the loading and unloading station (45) of travelling belt detection module unit (6) from the work positioning table (89) of loading platform modular unit (5).The workpiece sensing equipment (97) of travelling belt detection module unit (6) has not detected the workpiece (36) that mixes at the appointed time; The Y type reclaimer robot (66) of straight line moving manipulator unit (2) is directly transferred back the workpiece that mixes (36) on the goods yard (86) of shelf (87) of tiered warehouse facility modular unit (4) from the work positioning table (89) of loading platform modular unit (5), treat to extract again.

When from the workpiece (36) that mixes, detecting workpiece 1 (36); Workpiece sensing equipment (97) is to the numerical information of master controller (44) feedback workpiece 1 (36); Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes workpiece 1 (36) in the slideway (33) of corresponding inclined ramp modular unit (7); The detection probe (34) of inclined ramp modular unit (7) detects workpiece 1 (36), and the detection probe (34) of inclined ramp modular unit (7) is to the numerical information of master controller (44) feedback workpiece 1 (36), after master controller (44) receives numerical information; Send instruction through after the digital processing, workpiece 1 (36) is waited for and is got into subsequent processing.

When from the workpiece (36) that mixes, detecting workpiece 2 (36); Workpiece sensing equipment (97) is to the numerical information of master controller (44) feedback workpiece 2 (36); Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes workpiece 2 (36) in the slideway (33) of corresponding horizontal slideway modular unit (8); The detection probe (34) of horizontal slideway modular unit (8) detects workpiece 2 (36); The detection probe (34) of horizontal slideway modular unit (8) after master controller (44) receives numerical information, is sent instruction through after the digital processing to the numerical information of master controller (44) feedback workpiece 2 (36); Workpiece 2 (36) is waited for and is got into subsequent processing; Cycling mixes workpiece (36) all outbound enforcement detection and letter sorting in tiered warehouse facility modular unit (4) repeatedly, carries out the training request of batching, outbound, detection and the letter sorting operation of batching/outbound/categorizing system (22), like Fig. 2, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 11, Figure 14, Figure 15, Figure 25, shown in Figure 40.

Embodiment 25

Two material loadings/two assembling/detections/warehouse-in/outbound system (23) is made up of processing/modular unit (1), straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp detection module unit (7), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28), aggregate erection training platform (12) and master controller (44), and processing/modular unit (1), many processing/modular unit (11) and at least 2 group well formula feed modular units (9) are set in two material loadings/two assembling/detections/warehouse-in/outbound system (23).2 groups of well formula feed modular units (9) are supplied with different workpiece separately; Processing/modular unit (1) and many processing/modular unit (11) are implemented processing and assembly manipulation separately, and two material loadings/two assembling/detections/warehouse-in system (23) implements 2 kinds of different workpiece feedings, detection, processing, assembles, goes into the training on operation requirement of library storage.

One end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Through stationary positioned hole (38) with bolt straight line moving manipulator unit (2); Be fixed on the aggregate erection training platform (12); The other end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Straight line moving manipulator unit (2) is fixedly installed on the other end of travelling belt detection module unit (6), and travelling belt detection module unit (6) and straight line moving manipulator unit (2) are T-shaped on aggregate erection training platform (12).

One side of (2) one ends, straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit (4); Be fixed on tiered warehouse facility modular unit (4) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The opposite side of (2) one ends, straight line moving manipulator unit fixedly installs loading platform modular unit (5), well formula feed modular unit (9), processing/modular unit (1) and many processing/modular unit (11); Through stationary positioned hole (38) with bolt respectively loading platform modular unit (5), wherein one group of well formula feed modular unit (9), processing/modular unit (1) and many processing/modular unit (11) are fixed on the aggregate erection training platform (12); It is corresponding that the workpiece positioning table (89) of loading platform modular unit (5) and well formula feed modular unit (9) go out feed bin (107); The discharging port that goes out feed bin (107) docks with the workpiece positioning table (89) of loading platform modular unit (5); Wherein the operation circuit of the solenoid valve (41) of one group of well formula feed modular unit (9) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; Wherein the circuit of the detection probe (34) of one group of well formula feed modular unit (9) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), the workpiece (36) that goes out in the feed bin (107) is directly shifted onto on the workpiece positioning table (89) of loading platform modular unit (5).

Loading and unloading station (45) in the processing/modular unit (1) is corresponding with solid mechanical fingerprint module unit (3), and getting of solid mechanical fingerprint module unit (3) expects that parallel folder (83) extracts or place work piece (36) from the loading and unloading station (45) of processing/modular unit (1).The loading and unloading station (45) of many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the loading and unloading station (45) of many processing/modular unit (11).

The other end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of travelling belt detection module unit (6) fixedly installs solid mechanical fingerprint module unit (3), inclined ramp detection module unit (7), well formula feed modular unit (9) and motor module unit (10), is fixed on solid mechanical fingerprint module unit (3), inclined ramp detection module unit (7), well formula feed modular unit (9) and motor module unit (10) on the aggregate erection training platform (12) respectively.

One end of travelling belt detection module unit (6) is provided with wherein another group well formula feed modular unit (9) of 2 groups of well formula feed modular units (9); Through stationary positioned hole (38) with bolt wherein another the group well formula feed modular unit (9) be fixed on the aggregate erection training platform (12); Wherein the feed bin (107) that goes out of another group well formula feed modular unit (9) docks with the travelling belt (98) of travelling belt detection module unit (6); It is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107), starts pusher cylinder (106) and shifts the workpiece (36) that in the feed bin (107) on the loading and unloading station (45) of travelling belt detection module unit (6) onto.Wherein the operation circuit of the solenoid valve (41) of another group well formula feed modular unit (9) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends; Wherein the circuit of the detection probe (34) of another group well formula feed modular unit (9) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.

The other end of travelling belt detection module unit (6) is provided with motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The motor (68) of motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The operation circuit of the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; The motor (68) of starter motor modular unit (10), motor (68) rotating operation, motor (68) drives travelling belt (98) the both forward and reverse directions running of travelling belt detection module unit (6).

The side of travelling belt detection module unit (6) fixedly installs inclined ramp detection module unit (7); Be fixed on inclined ramp detection module unit (7) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The port of the slideway (33) of inclined ramp modular unit (7) docks with the travelling belt (98) of travelling belt detection module unit (6); The port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97) separately; The circuit of the detection probe (34) of inclined ramp detection module unit (7) is connected with the input signal interface (112) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.

The side of travelling belt detection module unit (6) fixedly installs solid mechanical fingerprint module unit (3); Be fixed on solid mechanical fingerprint module unit (3) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The parallel folder of material (83) of getting of solid mechanical fingerprint module unit (3) is aimed at the loading and unloading station (45) of travelling belt detection module unit (6) and is just extracted or place work piece (36) from the loading and unloading station (45) of travelling belt detection module unit (6), and the parallel folder of material (83) of getting of solid mechanical fingerprint module unit (3) is aimed at loading and unloading station (45) just extraction of the loading and unloading station (45) from many processing/modular unit (1) or place work piece (36) in many processing/modular unit (11).

Master controller (44) is set below the aggregate erection training platform (12); Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit; Implement the training request of two material loadings/two assembling/detections/warehouse-in system (23) mounting arrangement, carry out the training request of dibit material loading, dibit assembling workpiece and the in-stockroom operation of two material loadings/two assembling/detections/warehouse-in system (23).

Placing 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9) is workpiece 1 (36) and workpiece 2 (36); Master controller (44) sends instruction; Start the wherein pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 1 (36) onto an end loading and unloading station (45) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (68) of starter motor modular unit (10); Motor (68) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, the workpiece 1 (36) of travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends to the other end transmission of travelling belt (98); Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt detection module unit (6) on the pivot arm (81); Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 1 (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting on the pivot arm (81) expects that parallel folder (83) leaves the loading and unloading station (45) of travelling belt detection module unit (6); And aim at the loading and unloading station (45) of many processing/modular unit (11); Start the loading and unloading station (45) that solenoid valve (41) is placed on workpiece 1 (36) many processing/modular unit (11); Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of many processing/modular unit (11); The parallel folder of material (83) of getting through solid mechanical fingerprint module unit (3) is transferred to workpiece 2 on the loading and unloading station (45) of many processing/modular unit (11), implements the training request of workpiece 1 material loading operation.

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 1 (36) rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 1 (36) to V-type locating piece (57) along station dial (94); Workpiece 1 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 1 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements processing.Start the lift cylinder (51) on the lifting column (60), the processing/assembly manipulator (54) that descends, alignment pieces 1 (36); Start and clamp cylinder (56); Machinery folder (61) grasps workpiece 1 (36), starts lift cylinder (51), and processing/assembly manipulator (54) grasps workpiece 1 (36) and promotes; Leave the loading and unloading station (45) of station dial (94), to workpiece 1 (36) implement processing and etc. to be assembled.

Start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) on the workpiece positioning table (89) of loading platform modular unit (5) onto from the discharging opening that goes out feed bin (107).The detection probe (34) of loading platform modular unit (5) is to the numerical information of master controller (44) feedback workpiece 2 (36); Master controller (44) sends instruction after receiving numerical information after treatment; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; Motor (68) drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the workpiece 2 (36) on the workpiece positioning table (89) that passes loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) grasps the workpiece 2 (36) on the workpiece positioning table (89).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the workpiece positioning table (89) of loading platform modular unit (5).Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of many processing/modular unit (11); Starting solenoid valve (41) is placed on workpiece 2 (36) on the loading and unloading station (45) of many processing/modular unit (11); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the loading and unloading station (45) of processing/modular unit (11).

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 2 (36) rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 2 (36) to V-type locating piece (57) along station dial (94); Workpiece 2 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 2 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling.Start the lift cylinder (51) on the lifting column (60); Processing/assembly manipulator (54) descends; Put into the workpiece 2 (36) on the loading and unloading station (45) to the workpiece 1 (36) of processing/assembly manipulator (54) clamping, workpiece 1 (36) and workpiece 2 (36) are assembled into assembling workpiece (36), start lift cylinder (51); Processing/assembly manipulator (54) grasps workpiece 1 (36) and promotes, and leaves the loading and unloading station (45) of station dial (94).The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; Go up the position that the loading and unloading station (45) of placing the workpiece (36) after assembling rotates to secured in alignment manipulator unit (3) to station dial (94), implement many processing/modular unit (11) workpiece 1 (36) and the processing of workpiece 2 (36) and the training request of assembly manipulation.

Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) of getting on the pivot arm (81) is aimed at the assembling workpiece (36) on the loading and unloading station (45) of many processing/modular unit (11); Start solenoid valve (41), get the parallel folder of material (83) and grasp assembling workpiece (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting on the pivot arm (81) expects that parallel folder (83) leaves the loading and unloading station (45) of many processing/modular unit (11); And aim at the loading and unloading station (45) of the other end of travelling belt detection module unit (6); Starting solenoid valve (41) is placed on assembling workpiece (36) on the loading and unloading station (45); Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of the other end of travelling belt detection module unit (6).

The motor (68) of starter motor modular unit (10); Motor (68) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, travelling belt (98) assembling workpiece (36) from the loading and unloading station (45) of travelling belt (98) one ends to the other end transmission of travelling belt (98).In assembling workpiece (36) way when surveyed area (46) detection probe (34) on the workpiece sensing equipment (97) assembling workpiece (36) is implemented to detect.

When detecting underproof assembling workpiece (36); Workpiece sensing equipment (97) is to the numerical information of master controller (44) the underproof assembling workpiece of feedback (36); Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes underproof assembling workpiece (36) in the slideway (33) of corresponding inclined ramp modular unit (7); The detection probe (34) of inclined ramp modular unit (7) detects underproof assembling workpiece (36), and the detection probe (34) of inclined ramp modular unit (7) is to the numerical information of master controller (44) the underproof assembling workpiece of feedback (36), after master controller (44) receives numerical information; Send instruction through after the digital processing, underproof assembling workpiece (36) is waited for and is got into subsequent processing.

When detecting qualified assembling workpiece (36); Workpiece sensing equipment (97) is to the numerical information of the qualified assembling workpiece (36) of master controller (44) feedback; Master controller (44) sends instruction after receiving numerical information after treatment; The motor (68) of starter motor modular unit (10), motor (68) counter-rotating operation, motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) reverse direction operation, travelling belt (98) qualified assembling workpiece (36) from the loading and unloading station (45) of travelling belt (98) other end to the end transmission of travelling belt (98).

Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt detection module unit (6) on the pivot arm (81); Start solenoid valve (41), get the parallel folder of material (83) and grasp qualified workpiece (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting on the pivot arm (81) expects that parallel folder (83) leaves the loading and unloading station (45) of travelling belt detection module unit (6); And aim at the loading and unloading station (45) of many processing/modular unit (11); Start the loading and unloading station (45) that solenoid valve (41) is placed on qualified workpiece (36) many processing/modular unit (11); Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of many processing/modular unit (11).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of many processing/modular unit (11), and the gripper cylinder (76) on the startup mechanical arm (71), Y type reclaimer robot (66) grasp the qualified assembling workpiece (36) on the loading and unloading station (45) of many processing/modular unit (11).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed the loading and unloading station (45) of many processing/modular unit (11); Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed into assembling workpiece (36) on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed the goods yard (86) of tiered warehouse facility modular unit (4); Implement the training request of the assembling workpiece in-stockroom operation of many processing/modular unit (11), cycling is filled the workpiece of qualified assembling (36) until reaching the tiered warehouse facility modular unit repeatedly.

Meanwhile; Master controller (44) sends instruction; Start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 1 (36) onto an end loading and unloading station (45) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (68) of starter motor modular unit (10); Motor (68) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, the workpiece 1 (36) of travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends to the other end transmission of travelling belt (98); Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of the other end of getting the parallel folder of material (83) aligning travelling belt detection module unit (6) on the pivot arm (81); Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 1 (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting on the pivot arm (81) expects that parallel folder (83) leaves the loading and unloading station (45) of travelling belt detection module unit (6); And aim at the loading and unloading station (45) of many processing/modular unit (11); Start the loading and unloading station (45) that solenoid valve (41) is placed on workpiece 1 (36) many processing/modular unit (11); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation being got the loading and unloading station (45) that the parallel folder of material (83) is removed many processing/modular unit (11) on the pivot arm (81), start the execution displacement of straight line moving manipulator unit (2) motor (68), rotary cylinder (31), carry out the motor (68) and the mechanical arm electromagnetic valve group (67) of up-down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Workpiece 1 (36) on the loading and unloading station (45) of Y type reclaimer robot (66) many processing/modular unit of aligning (11) of mechanical arm (71) starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) grasps the workpiece 1 (36) on the loading and unloading station (45).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the loading and unloading station (45) of many processing/modular unit (11).Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1); Starting solenoid valve (41) is placed on workpiece 1 (36) on the loading and unloading station (45) of processing/modular unit (1); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the loading and unloading station (45) of processing/modular unit (1).Be transplanted on workpiece 1 on the loading and unloading station (45) of processing/modular unit (1) through solid mechanical fingerprint module unit (3) and straight line moving manipulator unit (2), implement the training request of workpiece 1 material loading operation.

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 1 (36) to processing/assembly station (47) along retention plate (52); Workpiece 1 (36) moves to processing/assembly station (47) and is blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 1 (36) rests on processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece 1 (36) on processing/assembly station (47); Start upgrading cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece 1 (36) and implements process operation.

Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) on the workpiece positioning table (89) of loading platform modular unit (5) onto from the discharging opening that goes out feed bin (107).The detection probe (34) of loading platform modular unit (5) is to the numerical information of master controller (44) feedback workpiece 2 (36); Master controller (44) sends instruction after receiving numerical information after treatment; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the workpiece 2 (36) on the workpiece positioning table (89) that passes loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) grasps the workpiece 2 (36) on the workpiece positioning table (89); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the workpiece positioning table (89) of loading platform modular unit (5); Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1); Starting solenoid valve (41) is placed on workpiece 2 (36) on the loading and unloading station (45) of processing/modular unit (1); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the loading and unloading station (45) of processing/modular unit (1).

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 2 (36) to processing/assembly station (47); Workpiece 2 (36) moves to processing/assembly station (47) along retention plate (52) and is blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 2 (36) rests on processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) is placed into the workpiece that grasps 1 (36) in the workpiece 2 (36) on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) and promote processing/assembly manipulator (54); Processing/assembly manipulator (54) leaves processing/assembly station (47), and workpiece 1 (36) and workpiece 2 (36) are assembled into assembling workpiece (36), starts to get and anticipates a cylinder (53); Drive is got material locating piece (58) and is revert to loading and unloading station (45) to assembling workpiece (36), implements the training request of processing/modular unit (1) assembling workpiece 1 and workpiece 2 operations.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of processing/modular unit (1); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) grasps the assembling workpiece (36) on the loading and unloading station (45) of processing/modular unit (1); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed the loading and unloading station (45) of processing/modular unit (1); Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of many processing/modular unit (11), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed assembling workpiece (36) on the loading and unloading station (45) of many processing/modular unit (11).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement, Y type reclaimer robot (66) is removed the loading and unloading station (45) of many processing/modular unit (11).

Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) of getting on the pivot arm (81) is aimed at the assembling workpiece (36) on the loading and unloading station (45) of many processing/modular unit (11); Start solenoid valve (41), get the parallel folder of material (83) and grasp assembling workpiece (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting on the pivot arm (81) expects that parallel folder (83) leaves the loading and unloading station (45) of many processing/modular unit (1); And aim at the loading and unloading station (45) of the other end of travelling belt detection module unit (6); Starting solenoid valve (41) is placed on assembling workpiece (36) on the loading and unloading station (45); Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of an end of travelling belt detection module unit (6).

The motor (68) of starter motor modular unit (10); Motor (68) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, travelling belt (98) assembling workpiece (36) from the loading and unloading station (45) of travelling belt (98) one ends to the other end transmission of travelling belt (98); In assembling workpiece (36) way when surveyed area (46) detection probe (34) on the workpiece sensing equipment (97) assembling workpiece (36) is implemented to detect.

When detecting underproof assembling workpiece (36); Workpiece sensing equipment (97) is to the numerical information of master controller (44) the underproof assembling workpiece of feedback (36); Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes underproof assembling workpiece (36) in the slideway (33) of corresponding inclined ramp modular unit (7); The detection probe (34) of inclined ramp modular unit (7) detects underproof assembling workpiece (36), and the detection probe (34) of inclined ramp modular unit (7) is to the numerical information of master controller (44) the underproof assembling workpiece of feedback (36), after master controller (44) receives numerical information; Send instruction through after the digital processing, underproof assembling workpiece (36) is waited for and is got into subsequent processing.

When detecting qualified assembling workpiece (36); Workpiece sensing equipment (97) is to the numerical information of the qualified assembling workpiece (36) of master controller (44) feedback; Master controller (44) sends instruction after receiving numerical information after treatment; The motor (68) of starter motor modular unit (10), motor (68) counter-rotating operation, motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) reverse direction operation, travelling belt (98) qualified assembling workpiece (36) from the loading and unloading station (45) of travelling belt (98) other end to the end transmission of travelling belt (98).

Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt detection module unit (6) on the pivot arm (81); Start solenoid valve (41), get the parallel folder of material (83) and grasp qualified workpiece (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting on the pivot arm (81) expects that parallel folder (83) leaves the loading and unloading station (45) of travelling belt detection module unit (6); And aim at the loading and unloading station (45) of many processing/modular unit (11); Start the loading and unloading station (45) that solenoid valve (41) is placed on qualified workpiece (36) many processing/modular unit (11); Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of many processing/modular unit (11).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of many processing/modular unit (11), and the gripper cylinder (76) on the startup mechanical arm (71), Y type reclaimer robot (66) grasp the qualified assembling workpiece (36) on the loading and unloading station (45) of many processing/modular unit (11).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed the loading and unloading station (45) of many processing/modular unit (11); Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed into qualified assembling workpiece (36) on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed the goods yard (86) of tiered warehouse facility modular unit (4); Implement the training request of the assembling workpiece in-stockroom operation of processing/modular unit (1), cycling is filled the workpiece of qualified assembling (36) until reaching the tiered warehouse facility modular unit repeatedly.

Implement 2 groups of well formula feed modular units (9) and place different workpiece; Processing/modular unit (1) and many processing/modular unit (11) are each self-assembly different workpiece (36) respectively; The training request of the qualified assembling workpiece in-stockroom operation of processing/modular unit (1) and many processing/modular unit (11) assembling; Cycling is filled the workpiece (36) of qualified assembling until reaching tiered warehouse facility modular unit (4) repeatedly; Two material loadings/two assembling/detections/warehouse-in/outbound system (23) carries out the training request of double feed, double assembling and in-stockroom operation, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 26, shown in Figure 41.

Embodiment 26

Thick finishing/detection/remove useless/warehouse-in/outbound system (24) to form by processing/modular unit (1), straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp detection module unit (7), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28), aggregate erection training platform (12) and master controller (44); Thick finishing/detection/except that processing/modular unit (1) and many processing/modular unit (11), at least 2 group inclined ramp detection module unit (7) are set in useless/warehouse-in/outbound system (24); Processing/modular unit (1) and many processing/modular unit (11) are implemented roughing and accurately machined operation separately, thick finishing/detections/remove useless/warehouse-in/outbound system (24) enforcement roughing, finishing detection, propose waste product, go into the training on operation purpose of library storage and outbound.

One end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2), is fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38).One side of one end of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9); Be fixed on well formula feed modular unit (9) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The feed bin (107) that goes out of well formula feed modular unit (9) docks with the travelling belt (98) of travelling belt detection module unit (6); It is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107); The operation circuit of the solenoid valve (41) of well formula feed modular unit (9) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; The circuit of the detection probe (34) of well formula feed modular unit (9) is connected with the input signal interface (112) of terminal block (28), and the cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.Start the pusher cylinder (106) of well formula feed modular unit (9), shift the workpiece (36) in the well formula feed storehouse (103) onto on the loading and unloading station (45) of an end of travelling belt detection module unit (6).

One side of the other end of travelling belt detection module unit (6) fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is fixedly installed on the aggregate erection training platform (12); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The operation circuit of the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends, the motor (68) of starter motor modular unit (10); Motor (68) rotating operation, motor (68) drive travelling belt (98) the both forward and reverse directions running of travelling belt detection module unit (6).

One side at the middle part of travelling belt detection module unit (6) fixedly installs 2 groups of inclined ramp modular units (7); Be fixed on 2 groups of inclined ramp modular units (7) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The inlet of the slideway (33) of inclined ramp modular unit (7) all docks with the surveyed area (46) of travelling belt detection module unit (6), and the inlet of the slideway (33) of inclined ramp modular unit (7) is all corresponding with workpiece sensing equipment (97). The circuit of the detection probe (34) of 2 groups of inclined ramp detection module unit (7) is connected with the input signal interface (112) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.

The opposite side of one end of travelling belt detection module unit (6) fixedly installs solid mechanical fingerprint module unit (3) and processing/modular unit (1); Be fixed on solid mechanical fingerprint module unit (3) and processing/modular unit (1) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The loading and unloading station (45) of processing/modular unit (1) is corresponding with travelling belt detection module unit (6); The parallel folder of material (83) of getting of solid mechanical fingerprint module unit (3) is aimed at the loading and unloading station (45) of an end of travelling belt detection module unit (6) and is just extracted or place work piece (36) from the loading and unloading station (45) of an end of travelling belt detection module unit (6), solid mechanical fingerprint module unit (3) get loading and unloading station (45) that the parallel folder of material (83) aims at processing/modular unit (1) just from loading and unloading station (45) extraction or the place work piece (36) of processing/modular unit (1).

The opposite side of the other end of travelling belt detection module unit (6) fixedly installs many processing/modular unit (11); Be fixed on many processing/modular unit (11) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The loading and unloading station (45) of many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2), and the loading and unloading station (45) that the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at many processing/modular unit (11) just extracts or place work piece (36) from the loading and unloading station (45) of many processing/modular unit (11).

The other end of travelling belt detection module unit (6) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Travelling belt detection module unit (6) and straight line moving manipulator unit (2) are T-shaped on aggregate erection training platform (12), the loading and unloading station (45) that the mechanical arm (71) of straight line moving manipulator unit (2) is aimed at the other end, travelling belt detection module unit (6) is just from loading and unloading station (45) extraction or the place work piece (36) of the other end of travelling belt detection module unit (6).

The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4) and loading platform modular unit (5); Be fixed on tiered warehouse facility modular unit (4) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The goods yard (86) of tiered warehouse facility modular unit (4) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4) and just extracted or place work piece (36) from the goods yard (86) of tiered warehouse facility modular unit (4); The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with straight line moving manipulator unit (2), and the workpiece positioning table (89) that the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at loading platform modular unit (5) just extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5).

The bottom of aggregate erection training platform (12) fixedly installs master controller (44); Master controller (44), pass cable-through hole (110) through line cord and get into circuit connection groove (37) and be connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up the training of assembling training at aggregate erection training platform (12), carry out thick finishing/detections/except that giving up/training request of the mounting arrangement of warehouse-in/outbound system (24) with modular unit.

Deposit workpiece to be processed (36) in the well formula feed storehouse (103) of well formula feed modular unit (9); Master controller (44) sends instruction; Start the pusher cylinder (106) of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece to be processed (36) in the well formula feed storehouse (103) onto on the loading and unloading station (45) of an end of travelling belt (98) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107); Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Workpiece (36) on the loading and unloading station (45) of the end of getting the parallel folder of material (83) aligning travelling belt detection module unit (6) on the pivot arm (81), startup solenoid valve (41) is got the parallel folder of material (83) and is grasped workpiece (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of getting the parallel folder of material (83) aligning processing/modular unit (1) on the pivot arm (81); Start solenoid valve (41) and expect that getting the workpiece (36) that parallel folder (83) grasps is placed on the loading and unloading station (45) of processing/modular unit (1); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the loading and unloading station (45) of processing/modular unit (1), through solid mechanical fingerprint module unit (3) get the parallel folder of material (83) workpiece transfer to the loading and unloading station (45) of processing/modular unit (1), the training request that enforcement workpiece material loading is operated.

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece (36) on the loading and unloading station (45) to processing/assembly station (47) along retention plate (52); Workpiece (36) moves to processing/assembly station (47) and is blocked by the V-type locating piece (57) on the retention plate (52), and workpiece (36) rests on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece (36), implements the roughing operation.After treating that workpiece (36) is implemented roughing; Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start clamping cylinder (56), machinery folder (61) is placed on the workpiece (36) of processing on processing/assembly station (47), starts to get and anticipates a cylinder (53); Material locating piece (58) playback is got in drive, gets material locating piece (58) and places back processed workpiece (36) on the loading and unloading station (45).

Master controller (44) sends instruction through after the data processing; Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The loading and unloading station (45) of getting the parallel folder of material (83) aligning processing/modular unit (1) on the pivot arm (81); Start solenoid valve (41) and extract the rough machined workpiece (36) on the loading and unloading stations (45); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the loading and unloading station (45) of processing/modular unit (1); And getting the loading and unloading station (45) that the parallel folder of material (83) is aimed at an end of travelling belt detection module unit (6) on the pivot arm (81), starting on the loading and unloading station (45) of an end that solenoid valve (41) is placed on the rough machined workpiece (36) of getting the clamping of material parallel folder (83) travelling belt detection module unit (6), starting rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the loading and unloading station (45) of travelling belt detection module unit (6), through solid mechanical fingerprint module unit (3) get the parallel folder of material (83) workpiece transfer to the loading and unloading station (45) of an end of travelling belt detection module unit (6), implement the training request of workpiece material loading operation.

Master controller (44) sends instruction; The motor (68) of starter motor modular unit (10); Motor (68) is carried out just to be changeed; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, with rough machined workpiece (36) from the loading and unloading station (45) of travelling belt (98) one ends to loading and unloading station (45) transmission of the other end of travelling belt detection module unit (6), workpiece (36) arrives on the loading and unloading station (45) of the other end of travelling belt detection module unit (6).Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of the other end of travelling belt detection module unit (6), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) extracts and grasp the rough machined workpiece (36) on the loading and unloading station (45) of the other end of travelling belt detection module unit (6); Y type reclaimer robot (66) through straight line moving manipulator unit (2) arrives workpiece transfer on the loading and unloading station (45) of many processing/modular unit (11), implements the training request of workpiece material loading operation.

Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; The loading and unloading station (45) that workpiece (36) after the roughing is removed the other end of travelling belt detection module unit (6) in Y type reclaimer robot (66) clamping; Motor (68) drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of many processing/modular unit (11); Start Y type reclaimer robot (66), be placed on the rough machined workpiece (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of many processing/modular unit (11).Start the gripper cylinder (76) on the mechanical arm (71), the workpiece (36) of Y type reclaimer robot (66) after the roughing of clamping is placed on the loading and unloading station (45) of many processing/modular unit (11).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the loading and unloading station (45) of many processing/modular unit (11), implement the training request that processed workpiece gets into finishing operations.

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, goes up one of them loading and unloading station (45) of placing rough machined workpiece (36) to station dial (94) and rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the rough machined workpiece (36) on the loading and unloading station (45) to V-type locating piece (57) along station dial (94); Rough machined workpiece (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and rough machined workpiece (36) rests on the position of aiming at processing/assembly manipulator (54) and implements finishing.Start the lift cylinder (51) on the lifting column (60); Decline processing/assembly manipulator (54), processing/assembly manipulator (54) grasps rough machined workpiece (36), starts the lift cylinder (51) on the lifting column (60); Promote rough machined workpiece (36), implement finishing.Start lift cylinder (51); Processing/assembly manipulator (54) grasps accurately machined workpiece (36) and descends; Workpiece after the finishing (36) is placed loading and unloading stations (45); Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) leaves the loading and unloading station (45) of station dial (94); The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; Go up the loading and unloading station (45) of placing accurately machined workpiece (36) to station dial (94) and rotate to the position of aiming at straight line walking machine fingerprint module unit (2), implement the training request of finishing operations.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece (36) after the finishing on the loading and unloading station (45) of Y type reclaimer robot (66) many processing/modular unit of aligning (11) of mechanical arm (71); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts and grasps the workpiece (36) after the finishing.Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; The loading and unloading station (45) that workpiece (36) after the finishing is removed many processing/modular unit (11) in Y type reclaimer robot (66) clamping; Move to the loading and unloading station (45) of the other end of travelling belt detection module unit (6); Start the gripper cylinder (76) on the mechanical arm (71), the workpiece (36) of Y type reclaimer robot (66) after the finishing of clamping is placed on the loading and unloading station (45) of the other end of travelling belt detection module unit (6).Master controller (44) sends instruction; Counter-rotating is carried out in the motor module unit (10) that starts travelling belt detection module unit (6); Travelling belt (98) inverted running of travelling belt detection module unit (6); Loading and unloading station (45) operation of accurately machined workpiece (36) from loading and unloading station (45) Xiang Yiduan of the other end, the monitored area (46) by way of travelling belt detection module unit (6), workpiece sensing equipment (97) is implemented to detect to accurately machined workpiece (36).Through the detection probe (34) on the workpiece sensing equipment (97) accurately machined workpiece (36) is detected and to judge whether qualifiedly, two kinds of situation can appear in accurately machined workpiece (36).Underproof waste product and certified products are implemented the training request to the detection and the letter sorting operation of accurately machined workpiece (36).

Detecting accurately machined workpiece (36) when the detection probe (34) of workpiece sensing equipment (97) is underproof waste product; Detection probe (34) is to the numerical information of the workpiece (36) of the underproof waste product of master controller (44) feedback; Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes the workpiece of underproof waste product (36) in the slideway (33) of corresponding inclined ramp modular unit (7); The workpiece of underproof waste product (36) gets in the slideway (33); The detection probe (34) of inclined ramp modular unit (7) detects the workpiece (36) that can't repair; The detection probe (34) of inclined ramp modular unit (7) is to the numerical information of the workpiece (36) of the underproof waste product of master controller (44) feedback, and master controller (44) sends instruction after receiving numerical information after treatment, and the workpiece of underproof waste product (36) is waited for the processing of subsequent processing.The training request of operation is implemented to detect and sort in cycling repeatedly to the workpiece (36) of underproof waste product.

When detecting qualified workpiece (36); Detection probe (34) is fed back the numerical information of qualified workpiece (36) to master controller (44); Master controller (44) sends instruction after receiving numerical information after treatment; The motor (68) of starter motor modular unit (10) is carried out just to be changeed; The travelling belt (98) of travelling belt detection module unit (6) is just being transported row, is transferred to qualified workpiece (36) from surveyed area (46) the loading and unloading station (45) of travelling belt (98) other end.Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the qualified workpiece (36) on the loading and unloading station (45) that is transferred to travelling belt (98) other end.Start the gripper cylinder (76) on the mechanical arm (71), the qualified workpiece (36) on the loading and unloading station (45) of Y type reclaimer robot (66) grip belts (98) other end.Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and the qualified workpiece (36) of Y type reclaimer robot (66) after the finishing of clamping is placed on the goods yard (86) of tiered warehouse facility modular unit (4); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4), qualified accurately machined workpiece (36) is filled in cycling on each goods yard (86) of tiered warehouse facility modular unit (4) repeatedly, the training request of the workpiece in-stockroom operation after the enforcement finishing.

When qualified accurately machined workpiece (36) is filled in each goods yard (86) of tiered warehouse facility modular unit (4); Need be with workpiece qualified after the finishing (36) outbound; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down, the motor (68) of carrying out displacement drives travelling belt (73), and travelling belt (73) drive mechanical arm (71) is along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), mechanical arm (71) moves to the goods yard (86) that Y type reclaimer robot (66) is aimed at tiered warehouse facility modular unit (4) along guide rail (72); Start the gripper cylinder (76) on the mechanical arm (71), qualified accurately machined workpiece (36) is gone up in Y type reclaimer robot (66) clamping goods yard (86).Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), mechanical arm (71) moves to the workpiece positioning table (89) that Y type reclaimer robot (66) is aimed at loading platform modular unit (5) along guide rail (72); Start the gripper cylinder (76) on the mechanical arm (71); Y type reclaimer robot (66) is placed into the accurately machined workpiece (36) of clamping on the workpiece positioning table (89), subsequent processing to be changed over to, cycling all outbounds of accurately machined workpiece (36) in tiered warehouse facility modular unit (4) repeatedly; Carry out in roughing, finishing, detection, letter sorting, removal waste product, warehouse-in and the adjustment outbound of the useless/warehouse-in/outbound system (24) of thick finishing/detection/remove workpiece and arrange the training request of operating in order, like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 27, shown in Figure 42.

Embodiment 27

Material loading/maintenance/waste product/warehouse-in system (25) is made up of processing/modular unit (1), straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), travelling belt detection module unit (6), horizontal slideway detection module unit (8), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28), aggregate erection training platform (12) and master controller (44); Processing/modular unit (1) and many processing/modular unit (11) are set in material loading/maintenance/waste product/warehouse-in system (25); Processing/modular unit (1) and many processing/modular unit (11) are implemented processing and accurately machined operation separately, implement roughing and accurately machined training on operation requirement through processing/modular unit (1) and many processing/modular unit (11).

One end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The both sides of straight line moving manipulator unit (2) fixedly install tiered warehouse facility modular unit (4), solid mechanical fingerprint module unit (3), processing/modular unit (1) and many processing/modular unit (11) respectively, are fixed on tiered warehouse facility modular unit (4), solid mechanical fingerprint module unit (3), processing/modular unit (1) and many processing/modular unit (11) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38).

The shelf (87) of tiered warehouse facility modular unit (4) are corresponding with straight line moving manipulator unit (2), and the shelf (87) that the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at tiered warehouse facility modular unit (4) just extract or place work piece (36) from the shelf (87) of tiered warehouse facility modular unit (4).

Many processing/modular unit (11) and solid mechanical fingerprint module unit (3) are fixedly installed on the side of straight line moving manipulator unit (2); The loading and unloading station (45) of getting the parallel folder of material (83) many processing/modular unit of aligning (11) of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the loading and unloading station (45) of many processing/modular unit (11), and just the loading and unloading station (45) of (6) one ends extracts or place work piece (36) the loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt detection module unit (6) one ends of solid mechanical fingerprint module unit (3) from travelling belt detection module unit.

Fixedly install in processing/modular unit (1) in the side of straight line moving manipulator unit (2), the loading and unloading station (45) that the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at processing/modular unit (1) just extracts or place work piece (36) from the loading and unloading station (45) of many processing/modular unit (11).

The other end of straight line moving manipulator unit (2) is corresponding with an end of travelling belt detection module unit (6), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the loading and unloading station (45) of an end of travelling belt detection module unit (6) just from loading and unloading station (45) extraction or the place work piece (36) of the other end of travelling belt detection module unit (6).

One side of travelling belt detection module unit (6) fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The operation circuit of the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; The motor (68) of starter motor modular unit (10), motor (68) rotating operation, motor (68) drives travelling belt (98) the both forward and reverse directions running of travelling belt detection module unit (6).

One side at the middle part of travelling belt detection module unit (6) fixedly installs horizontal slideway modular unit (8); Be fixed on horizontal slideway modular unit (8) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The inlet of the slideway (33) of horizontal slideway modular unit (8) all docks with the surveyed area (46) of travelling belt detection module unit (6); The inlet of the slideway (33) of horizontal slideway modular unit (8) is all corresponding with workpiece sensing equipment (97); The circuit of the detection probe (34) of horizontal slideway modular unit (8) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, to master controller (44) feedback digital information.

The opposite side of the other end of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9); Be fixed on well formula feed modular unit (9) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); It is corresponding with the loading and unloading station (45) of the other end, travelling belt detection module unit (6) to go out feed bin (107); The feed bin (107) that goes out of well formula feed modular unit (9) docks with the travelling belt (98) of travelling belt detection module unit (6); The operation circuit of the solenoid valve (41) of well formula feed modular unit (9) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; The circuit of the detection probe (34) of well formula feed modular unit (9) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; To master controller (44) feedback digital information, start the pusher cylinder (106) of well formula feed modular unit (9), shift the workpiece (36) in the well formula feed storehouse (103) onto on the loading and unloading station (45) of the other end of travelling belt detection module unit (6).

The bottom of aggregate erection training platform (12) fixedly installs master controller (44); Master controller (44) passes cable-through hole (110) entry-line through line cord and is connected with modular unit with each group training through circuit connection groove (37); Master controller (44) sends instruction and receiving feedback information; Go up the training of assembling training at aggregate erection training platform (12), carry out the training request of the mounting arrangement of material loading/maintenance/waste product/warehouse-in system (25) with modular unit.

Workpiece (36) to be processed in the well formula feed storehouse (103) of well formula feed modular unit (9); Master controller (44) sends instruction; Start the pusher cylinder (106) of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece (36) in the well formula feed storehouse (103) onto on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (68) of starter motor modular unit (10); Motor (68) is just being transported row; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction; Travelling belt (98) workpiece (36) from the loading and unloading station (45) of travelling belt (98) other end to the transmission of the loading and unloading station (45) of an end of travelling belt (98), workpiece to be processed (36) is transferred on the loading and unloading station (45) of travelling belt (98) one ends.

Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece (36) on the loading and unloading station (45) of travelling belt (98) one ends, and startup solenoid valve (41) is got the parallel folder of material (83) and grasped workpiece (36).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting the loading and unloading station (45) that the parallel folder of material (83) is aimed at processing/modular unit (1) on the pivot arm (81), starting solenoid valve (41) and expect that getting parallel folder (83) grasps on the loading and unloading station (45) that workpiece (36) is placed on processing/modular unit (1).Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) of getting on the pivot arm (81) is removed on the loading and unloading station (45) of processing/modular unit (1), implements to go up training request from operation to the loading and unloading station (45) of processing/modular unit (1) that transfer to qualified workpiece (36) from the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) through solid mechanical fingerprint module unit (3).

Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece (36) on the loading and unloading station (45) to processing/assembly station (47) along retention plate (52); Workpiece (36) moves to processing/assembly station (47) and is blocked by the V-type locating piece (57) on the retention plate (52), and workpiece (36) rests on processing/assembly station (47).Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece (36), implements the roughing operation.After treating that workpiece (36) is implemented roughing; Start solenoid valve (41) and lift cylinder (51); Decline processing/assembly manipulator (54) starts clamping cylinder (56), and machinery folder (61) is placed into the workpiece after the roughing (36) on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51), processing/assembly manipulator (54) rises and leaves processing/assembly station (47).Start to get and anticipate a cylinder (53), drive and get material locating piece (58) playback, get material locating piece (58) and place back the workpiece after the roughing (36) on the loading and unloading station (45).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of processing/modular unit (1); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts and grasps the workpiece (36) on the loading and unloading station (45) of processing/modular unit (1); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of many processing/modular unit (11), implements to go up training request from operation to the loading and unloading station (45) of many processing/modular unit (11) that transfer to rough machined workpiece (36) from the loading and unloading station (45) of processing/modular unit (1) through straight line moving manipulator unit (2).

The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, goes up one of them loading and unloading station (45) of placing the workpiece (36) after roughing to station dial (94) and rotates to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the rough machined workpiece (36) on the loading and unloading station (45) to V-type locating piece (57) along station dial (94); Rough machined workpiece (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and rough machined workpiece (36) rests on the position of aiming at processing/assembly manipulator (54) and implements finishing.Start the lift cylinder (51) on the lifting column (60), the processing/assembly manipulator (54) that descends is aimed at rough machined workpiece (36); Start and clamp cylinder (56); Machinery folder (61) grasps rough machined workpiece (36), starts lift cylinder (51), and processing/assembly manipulator (54) grasps rough machined workpiece (36) and promotes; Leave the loading and unloading station (45) of station dial (94), rough machined workpiece (36) is implemented finishing.

Behind the finishing workpiece; Start the lift cylinder (51) on the lifting column (60); Decline processing/assembly manipulator (54), the loading and unloading station (45) of aligning station dial (94) starts clamping cylinder (56); Machinery folder (61) is placed into the workpiece after the finishing (36) on the loading and unloading station (45) of station dial (94), starts lift cylinder (51) and promotes the loading and unloading station (45) that processing/assembly manipulator (54) leaves station dial (94).The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; Loading and unloading station (45) rotation of the workpiece (36) after the last placement of station dial (94) finishing; Rotate to the position of aiming at straight line walking machine fingerprint module unit (2), implement the training request of finishing operations.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of many processing/modular unit (11), and the gripper cylinder (76) on the startup mechanical arm (71), Y type reclaimer robot (66) extract and grasp the workpiece (36) after the finishing on the loading and unloading station (45) of many processing/modular unit (11); Start to carry out displacement motor (68), rotary cylinder (31), carry out the motor (68) and the mechanical arm electromagnetic valve group (67) of up-down, remove the Y type reclaimer robot (66) that grasps the workpiece (36) after the finishing.

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed into the workpiece after the finishing (36) on the loading and unloading station (45) of travelling belt (98) one ends that send band detection module unit (6).

The motor (68) of starter motor modular unit (10); Motor (68) counter-rotating operation; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) reverse direction operation; Workpiece after the finishing (36) from the loading and unloading station (45) of travelling belt (98) one ends to the transmission of the loading and unloading station (45) of the other end; Through the surveyed area (46) of travelling belt detection module unit (6), the workpiece sensing equipment (97) of travelling belt detection module unit (6) is implemented to detect to the workpiece after the finishing (36), through the detection probe (34) on the workpiece sensing equipment (97) accurately machined workpiece (36) is detected to judge it is qualified workpiece or defective workpiece; Reject underproof workpiece, workpiece sensing equipment (97) detects the numerical information of back to master controller (44) feedback workpiece (36).

When workpiece sensing equipment (97) detects underproof workpiece (36); Workpiece sensing equipment (97) feeds back to master controller (44) to detected underproof workpiece (36) numerical information through circuit; Master controller (44) sends instruction through after the data processing; Start the cylinder of selecting materials (100) of workpiece sensing equipment (97); The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes underproof workpiece (36) in the slideway (33) of corresponding horizontal slideway modular unit (8); Underproof workpiece (36) gets in the slideway (33); The detection probe (34) of horizontal slideway modular unit (8) detects underproof workpiece (36); The detection probe (34) of horizontal slideway modular unit (8) is fed back the numerical information of underproof workpiece (36) to master controller (44), and master controller (44) sends instruction after receiving numerical information after treatment, and underproof workpiece (36) is waited for the processing of subsequent processing.

When workpiece sensing equipment (97) detects qualified workpiece (36); Workpiece sensing equipment (97) feeds back to master controller (44) to detected qualified workpiece (36) numerical information through circuit; Master controller (44) sends instruction through after the data processing; The motor (68) of starter motor modular unit (10), motor (68) is just being transported row, and motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) positive dirction, is transferred to qualified workpiece (36) the loading and unloading station (45) of travelling belt (98) one ends; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) that is transferred to travelling belt (98) one ends; Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) grasps qualified workpiece (36).

Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the shelf (87) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed into the qualified accurately machined workpiece (36) of Y type reclaimer robot (66) clamping on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed goods yard (86); Qualified accurately machined workpiece (36) is filled in cycling in tiered warehouse facility modular unit (4) repeatedly; Implemented to transfer on the shelf (87) of tiered warehouse facility modular unit (4) from the loading and unloading station of travelling belt detection module unit (6) detect qualified accurately machined workpiece through the Y type reclaimer robot (66) of straight line moving manipulator unit (2); The training request of the operation of the defective workpiece of material loading, check, removal, roughing, finishing and the warehouse-in of execution material loading/maintenance/waste product/warehouse-in system (25) is like Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 6, Fig. 7, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14, Figure 15, Figure 28, shown in Figure 43.

Embodiment 28

Messy arrangement/ordering system (26) is made up of straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), loading platform modular unit (5), aggregate erection training platform (12) and master controller (44), and messy arrangement/ordering system (26) implements to put in order training on operation requirement messy, arranging order.

The middle part of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4) and loading platform modular unit (5); Be fixed on tiered warehouse facility modular unit (4) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The shelf (87) of tiered warehouse facility modular unit (4) are corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the shelf (87) of tiered warehouse facility modular unit (4).The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5); Master controller (44) be fixedly installed on aggregate erection training platform (12) below; Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, carry out the training request of the mounting arrangement of messy arrangement/ordering system (26).

The messy arrangement of workpiece (36) on the shelf (87) of tiered warehouse facility modular unit (4), the ordering of the workpiece (36) of messy arrangement in the tiered warehouse facility modular unit (4) being arranged through straight line moving manipulator unit (2) and loading platform modular unit (5); Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of the shelf (87) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) extracts and grasp the workpiece (36) that messy arrangement is gone up in goods yard (86); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) clamping the workpiece (36) of messy arrangement and is removed goods yard (86); Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The Y type reclaimer robot (66) of mechanical arm (71) is aimed at the workpiece positioning table (89) of loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed into the workpiece of clamping (36) on the workpiece positioning table (89) of loading platform modular unit (5); Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transplanted on the shelf (87) of the workpiece of messy arrangement (36) from tiered warehouse facility modular unit (4) on the workpiece positioning table (89) of loading platform modular unit (5), and messy arrangement/ordering system (26) implements the shelf (87) of tiered warehouse facility modular unit (4) are gone up the training request of the orderly operation of workpiece (36) arrangement of messy arrangement.

Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove Y type reclaimer robot (66) from the workpiece positioning table (89) of loading platform modular unit (5).

Vacate the room on the shelf (87) of tiered warehouse facility modular unit (4); The detection probe (34) of loading platform modular unit (5) detects the workpiece (36) on the workpiece positioning table (89); Detection probe (34) is to master controller (44) feedback data information; Master controller (44) sends instruction after receiving numerical information after treatment; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down, the motor (68) of carrying out displacement drives travelling belt (73), and travelling belt (73) drive mechanical arm (71) is along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of the shelf (87) of tiered warehouse facility modular unit (4); Arrangement shelf (87) are gone up the position of the workpiece (36) of messy arrangement, and the workpiece of cycling messy arrangement in tiered warehouse facility modular unit (4) reaches arrangement in order repeatedly.

Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the workpiece positioning table (89) of loading platform modular unit (5); Start the gripper cylinder (76) on the mechanical arm (71); Y type reclaimer robot (66) grasps the workpiece (36) on the workpiece positioning table (89) of loading platform modular unit (5); Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the goods yard (86) of the shelf (87) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) is placed into the workpiece of clamping (36) in the tiered warehouse facility modular unit (4) on the corresponding goods yard (86).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4); The training request of the workpiece arranging order operation of messy arrangement on the shelf of messy arrangement/ordering system (26) execution stereo warehouse modular unit is like Fig. 2, Fig. 4, Fig. 5, Figure 14, Figure 15, Figure 29, shown in Figure 44.

Embodiment 29

Travelling belt ordering system (27) is made up of solid mechanical fingerprint module unit (3), loading platform modular unit (5), travelling belt detection module unit (6), well formula feed modular unit (9), motor module unit (10), terminal block (28), aggregate erection training platform (12) and master controller (44), and travelling belt ordering system (27) is implemented the training on operation requirement to workpiece adjustment ordering on the travelling belt.

The middle part of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of one end of travelling belt detection module unit (6) fixedly installs motor module unit (10), solid mechanical fingerprint module unit (3) and loading platform modular unit (5); Be fixed on motor module unit (10), solid mechanical fingerprint module unit (3) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The operation circuit of the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of the terminal block (28) of travelling belt detection module unit (6); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; The motor (109) of starter motor modular unit (10), the operation of motor (109) forward and backward, motor (109) drives the positive and negative direction running of travelling belt (98) of travelling belt detection module unit (6).

Solid mechanical fingerprint module unit (3) is corresponding with the travelling belt (98) of travelling belt detection module unit (6), and the loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt detection module unit (6) of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the loading and unloading station (45) of travelling belt detection module unit (6).

The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with solid mechanical fingerprint module unit (3), and the workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5).

The opposite side of the other end of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9); Be fixed on well formula feed modular unit (9) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The feed bin (107) that goes out of well formula feed modular unit (9) docks with the travelling belt (98) of travelling belt detection module unit (6); The operation circuit of the solenoid valve (41) of well formula feed modular unit (9) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) sends; The circuit of the detection probe (34) of well formula feed modular unit (9) is connected with the input signal interface (112) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, and to master controller (44) feedback digital information, it is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107).

The bottom of aggregate erection training platform (12) fixedly installs master controller (44); Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request of travelling belt ordering system (27) mounting arrangement.

Deposit the workpiece (36) of lack of alignment in the well formula feed storehouse (103) of well formula feed modular unit (9); Master controller (44) sends instruction; Start the pusher cylinder (106) of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece (36) in the well formula feed storehouse (103) onto on the loading and unloading station (45) of the other end of travelling belt (98) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107).The motor (109) of starter motor modular unit (10), motor (109) is just being transported row, and motor (109) drives travelling belt (98) the positive dirction running of travelling belt detection module unit (6).

Well formula feed modular unit (9) is constantly to travelling belt (98) conveying workpieces (36) of travelling belt detection module unit (6); The travelling belt (98) of travelling belt detection module unit (6) transmits the surveyed area (46) from loading and unloading station (45) to travelling belt (98) of the workpiece (36) on the travelling belt (98) from the other end of travelling belt (98); Workpiece (36) is through surveyed area (46); The workpiece sensing equipment (97) of travelling belt detection module unit (6) is implemented to detect to workpiece (36); Workpiece sensing equipment (97) feeds back to master controller (44) to the data message that detects workpiece (36) simultaneously; After master controller (44) receives numerical information; Send instruction through after the data processing; Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece (36) that the loading and unloading station (45) of an end of travelling belt detection module unit (6) is gone up lack of alignment, starts solenoid valve (41) and gets the workpiece (36) that the parallel folder of material (83) grasps lack of alignment.Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation being got the loading and unloading station (45) that workpiece (36) that the parallel folder of material (83) grasps lack of alignment is removed an end of travelling belt detection module unit (6) on the pivot arm (81); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) on the pivot arm (81); Starting solenoid valve (41) is placed on the workpiece positioning table (89) of loading platform modular unit (5) getting the workpiece (36) that the parallel folder of material (83) grasps lack of alignment; Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation being got the workpiece positioning table (89) that the parallel folder of material (83) is removed loading platform modular unit (5) on the pivot arm (81).The detection probe (34) of loading platform modular unit (5) feeds back to master controller (44) to the numerical information of the workpiece (36) of the lack of alignment on the workpiece positioning table (89).Travelling belt (98) continues operation; The detection probe (34) of workpiece sensing equipment (97) detects the position of workpiece (36) on travelling belt (98) of lack of alignment; Workpiece sensing equipment (97) feeds back to master controller (44) to detected data message; After master controller (44) receives numerical information; Send instruction through after the data processing, start the rotary cylinder (31) of solid mechanical fingerprint module unit (3), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The workpiece (36) of the lack of alignment on the workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) on the pivot arm (81) starts solenoid valve (41) and gets the workpiece (36) that the parallel folder of material (83) grasps lack of alignment; Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Getting the workpiece positioning table (89) that workpiece (36) that the parallel folder of material (83) grasps lack of alignment is removed loading platform modular unit (5) on the pivot arm (81); The parallel folder of material (83) of getting on the pivot arm (81) is aimed at the position of workpiece (36) on travelling belt (98) that travelling belt detection module unit (6) detection probe (34) detects lack of alignment; Start solenoid valve (41) and be placed into the position on the travelling belt (98) getting the workpiece (36) that the parallel folder of material (83) grasps lack of alignment; Workpiece (36) on the travelling belt (98) is arranged in order; Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation being got the travelling belt (98) that the parallel folder of material (83) is removed travelling belt detection module unit (6) on the pivot arm (81), and the workpiece of cycling on travelling belt reaches and arrange in order repeatedly; Workpiece arrangement on the travelling belt of execution travelling belt ordering system (27) is the training request of operation in order, like Fig. 3, Fig. 5, Fig. 6, Fig. 7, Figure 10, Figure 11, Figure 13, Figure 14, Fig. 5, Figure 30, shown in Figure 45.

Claims (16)

1. a modularization is made the training module device; It is characterized in that; Training constitutes with modular unit and aggregate erection training platform (12); This training is made up of processing/modular unit (1), straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp modular unit (7), horizontal slideway modular unit (8), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28) and aggregate erection training platform (12) with modular unit; Training is with modular unit independent groups shipment row training separately; Each training all is installed on the aggregate erection training platform (12) after assembling with modular unit; Training constitutes modular combination respectively with modular unit and makes training system; It is 4 trainings to be set at least constitute two material loading/processing/assembling/warehouse-in/outbound system (13), raw material/processing/turnover/warehouse-in/outbound system (14), double assembling/warehouse-in/outbound system (15), material loading/check/process/go out part system (19), check/correction/warehouse-in system (20), multiple spot material loading/processing/assembling/warehouse-in system (21), batching/outbound/categorizing system (22), two material loading/two assembling/detections/warehouse-in system (23), slightly finishing/detection/except that giving up/warehouse-in/outbound system (24), material loading/maintenance/waste product/warehouse-in system (25), messy arrangement/ordering system (26) and travelling belt ordering system (27) except that residual/warehouse-in system (16), check/correction/sorting system (17), single preface/two preface processing/outbound/warehouse-in-turnaround systems (18), single preface/dibit with modular unit on aggregate erection training platform (12) that modular combination is made training system; Modular combination is made training system independent groups shipment row training separately, and the combination of at least 2 series of modular is made training system and constituted the manufacturing training system each other;
Processing/modular unit (1) by retention plate (52), get anticipate a cylinder (53), processing/assembly manipulator (54), guide rail (55), locating piece (57), get material platform (58), lift cylinder (51), clamp cylinder (56), base (59), lifting column (60), machinery folder (61), terminal block (28), section bar matrix (29), fixed base plate (30) and electromagnetic valve group (41) form; Place, both sides of the edge on the bottom fixed base plate (30) of processing/load module group (1) is oppositely arranged section bar matrix (29); Fixed base plate (30) is whole rectangular; The top of section bar matrix (29) is provided with retention plate (52); The place, both sides of the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on processing/modular unit (1) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Solenoid valve (41), processing/assembly manipulator (54), locating piece (57) are set on the retention plate (52) and get material locating piece (58); Retention plate (52) is whole rectangular; Solenoid valve (41) is set on one end of retention plate (52); One side setting of section bar matrix (29) is got and is anticipated a cylinder (53) and guide rail (55), and an end of section bar matrix (29) is provided with terminal block (28); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of the terminal block (28) of processing/modular unit (1); Master controller (44) below the terminal block (28) of processing/modular unit (1) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected; Solenoid valve (41) receives the instruction of master controller (44), carries out the opening and closing of pneumatic line according to instruction; The pneumatic line of solenoid valve (41) through pipeline respectively separately with the lift cylinder (51) of processing/modular unit (1), get and anticipate a cylinder (53) and clamp cylinder (56) and be connected, driving lift cylinder (51), get opening and closing and extraction and the place work piece (36) of anticipating a cylinder (53) and clamping cylinder (56); The middle part of retention plate (52) is provided with processing/assembly manipulator (54); The bottom of processing/assembly manipulator (54) is base (59); Base (59) is gone up the fixing lifting column (60) of erectting; Lift cylinder (51) is set on the lifting column (60), clamps cylinder (56) and machinery folder (61); One side of lifting column (60) is provided with lift cylinder (51), and the opposite side of lifting column (60) is provided with and clamps cylinder (56), and the end that clamps cylinder (56) fixedly installs machinery folder (61); Clamp cylinder (56) and machinery folder (61) and pass through lift cylinder (51) along lifting column (60) up-down, machinery folder (56) is through clamping cylinder (56) grasping workpiece (36); On the preceding retention plate (52) of base (59) locating piece (57) is set; Locating piece (57) is preceding to be processing/assembly station (47); Processing/assembly station (47) is corresponding with machinery folder (56), can realize that through locating piece (57) processing/assembly station (47) concentricity accurately locatees; The other end of retention plate (52) is provided with gets material locating piece (58); It is L-shaped to get material locating piece (58); A L shaped end of getting material locating piece (58) is connected with the end of getting the expansion link of anticipating a cylinder (53); One end of getting material locating piece (58) embeds guide rail (55); Get material locating piece (58) and reach automatic location along guide rail (55) along with getting the flexible of expansion link of anticipating a cylinder (53); L shaped the other end integral body of getting material locating piece (58) is spill, and the recess and the workpiece (36) of L shaped the other end of getting material locating piece (58) match, and the recess of L shaped the other end of getting material locating piece (58) is corresponding with the locating piece (57) on the fixed head (52); Reach processing, the assembling that workpiece (36) was accurately located and realized to concentricity through V-type locating piece (57), the indent of getting material locating piece (58) that the other end of retention plate (52) is L shaped constitutes loading and unloading stations (45);
Straight line moving manipulator unit (2) is by right limit terminal group (62); Left limit terminal group (63); Driven drive tab (64); Transmit bracing frame (65); Carry out the motor (68) of displacement; Connecting line drag chain (70); Mechanical arm (71); Translation chassis (69); Support column (82); The guide rail of elevation and subsidence mechanical hand (72); Upper limit terminal group (78); Lower limit terminal group (79); Carry out the motor (68) of elevation and subsidence mechanical hand; Y type reclaimer robot (66); Solenoid valve (41); Swivel base (74); Reclaimer robot support (75); Rotary cylinder (31); Guide rail (72); Travelling belt (73); Terminal block (28) and rotary encoder (40) are formed; The both ends of transmitting bracing frame (65) are provided with driven drive tab (64), on the driven drive tab (64) of an end of transmission bracing frame (65) rotary encoder (40) are set, and rotary encoder (40) is connected with driven drive tab (64); A side that transmits an end of bracing frame (65) is provided with left limit terminal group (63); Left limit terminal group (63) is connected with the input signal interface (112) of terminal block (28) through circuit, and the master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected; A side that transmits the other end of bracing frame (65) is provided with right limit terminal group (62); Right limit terminal group (62) is connected with the input signal interface (112) of terminal block (28) through circuit; Left limit terminal group (63) and right limit terminal group (62) limit mechanical hand (71) are in the displacement that transmits on the bracing frame (65); Left limit terminal group (63) and right limit terminal group (62) are transmitting bracing frame (65) upper edge transmission bracing frame (65) adjustment shift position and shift length according to designing requirement, suppress mechanical arm (71) at the control shift position and the shift length that transmit on the bracing frame (65); The motor (68) of carrying out displacement is set on the driven drive tab in the other end (64) of transmission bracing frame (65); Motor (68) output terminal of carrying out displacement is connected with driven drive tab (64); Carry out the motor (68) of displacement according to designing requirement and select stepper motor or AC servo motor or brushless electric machine for use, in same modular unit, realize training requirement different motors; The bottom at the both ends of straight line moving manipulator unit (2) is provided with bracing frame (77) separately, is fixedly installed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) through bracing frame (77) with bolt; Transmit in the bracing frame (65) travelling belt (73) and guide rail (72) are set; The bottom of mechanical arm (71) is provided with translation chassis (69); Translation chassis (69) is embedded on the guide rail (72), and translation chassis (69) are connected to a fixed with travelling belt (73), drives travelling belt (73); Travelling belt (73) drives moving chassis (69) translation of translation, and translation chassis (69) carry mechanical arm (71) and transmitting bracing frame (73) top offset along guide rail (72); One end of connecting line holder chain (70) is connected with translation chassis (69); The other end of connecting line holder chain (70) is connected with terminal block (28); Place connecting line in the connecting line holder chain (70), the both ends of connecting line are connected with the input signal interface (112) and the output signaling interface (113) of mechanical arm (71) and terminal block (28) separately; Rotary cylinder (31) is set on the translation chassis (69); The top of rotary cylinder (31) is provided with swivel base (74); Solenoid valve (41), support column (82) are set on the swivel base (74) and carry out the motor (68) of up-down; One side of support column (82) is provided with the guide rail (72) of up-down Y type reclaimer robot, and the opposite side of support column (82) is provided with the motor (68) of carrying out up-down, carries out the motor (68) that goes up and down and goes up and down to locate Y type reclaimer robot (66) arbitrarily; The upper end of support column (82) opposite side and bottom are provided with upper limit terminal group (78) and lower limit terminal group (79) separately, and upper limit terminal group (78) and lower limit terminal group (79) restriction are carried out the motor (68) that goes up and down and driven the lifting travel of Y type reclaimer robot (66) on support column (82); One end of swivel base (74) is provided with solenoid valve (41); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28); Terminal block (28) is passed cable-through hole (67) entering circuit connection groove (37) through line cord and is arranged on the following master controller (44) of aggregate erection training platform (12) by cable interface (114) and is connected, and carries out the instruction that master controller (44) sends; The other end of swivel base (74) is provided with support column (82); Driven in rotation cylinder (31); 0-360 ° of scope of rotary cylinder (31) driven rotary chassis (74) rotation, motor (68), reclaimer robot support (75) and Y type reclaimer robot (66) that the support column (82) on the swivel base (74), execution are gone up and down together rotate with swivel base (74); Reclaimer robot support (75) is set on the support column (82), and reclaimer robot support (75) is the U type, and reclaimer robot support (75) embeds the guide rail (72) on the support column (82), and reclaimer robot support (75) is along guide rail (72) up-down displacement; One end of reclaimer robot support (75) fixedly installs gripper cylinder (76) and Y type reclaimer robot (66), starts the motor of carrying out (68) and drives reclaimer robot support (75), gripper cylinder (76) and Y type reclaimer robot (66) oscilaltion; One end of reclaimer robot support (75) fixedly installs gripper cylinder (76), and an end of gripper cylinder (76) is provided with Y type reclaimer robot (66), starts gripper cylinder (76) Y type reclaimer robot (66) and extracts or place work piece (36); The pneumatic line of solenoid valve (41) is connected with gripper cylinder (76) with rotary cylinder (31) respectively through pipeline separately; Solenoid valve (41) receives the instruction of master controller (44); Carry out the opening and closing of pneumatic line according to instruction; The opening and closing of driven in rotation cylinder (31) and gripper cylinder (76), and rotation, extraction and place work piece (36);
Solid mechanical fingerprint module unit (3) by pivot arm (81), support column (82), get material parallel folder (83), universal stage (84), rotary cylinder (31), terminal block (28), section bar matrix (29), fixed base plate (30), rotating electromagnetic valve group (41) and stationary positioned hole (38) are formed; Fixed base plate (30) is whole rectangular; Place, both sides of the edge relative fixed on the fixed base plate (30) is provided with section bar matrix (29); One end of section bar matrix (29) and fixed base plate (30) are connected to a fixed; One side of section bar matrix (29) is provided with terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and carries out the instruction that master controller (44) sends; Place, both sides of the edge on the fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on solid mechanical fingerprint module unit (3) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The top of the other end of section bar matrix (29) fixedly installs retention plate (85); Fixedly install rotary cylinder (31) on the retention plate (85); Universal stage (84) is set on the rotary cylinder (31); Support column (82) is set on the universal stage (84), and the upper end of support column (82) fixedly installs pivot arm (81), driven in rotation cylinder (31) driven rotary platform (84) and support column (82) rotation pivot arm (81); The other end of pivot arm (81) fixedly installs gets material parallel folder (83), and an end of getting the parallel folder of material (83) is connected with the other end of pivot arm (81), extracts or place work piece (36) through getting the parallel folder of material (83); One end of pivot arm (81) fixedly installs solenoid valve (41); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Solenoid valve (41) receives the instruction of master controller (44); Carry out the opening and closing of pneumatic line according to instruction, the pneumatic line of solenoid valve (41) expects that with getting parallel folder (83) is connected with rotary cylinder (31) respectively separately through pipeline, driven in rotation cylinder (31) and get opening and closing and the extraction and the place work piece (36) of expecting parallel folder (83);
Tiered warehouse facility modular unit (4) is made up of goods yard (86), shelf (87), section bar base (88), section bar end cap (32) and section bar matrix (29); Be oppositely arranged section bar base (88); At least 2 section bar bases (88); The top ends at the both ends of section bar base (88) fixedly installs section bar end cap (32); Section bar matrix (29) is set on one end of section bar base (88) separately, and an end of section bar matrix (29) is connected with an end of section bar base (88), and the top ends of the other end of section bar matrix (29) fixedly installs section bar end cap (32); The side of section bar matrix (29) fixedly installs shelf (87), and at least 3 layers of shelf (87) are provided with goods yard (86) on every layer of shelf (87), at least 5 goods yards (86), and place work piece (36) is gone up in each goods yard (86); Workpiece (36) is deposited in the goods yard (86) of tiered warehouse facility modular unit (4), through the quantity and the position of master controller (44) the record interior workpiece of tiered warehouse facility modular unit (4) (36);
Loading platform modular unit (5) is made up of workpiece positioning table (89), loading platform (90), detection probe (34), terminal block (28), section bar matrix (29) and fixed base plate (30); Fixed base plate (30) is whole rectangular; Fixed base plate (30) is gone up the both sides relative fixed section bar matrix (29) is set; One side on the top of section bar matrix (29) is provided with terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and carries out the instruction that master controller (44) sends; The top of section bar matrix (29) fixedly installs loading platform (90); Loading platform (90) is whole rectangular; Workpiece positioning table (89) is set on the loading platform (90); Workpiece positioning table (89) global sections is shaped as spill, and workpiece (36) is placed in the spill gap of loading platform (90) and workpiece positioning table (89); Fixedly install detection probe (34) on one end of workpiece positioning table (89); Detection probe (34) is selected photoelectric sensor for use; Detection probe (34) is connected with the input signal interface (112) of terminal block (28) through circuit; Detection probe (34) detects and puts into the workpiece (36) on the loading platform (90) by the gap of workpiece positioning table (89), and feeds back to master controller (44) to detected numerical information; Place, both sides of the edge on the stationary positioned plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on loading platform module (5) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38);
Travelling belt detection module unit (6) is made up of driving wheel (92), support (93), workpiece sensing equipment (97), detection probe (34), cylinder support (95), pusher window (96), locating support (99), the cylinder of selecting materials (100), terminal block (28), solenoid valve (41), locating support (99), the cylinder of selecting materials (100), travelling belt (98), travelling belt bracing frame (101), drive wheel bracket (102) and rotary encoder (40); The bottom of travelling belt bracing frame (101) is provided with support (93); The bottom of support (93) is provided with stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The top of support (93) is connected with travelling belt bracing frame (101); Support (93) supports travelling belt bracing frame (101); The both ends of travelling belt bracing frame (101) are provided with drive wheel bracket (102) separately; Drive wheel bracket (102) is concave shape, and drive wheel bracket is provided with the adjusting slideway on (102); Install driving wheel (92) on the drive wheel bracket (102); Install endless belt conveyer (98) on the driving wheel (92) at travelling belt bracing frame (101) and both ends; Driving wheel (92) is through the rate of tension of the adjusting slideway adjustment travelling belt (98) of drive wheel bracket (102); The both ends on travelling belt (98) top on the travelling belt bracing frame (101) are the loading and unloading station (45) of workpiece (36); Start driving wheel (92), driving wheel (92) drives travelling belt (98) conveying work pieces (36); One of them driving wheel (92) in the driving wheel (92) at rotary encoder (40) and travelling belt bracing frame (101) both ends is connected; The location swap of rotary encoder (40) still realizes driving travelling belt (98); The motor (68) of motor module unit (10) is connected with driving wheel (92), and rotary encoder (40) is implemented the main story operation or the counter-rotating operation of travelling belt (98); Fixedly install workpiece sensing equipment (97) on the travelling belt bracing frame (101); At least 1 group workpiece sensing equipment (97); Workpiece sensing equipment (97) is gone up at travelling belt (98) and is constituted surveyed area (46); Workpiece sensing equipment (97) detects the workpiece (36) of flowing through on the travelling belt (98) and releases travelling belt (98) to detected workpiece (36) and gets into slideway (33); The both ends of travelling belt (98) are respectively loading and unloading station (45), so as respectively from travelling belt (98) two ends feed with get material; Workpiece sensing equipment (97) is made up of detection probe (34), cylinder support (95), pusher window (96), locating support (99), the cylinder of selecting materials (100) and solenoid valve (41); Detection probe (34) is installed on the top of locating support (99); Detection probe (34) is selected inductance detection probe or capacitance detecting probe or Photoelectric Detection probe for use; Require to install the relevant detection probe according to different detection; Detection probe (34) is connected with the input signal interface (112) of terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, to the numerical information of master controller (44) detection feedback workpiece; Locating support (99) is fixedly installed on the travelling belt bracing frame (101); Locating support (99) is whole L-shaped; The bottom of locating support (99) is provided with the gentle jar support of solenoid valve (41) (95); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord; Carry out the instruction that master controller (44) transmission comes, the pneumatic line of solenoid valve (41) is connected with the cylinder of selecting materials (100), and solenoid valve (41) drives the cylinder (100) of selecting materials according to instruction and releases travelling belt (98) to selected workpiece (36); Pusher window (96) is offered at the middle part of locating support (99); Pusher window (96) is corresponding with detection travelling belt (98); Cylinder support (95) is whole L-shaped; One end of cylinder support (95) and locating support (99) are connected to a fixed; The cylinder of selecting materials (100) is installed in the other end of cylinder support (95), and the expansion link of the cylinder of selecting materials (100) is corresponding with the pusher window (96) of locating support (99), and the expansion link of the cylinder of selecting materials (100) passes pusher window (96) and releases travelling belt (98) to the workpiece on the travelling belt (98);
Inclined ramp modular unit (7) is made up of slideway support (42), slideway (33), detection probe (34) and limiting block (35); Slideway support (42) integral body is at right angles trapezoidal; The base plate that extends along the right angle, edge is set respectively on two limits at the right angle of slideway support (42); 2 stationary positioned holes (38) are set on the base plate at least; Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on inclined ramp detection module unit (7) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); On the edge of the hypotenuse of slideway support (42) and the edge of straight flange 3 fixed orifices (43) are set at least, are fixed on slideway (33) on the slideway support (42) through fixed orifice (43); Fixedly install slideway (33) on the last hypotenuse of slideway support (42); Slideway (33) is the slideway (33) that skewed formation tilts; Slideway (33) cross sectional shape is spill, and the surface of slideway (33) is provided with some grooves, reduces the friction force of workpiece (36) and slideway (33); One end of slideway (33) is provided with limiting block (35), and restriction workpiece (36) is accurately located in the end of slideway (33); One side of one end of slideway (33) is provided with detection probe (34); Detection probe (34) is connected with the input signal interface (112) of terminal block (28) on being installed in travelling belt detection module unit (6); Master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and the digital information transmission that gets into workpiece (36) in slideway (33) is given master controller (44); Workpiece (36) slides from the top of slideway (33), slides to the bottom of slideway (33), and limiting block (35) blocks workpiece (36), and the detection probe (34) of slideway (33) one sides detects workpiece (36) situation on the slideway (33);
Horizontal slideway modular unit (8) is made up of slideway support (42), slideway (33), detection probe (34) and limiting block (35); Slideway support (42) integral body is at right angles trapezoidal; The base plate that extends along the right angle, edge is set respectively on two limits at the right angle of slideway support (42); 2 stationary positioned holes (38) are set on the base plate at least; Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on horizontal slideway detection module unit (8) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); On the edge of the hypotenuse of slideway support (42) and the edge of straight flange 3 fixed orifices (43) are set at least, are fixed on slideway (33) on the slideway support (42) through fixed orifice (43); Fixedly install slideway (33) on the straight flange of slideway support (42); The slideway (33) of the horizontal formation level of slideway (33); Slideway (33) cross sectional shape is spill, and the surface of slideway (33) is provided with some grooves, reduces the friction force of workpiece (36) and slideway (33); One end of slideway (33) is provided with limiting block (35), and restriction workpiece (36) is accurately located in the end of slideway (33); One side of one end of slideway (33) is provided with detection probe (34); Detection probe (34) is connected with the input signal interface (112) of terminal block (28) on being installed in travelling belt detection module unit (6); Master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and the digital information transmission that gets into workpiece (36) in slideway (33) is given master controller (44); Workpiece (36) gets into from the other end of slideway (33), fills slideway (33) until workpiece (36), and the workpiece (36) that the detection probe (34) of slideway (33) one sides detects on the slideway (33) is filled situation;
Well formula feed modular unit (9) by well formula feed storehouse (103), detection probe (34), solenoid valve (41), pusher cylinder (106), go out platform (108) at the bottom of feed bin (107), the storehouse, terminal block (28), section bar matrix (29) and fixed base plate (30) and form; Fixed base plate (30) is whole rectangular; The place, both sides of the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on well formula feed modular unit (9) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The both sides of fixed base plate (30) are oppositely arranged section bar matrix (29); One end of section bar matrix (29) and fixed base plate (30) are connected to a fixed; Detection probe (34), solenoid valve (41) and terminal block (28) are set on the sidewall of section bar matrix (29); Detection probe (34) is connected with the input signal interface (112) of terminal block (28) on being installed in aggregate erection training platform (12); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface is connected; Feed back to master controller (44) to the numerical information of detected workpiece (36) through circuit, and receive the instruction that master controller (44) transmission comes; The pneumatic line of solenoid valve (41) is connected with pusher cylinder (106); The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28) on being installed in aggregate erection training platform (12); Solenoid valve (41) drives the opening and closing of pusher cylinder (106) according to instruction, and releases out feed bin (107) to workpiece (36); Fixedly install well formula feed storehouse (103) on the other end of section bar matrix (29); Bottom, well formula feed storehouse (103) is for going out platform (108) at the bottom of feed bin (107) and the storehouse; Platform at the bottom of the storehouse (108) is whole rectangular, and platform (108) is connected to a fixed at the bottom of the other end of section bar matrix (29) and the storehouse, and an end of platform at the bottom of the storehouse (108) sets out feed bin (107); Go out feed bin (107) integral body and be cube; A side that goes out feed bin (107) is provided with discharging opening, and the top that goes out feed bin (107) is provided with charging aperture, and the top that goes out feed bin (107) fixedly installs well formula feed storehouse (103); The charging aperture that goes out feed bin (107) is connected with the discharging opening in well formula feed storehouse (103), and the charging aperture that goes out feed bin (107) is corresponding with the discharging opening in well formula feed storehouse (103); Well formula feed storehouse (103) integral body is column; Designing requirement need be set at rectangle or circle to the interior cross sectional shape in well formula feed storehouse (103) according to workpiece (36); Top, well formula feed storehouse (103) is provided with charging aperture, and the bottom in well formula feed storehouse (103) is provided with discharging opening; The other end of platform at the bottom of the storehouse (108) is provided with pusher cylinder (106); The expansion link of pusher cylinder (106) is corresponding with the charging aperture and the discharging opening that go out feed bin (107); Start pusher cylinder (106), the expansion link of pusher cylinder (106) is released the workpiece (36) that in the feed bin (107) from discharging opening;
Motor module unit (10) is made up of motor (68), terminal box (109) and fixed base plate (30); Fixed base plate (30) is whole rectangular; The place, both sides of the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Terminal box (109) is set on one end of fixed base plate (30); Terminal box (109) is connected through the output signaling interface (113) of circuit with the terminal block (28) of travelling belt detection module unit (6); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected; Carry out the instruction that master controller (44) transmission comes; Motor module unit (10) receives the instruction that master controller (44) sends, according to the unlatching of instruction drive motor (109), just change, reverse and close; Motor (68) is set on the other end of fixed base plate (30); The clutch end of motor (68) is connected with the driving wheel (92) of travelling belt detection module unit (6); Motor (68) is selected alternating current generator or servomotor or stepper motor or brushless electric machine for use according to the needs of training request, in same modular unit, realizes the training requirement to different motors through exchanging different motor; The motor (68) of motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); Order about motor (109) and implement rotating; Driving wheel (92) through Synchronous Belt Drives travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) both forward and reverse directions, and workpiece (36) is gone up the training request of implementing different operating at travelling belt (98);
Many processing/modular unit (11) are made up of fixed base plate (30), support column (82), terminal block (28), positioning of rotating motor (91), station dial (94), positioning clamp holder (111) and processing/assembly manipulator (54); Fixed base plate (30) is whole rounded; The edge of fixed base plate (30) is provided with stationary positioned hole (38); Benchmark on spacing between the stationary positioned hole (38) and the aggregate erection training platform (12) is installed identification point (39) and is matched, and is fixed on many processing/modular unit (11) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The middle part of fixed base plate (30) fixedly installs support column (82); One side of support column (82) is installed terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected, and carries out the instruction that master controller (44) sends; The opposite side of support column (82) is installed positioning of rotating motor (91); The control circuit of positioning of rotating motor (91) is connected with the output signaling interface (113) of terminal block (28); Station dial (94) is installed in the upper end of support column (82); Station dial (94) is whole Y-shaped, and each end of Y type of station dial (94) is a spill, and the gap of spill constitutes loading and unloading stations (45); On the station dial (94) of the spill gap bottom of loading and unloading station (45), fixedly install V-type locating piece (57); V-type locating piece (57) is corresponding with the spill gap of loading and unloading station (45), and positioning of rotating motor (91) drives central part rotation or the location of station dial (94) around support column (82); Station dial (94) wherein an end below fixedly install positioning clamping cylinder (104); The control circuit of positioning clamping cylinder (104) is connected with the output signaling interface (113) of terminal block (28); Station dial (a 94) wherein end is provided with positioning clamp holder (105); Positioning clamp holder (105) is whole L-shaped; One end of positioning clamp holder (111) is connected with positioning clamping cylinder (104); The other end of positioning clamp holder (105) is spill; The spill gap of the other end of positioning clamp holder (105) is corresponding with V-type locating piece (57), drives positioning clamping cylinder (104) drive positioning clamp holder (105) and passes workpiece (36) to V-type locating piece (57), reaches processing or the assembling that workpiece (36) was accurately located and realized to concentricity through V-type locating piece (57); The middle part of station dial (94) is provided with processing/assembly manipulator (54); The bottom of processing/assembly manipulator (54) is base (59); Base (59) is gone up the fixing lifting column (60) of erectting; Lift cylinder (51) is set on the lifting column (60), clamps cylinder (56) and machinery folder (61); One side of lifting column (60) is provided with lift cylinder (51) and solenoid valve (41), and the opposite side of lifting column (60) is provided with and clamps cylinder (56), and the end that clamps cylinder (56) fixedly installs machinery folder (61); Clamp cylinder (56) and machinery folder (61) and pass through lift cylinder (51) along lifting column (60) up-down, machinery folder (56) is through clamping cylinder (56) grasping clamping workpiece (36); The preceding loading and unloading station (45) of locating piece (57) is corresponding with machinery folder (56), can realize that through locating piece (57) processing/assembly station (47) concentricity accurately locatees; The operation circuit of solenoid valve (41) is connected with the output signaling interface (113) of terminal block (28); Master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on aggregate erection training platform (12) through line cord by cable interface (114) is connected; Solenoid valve (41) receives the instruction of master controller (44), carries out the opening and closing of pneumatic line according to instruction; The pneumatic line of solenoid valve (41) is connected with lift cylinder (51), positioning clamping cylinder (104) and clamping cylinder (56) respectively through pipeline separately, drives opening and closing and the extraction and the place work piece (36) of lift cylinder (51), positioning clamping cylinder (104) and clamping cylinder (56);
Terminal block (28) is made up of connection terminal base (111), input signal interface (112), output signaling interface (113), circuit interface plate (115) and cable interface (114); Circuit interface plate (115) is set on the connection terminal base (111); The route protection of earth leakage protection, short-circuit protection, insulation blocking, intelligent protection is set in the circuit interface plate (115); Circuit interface plate (115) top is provided with input signal interface (112), output signaling interface (113) and cable interface (114); Input signal interface (112), output signaling interface (113) are connected with cable interface (114) through the circuit of circuit interface plate (115); Cable interface (114) is connected with master controller (44) through cable; Give master controller (44) digital information transmission of the detection means of each modular unit feedback, and be transferred to the performer of each modular unit to the instruction of master controller (44), be provided with the route protection of earth leakage protection, short-circuit protection, insulation blocking, intelligent protection in the base; In case break down in the operational process, guarantee the safety of the person and equipment; Terminal block (28) is attached on the modular unit or is installed on the table top of aggregate erection training platform (12), gives the instruction of master controller (44) and reception master controller (44) the feedback digital information of modular unit;
Aggregate erection training platform (12) is whole rectangular; Install circuit connection groove (37), cable-through hole (110) and benchmark on the aggregate erection training platform (12) sign (39) is installed; 4 benchmark are set on the aggregate erection training platform (12) at least sign (39) is installed; Benchmark install sign (39) each other X be integral multiple with Y direction spacing, install according to benchmark and identify (39) and install training and realize training request with modular unit; Circuit connection groove (37) is set on the table top of aggregate erection training platform (12); Circuit connection groove (37) global sections shape is rectangular, and the bottom of circuit connection groove (37) is wire casing pedestal (49), and wire casing pedestal (49) global sections shape is spill; The concave bottom of wire casing pedestal (49) is provided with the stationary positioned hole; Go up laying wire casing pedestal (49) according to designing requirement at aggregate erection training platform (12), and be fixed on wire casing pedestal (49) on the aggregate erection training platform (12) through bolt, wire hole (50) is advanced in the equidistance setting on the both sides cell wall of wire casing pedestal (49); The link tester that connects between each modular unit is crossed into wire hole (50) turnover circuit connection groove (37); The top of circuit connection groove (37) is wire casing lid (48), and the global sections shape of wire casing lid (48) is spill, and the port of wire casing pedestal (49) is provided with interior buckle; The lower port of wire casing lid (48) is provided with outer buckle; Wire casing lid (48) covers on the port of wire casing pedestal (49), and the interior buckle of the port of wire casing pedestal (49) buckles into the outer buckle of the lower port of wire casing lid (48), and wire casing lid (48) matches with wire casing pedestal (49); Training is connected with the link tester oversampling circuit connecting groove (37) of modular unit; And training system is made in the composition module combination; Circuit connection groove (37) constitutes network line and the circuit connection of training with modular unit, implements the operation that modular combination is made each parts of training system; The cable-through hole (110) of perforation is set on the table top of aggregate erection training platform (12); At least be provided with 4; Terminal block (28) is passed cable-through hole (110) through line cord and is arranged on the following master controller (44) of aggregate erection training platform (12) by cable interface (114) and is connected the instruction that transmission comes with execution master controller (44) of the numerical information of feedback module unit; Master controller (44) is set below the aggregate erection training platform (12); Master controller (44) by control enclosure, master control board, urgency is stopped and some groups of startups, stop buttons are formed; Link to each other with terminal block (28) through circuit; Master controller (44) receives the numerical information of feedback and sends operational order; Drive each modular unit and carry out crawl, the interlock action that training operation start, stop button can be realized corresponding modular unit, be convenient to the training, maintenance, troubleshooting barrier of module etc.
2. a modular combination is made training system; It is characterized in that; According to claim 1 pair of material loading/processing/assembling/warehouse-in/outbound system (13); This pair material loading/processing/assembling/warehouse-in/outbound system (13) is made up of processing/modular unit (1), straight line moving manipulator unit (2), solid mechanical fingerprint module unit (3), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp modular unit (7), horizontal slideway modular unit (8), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28), aggregate erection training platform (12) and master controller (44); Processing/modular unit (1), many processing/modular unit (11), at least 2 group inclined ramp modular units (7) and at least 2 group well formula feed modular units (9) are set in two material loading/processing/assembling/warehouse-in/outbound system (13); Processing/modular unit (1) and many processing/modular unit (11) are carried out the operation of continuous process operation and assembling; 2 groups of well formula feed modular units (9) are supplied with different workpiece separately, and 2 kinds of different workpiece realize feeding, detection, processing, assemble, go into the training on operation requirement of library storage, outbound, detection, letter sorting;
One end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38), straight line moving manipulator unit (2) and travelling belt detection module unit (6) are T-shaped on aggregate erection training platform (12); One side of straight line moving manipulator unit (2) fixedly installs processing/modular unit (1) and many processing/modular unit (11); Processing/modular unit (1) and many processing/modular unit (11) laterally arrange along a side of straight line moving manipulator unit (2); Be fixed on processing/modular unit (1) and many processing/modular unit (11) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2); The Y type reclaimer tool folder (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11), and different workpiece (36) is processed or assembled to processing/modular unit (1) and many processing/modular unit (11) separately; The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4); Be fixed on tiered warehouse facility modular unit (4) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38), the Y type reclaimer tool folder (66) of straight line moving manipulator unit (2) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4) and is just extracted or place work piece (36) from the goods yard (86) of tiered warehouse facility modular unit (4); The opposite side of straight line moving manipulator unit (2) fixedly installs loading platform modular unit (5); Loading platform modular unit (5) fixedly installs with tiered warehouse facility modular unit (4) side by side; Be fixed on loading platform modular unit (5) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with straight line moving manipulator unit (2); The workpiece positioning table (89) that the Y type reclaimer tool folder (66) of straight line moving manipulator unit (2) is aimed at loading platform modular unit (5) just extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5), and the workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) of solid mechanical fingerprint module unit (3) just extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5);
One side of one end of travelling belt detection module unit (6) fixedly installs 2 groups of well formula feed modular units (9); Be fixed on 2 groups of well formula feed modular units (9) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The feed bin (107) that goes out of 2 groups of well formula feed modular units (9) docks with the travelling belt (98) of travelling belt detection module unit (6), and it is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107); One side of the other end of travelling belt detection module unit (6) fixedly installs solid mechanical fingerprint module unit (3); Be fixed on solid mechanical fingerprint module unit (3) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The parallel folder of material (83) of getting of solid mechanical fingerprint module unit (3) is aimed at the loading and unloading station (45) of the other end, travelling belt detection module unit (6) or the workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) of solid mechanical fingerprint module unit (3); Just the loading and unloading station (45) from the other end, travelling belt detection module unit (6) extracts or place work piece (36), and perhaps the workpiece positioning table (89) from loading platform modular unit (5) extracts or place work piece (36); The opposite side of the other end of travelling belt detection module unit (6) fixedly installs motor module unit (10), horizontal slideway modular unit (8) and 2 groups of inclined ramp modular units (7); Motor module unit (10) is arranged on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (109) of starter motor modular unit (10), motor (109) drive travelling belt (98) running of travelling belt detection module unit (6); Horizontal slideway modular unit (8) is fixedly installed on the opposite side of travelling belt detection module unit (6); Be fixed on horizontal slideway modular unit (8) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The port of the slideway (33) of horizontal slideway modular unit (8) docks with the travelling belt (98) of travelling belt detection module unit (6), and the port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97);
2 groups of inclined ramp modular units (7) are fixedly installed on the opposite side of travelling belt detection module unit (6); Be fixed on 2 groups of inclined ramp modular units (7) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The port of the slideway (33) of inclined ramp modular unit (7) docks with the travelling belt (98) of travelling belt detection module unit (6); The port of slideway (33) is corresponding with travelling belt detection module unit (6) workpiece sensing equipment (97) separately, and travelling belt detection module unit (6), 2 groups of inclined ramp modular units (7) and workpiece sensing equipment (97) are gone up at travelling belt (98) and constituted surveyed area (46); The master controller (44) that is arranged on aggregate erection training platform (12) bottom passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with the terminal block (28) of each group training with modular unit; Master controller (44) sends instruction and receives feedback digital information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request of the mounting arrangement of two material loading/processing/assembling/warehouse-in/outbound system (13);
Placing 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9) is workpiece 1 (36) and workpiece 2 (36); Master controller (44) sends on the loading and unloading station (45) of travelling belt (98) one ends that instruct the wherein pusher cylinder (106) of one group of well formula feed modular unit (9) of startup, pusher cylinder (106) to shift the workpiece in the well formula feed storehouse (103) 1 (36) onto from the discharging opening that goes out feed bin (107) travelling belt detection module unit (6);
The motor (109) of starter motor modular unit (10) is implemented just to change; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) and is just transporting row, the workpiece 1 (36) on the travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the loading and unloading station (45) of travelling belt (98) other end; Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece 1 (36) on the loading and unloading station (45) of travelling belt (98) one ends; Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 1 (36); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expect that parallel folder (83) leaves the workpiece positioning table (89) of loading and unloading station (45) the aligning loading platform modular unit (5) of travelling belt (98) other end; Starting solenoid valve (41) is placed on workpiece 1 (36) on the workpiece positioning table (89) of loading platform modular unit (5); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the workpiece positioning table (89) of loading platform modular unit (5), transfers from travelling belt detection module unit (6) workpiece 1 (36) to straight line moving manipulator unit (2) training request of operation through loading platform modular unit (5);
Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and mechanical arm (71) moves to the workpiece positioning table (89) of aiming at loading platform modular unit (5) along guide rail (72), starts the motor (68) of the execution up-down of mechanical arm (71); Regulate the height of Y type reclaimer tool folder (66); Workpiece 1 (36) on the alignment pieces positioning table (89) starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer tool folder (66) extracts workpiece 1 (36); Start the motor (68) of the execution up-down of mechanical arm (71); Promote Y type reclaimer robot (66); Workpiece 1 (36) is along with Y type reclaimer robot (66) promotes together; Workpiece 1 (36) leaves the workpiece positioning table (89) of loading platform modular unit (5), and Y type reclaimer robot (66) keeps the state of clamping workpiece 1 (36);
Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is with connecting line translation together and aim at the loading and unloading station (45) of processing/modular unit (1); Start the motor of carrying out (68) and regulate the height of mechanical arm (71), aim at the loading and unloading station (45) of processing/modular unit (1); Start the gripper cylinder (76) on the mechanical arm (71); Be placed on the workpiece 1 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66), implement the training request of material loading processing work operation;
Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 1 (36) to processing/assembly station (47) along retention plate (52); Workpiece 1 (36) moves to the position of processing/assembly station (47) and is then blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 1 (36) rests on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece 1 (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece 1 (36), processing work 1 (36); Processed workpiece 1 (36) is being placed on processing/assembly station (47); Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the processing/assembly station (47) 1 (36) to loading and unloading station (45) along retention plate (52); Workpiece 1 (36) moves to the position of loading and unloading station (45), and is to be assembled;
Simultaneously; Master controller (44) sends instruction; Start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) onto on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107);
The motor (68) of starter motor modular unit (10) is implemented just to change; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) main story, the workpiece 2 (36) on the travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends be transferred to the loading and unloading station (45) of travelling belt (98) other end; Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, the parallel folder of material (83) of getting on the pivot arm (81) is aimed at the workpiece 2 (36) on the loading and unloading station (45) of travelling belt (98) other end; Start solenoid valve (41), get the parallel folder of material (83) and grasp workpiece 2 (36); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expect that parallel folder (83) leaves the workpiece positioning table (89) of loading and unloading station (45) the aligning loading platform modular unit (5) of travelling belt (98) other end; Starting solenoid valve (41) is placed on workpiece 2 (36) on the workpiece positioning table (89) of accurate loading platform modular unit (5); Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; The parallel folder of material (83) got on the pivot arm (81) is removed the workpiece positioning table (89) of loading platform modular unit (5), transfers from travelling belt detection module unit (6) workpiece 2 (36) to straight line moving manipulator unit (2) training request of operation through loading platform modular unit (5);
Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together; Start the motor (68) of the execution up-down of mechanical arm (71); Regulate the height of Y type reclaimer tool folder (66); Workpiece 2 (36) on the workpiece positioning table (89) of Y type reclaimer robot (66) aligning loading platform modular unit (5); Start the gripper cylinder (76) on the mechanical arm (71), folder (66) clamping of Y type reclaimer tool is also extracted workpiece 2 (36); Start the motor (68) that the execution on the mechanical arm (71) is gone up and down; Promote Y type reclaimer robot (66); Workpiece 2 (36) is along with Y type reclaimer robot (66) promotes together; Workpiece 2 (36) leaves the workpiece positioning table (89) of loading platform modular unit (5), and Y type reclaimer robot (66) keeps the state of clamping workpiece 2 (36);
The motor (68) of rotary cylinder (31) on the startup mechanical arm (71) and execution displacement; Aim at the workpiece 2 (36) of Y type reclaimer robot (66) clamping the loading and unloading station (45) of the station dial (94) of many processing/modular unit (11); Start the gripper cylinder (76) on the mechanical arm (71); Be placed on the workpiece 2 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of station dial (94); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove Y type reclaimer robot (66);
The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 2 (36) rotates to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 2 (36) to V-type locating piece (57) along station dial (94); Workpiece 2 (36) translations; V-type locating piece (57) by on the station dial (94) blocks, and workpiece 2 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling; Start the lift cylinder (51) on the lifting column (60); Decline processing/assembly manipulator (54), alignment pieces 2 (36) starts clamping cylinder (56); Machinery folder (61) grasps workpiece 2 (36); Start lift cylinder (51), processing/assembly manipulator (54) grasps workpiece 2 and promotes, and leaves the loading and unloading station (45) of station dial (94);
Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the workpiece 1 (36) of the loading and unloading station (45) of processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71), the workpiece 1 (36) that Y type reclaimer robot (66) extracts;
Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Aim at the loading and unloading station (45) of many processing/modular unit (11), be placed on the workpiece 1 (36) of mechanical arm (71) clamping on the loading and unloading station (45) of many processing/modular unit (11); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove Y type reclaimer robot (66), implement the training request of assembling workpiece operation;
The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94), and the loading and unloading station (45) of going up station dial (94) one of them place work piece 1 (36) rotates to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 1 (36) to V-type locating piece (57) along station dial (94); Workpiece 1 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 1 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling;
Start the lift cylinder (51) on the lifting column (60); Processing/assembly manipulator (54) descends; Alignment pieces 1 (36) starts clamping cylinder (56), and machinery folder (61) is put into workpiece 1 to the workpiece that grasps 2 (36); Start lift cylinder (51); Processing/assembly manipulator (54) promotes the loading and unloading station (45) that leaves station dial (94), and workpiece 2 (36) suits are assembled in the workpiece 1 (36), and the workpiece 1 (36) of the suit after the assembling and workpiece 2 (36) are made into the workpiece (36) of suit assembling; The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; The loading and unloading station (45) of going up station dial (94) workpiece (36) of placing the suit assembling rotates to the position of aiming at straight line walking machine fingerprint module unit (2), implements the training request of suit assembling workpiece operation;
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) are aimed at the loading and unloading station (45) of many processing/modular unit (11) and are gone up the workpiece (36) of suit assembling; Start the gripper cylinder (76) on the mechanical arm (71); (66) clamping of Y type reclaimer robot is also extracted the workpiece (36) of the suit assembling on the loading and unloading station (45); The motor (68) that starts rotary cylinder (31) and execution up-down leaves many processing/modular unit (11); Aim at the goods yard (86) of tiered warehouse facility modular unit (4), start the gripper cylinder (76) on the mechanical arm (71), be placed on the workpiece (36) of suit assembling on the goods yard (86); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Move Y type reclaimer robot (66) and leave tiered warehouse facility modular unit (4); The workpiece (36) of suit assembling is filled in cycling on each goods yard (86) of tiered warehouse facility modular unit (4) repeatedly, implements the training request of workpiece in-stockroom operation;
The ordering of the workpiece (36) of suit assembling occurs mixed and disorderly in tiered warehouse facility modular unit (4); Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4), starts the gripper cylinder (76) on the mechanical arm (71), and the workpiece (36) of the mixed and disorderly suit assembling of ordering is gone up in Y type reclaimer robot (66) clamping goods yard (86); Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) is placed into the workpiece (36) of the mixed and disorderly suit assembling of the ordering of clamping on the workpiece positioning table (89); Start rotary cylinder (31), displacement electromagnetic valve group (2-2) and the motor (68) of straight line moving manipulator unit (2); Y type reclaimer robot (66) is removed workpiece positioning table (89); The room is vacateed in the goods yard (86) of tiered warehouse facility modular unit (4); The room that utilizes tiered warehouse facility modular unit (4) to vacate; Go up the workpiece (36) of the mixed and disorderly suit assembling of ordering through mechanical arm (71) adjustment tiered warehouse facility modular unit (4) shelf (87) of straight line moving manipulator unit (2), go up tiered warehouse facility modular unit (4) shelf (87) workpiece (36) of suit assembling and arrange in order; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), the arrangement of the last workpiece (36) in goods yard (86) of workpiece (36) the adjustment tiered warehouse facility modular unit (4) on Y type reclaimer robot (66) the extraction goods yard (86) is orderly, the ordering ordering of the workpiece (36) of cycling in tiered warehouse facility modular unit (4) repeatedly;
Go up workpiece (36) arrangement in order of suit assembling when tiered warehouse facility modular unit (4) shelf (87) after; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71); Y type reclaimer robot (66) is placed into workpiece (36) clamping on the workpiece positioning table (89) and playback on the goods yard (86) of soaring in the tiered warehouse facility modular unit (4), implements the workpiece (36) of suit assembling in the tiered warehouse facility modular unit (4) and arranges the training request of operation in order;
When the workpiece (36) of suit assembling is filled in each goods yard (86) of tiered warehouse facility modular unit (4); Master controller (44) is received the full data message in tiered warehouse facility modular unit (4) storehouse; After processing data information; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down, the motor (68) of carrying out displacement drives travelling belt (73), and travelling belt (73) drive mechanical arm (71) is along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece (36) of the suit assembling on the goods yard (86) of Y type reclaimer robot (66) aligning tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts the workpiece (36) of suit assembling;
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece (36) of suit assembling on the workpiece positioning table (89); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the workpiece positioning table (89) of loading platform modular unit (5), shift the workpiece (36) of suit assembling from straight line moving manipulator unit (2) to travelling belt detection module unit (6), and reach the training request of the workpiece outbound operation of suit assembling through loading platform modular unit (5);
Start the rotary cylinder (31) of solid mechanical fingerprint module unit (3); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Get the parallel folder of material (83) and aim at the workpiece positioning table (89) of loading platform modular unit (5); Start solenoid valve (41), get the workpiece (36) that the parallel folder of material (83) grasps assembling; Start rotary cylinder (31); Rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation; Get the parallel folder of material (83) and aim at the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6), start solenoid valve (41) and be placed on the workpiece (36) of suit assembling on the loading and unloading station (45) of travelling belt (98) one ends; Start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), support column (82) and pivot arm (81) rotation, getting on the pivot arm (81) expects that parallel folder (83) removes the loading and unloading station (45) of travelling belt (98) one ends;
The motor (68) of starter motor modular unit (10) is implemented counter-rotating; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) the counter-rotating operation of travelling belt detection module unit (6); The workpiece (36) of suit assembling from the loading and unloading station (45) of travelling belt (98) other end transmit to surveyed area (46); The workpiece (36) of suit assembling during through surveyed area (46) detection probe (34) on the workpiece sensing equipment (97) workpiece (36) of suit assembling is implemented to detect; When the workpiece (36) that detects qualified suit assembling; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95), the pusher window (96) that the expansion link of the cylinder of selecting materials (100) passes on the locating support (99) pushes the workpiece (36) of qualified suit assembling in the slideway (33) of corresponding horizontal slideway modular unit (8); When the workpiece (36) that detects underproof suit assembling; The cylinder of selecting materials (100) that is fixed on cylinder support (95) starts; The pusher window (96) that the expansion link of cylinder (100) of selecting materials passes on the locating support (99) pushes the workpiece (36) of underproof suit assembling in the slideway (33) of corresponding inclined ramp modular unit (7); Cycling is until the clear storehouse of workpiece (36) of the stock's of tiered warehouse facility modular unit (4) suit assembling repeatedly; Implement the training request of detection, letter sorting and outbound operation, carry out two material loading/processing/assembling/warehouse-in/outbound system (13) implements processing, assembling, warehouse-in, outbound, detection and letter sorting operation to 2 kinds of different labor and materials training request.
3. a modular combination is made training system; It is characterized in that; Raw material/processing according to claim 1/turnover/warehouse-in/outbound system (14); This raw material/processing/turnover/warehouse-in/outbound system (14) is made up of processing/modular unit (1), straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), loading platform modular unit (5), many processing/modular unit (11), aggregate erection training platform (12) and master controller (44); Processing/modular unit (1) and many processing/modular unit (11) are set in raw material/processing/turnover/warehouse-in/outbound system (14), and single group processing/modular unit (1) and many processing/modular unit (11) fill order's preface process operation or processing/modular unit (1) and many processing/modular unit (11) are carried out the training on operation requirement that two preface process operations or processing/modular unit (1) and many processing/modular unit (11) are carried out continuous process operation, assembly manipulation, workpiece turnover, workpiece warehouse-in and workpiece outbound;
The middle part of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Straight line moving manipulator unit (2) one sides fixedly install tiered warehouse facility modular unit (4) and loading platform modular unit (5); Loading platform modular unit (5) is fixedly installed on a side of tiered warehouse facility modular unit (4); Be fixed on tiered warehouse facility modular unit (4) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The shelf (87) of tiered warehouse facility modular unit (4) are corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the shelf (87) of tiered warehouse facility modular unit (4); The workpiece positioning table (89) of loading platform modular unit (5) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the workpiece positioning table (89) of loading platform modular unit (5);
Straight line moving manipulator unit (2) opposite side fixedly installs processing/modular unit (1) and many processing/modular unit (11); Be fixed on processing/modular unit (1) and many processing/modular unit (11) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); Processing/modular unit (1) is corresponding with straight line moving manipulator unit (2) with many processing/modular unit (11); And be arranged side by side; The loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) extracts or place work piece (36) from the loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11); The bottom of aggregate erection training platform (12) fixedly installs master controller (44); Be fixed on master controller (44) with bolt the bottom of aggregate erection training platform (12) through stationary positioned hole (38); Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receives feedback digital information; Go up the training of assembling training at aggregate erection training platform (12), implement the training request of the mounting arrangement of raw material/processing/turnover/warehouse-in/outbound system (14) with modular unit;
Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of the shelf (87) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), extract and grasp the workpiece (36) on the goods yard (86), start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) clamping workpiece (36) and is removed goods yard (86); Start and carry out the motor (68) of up-down, Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71); Be placed on the workpiece (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove Y type reclaimer robot (66), implement the training request of outbound and material loading operation;
Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece (36) on the loading and unloading station (45) to processing/assembly station (47); Workpiece (36) along retention plate (52) to processing/assembly station (47) translation; Workpiece (36) moves to the position of processing/assembly station (47) and is then blocked by the V-type locating piece (57) on the retention plate (52), and workpiece (36) rests on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece (36) on processing/assembly station (47); Start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece (36); Start solenoid valve (41), lift cylinder (51) and clamp cylinder (56) and be put into processing work (36) on processing/assembly station (47); Start to get and anticipate a cylinder (53); Material locating piece (58) playback is got in drive; Place back processed workpiece (36) on the loading and unloading station (45), implement the training request of single preface outbound, processing and in-stockroom operation;
Start the execution displacement of straight line moving manipulator unit (2) motor (68), rotary cylinder (31); Carry out the motor (68) and the mechanical arm electromagnetic valve group (67) of up-down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66), the Y type reclaimer robot (66) of mechanical arm (71) is aimed at the loading and unloading station (45) of processing/modular unit (1); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamping is placed on the workpiece (36) on the loading and unloading station (45) of processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down, remove the Y type reclaimer robot (66) that grasps workpiece (36); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed into the workpiece (36) of Y type reclaimer robot (66) clamping on the goods yard (86), start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed goods yard (86), repeatedly cycling workpiece (36) completion of processing in tiered warehouse facility modular unit (4);
The mechanical arm (71) of straight line moving manipulator unit (2) takes out workpiece (36) from the shelf (87) of tiered warehouse facility modular unit (4); Simultaneously respectively to processing/modular unit (1) and many processing/modular unit (11) conveying workpieces (36); Processing/modular unit (1) and many processing/modular unit (11) are distinguished processing work (36) simultaneously; Processing/modular unit (1) and many processing/modular unit (11) processed workpiece (36) are transferred back respectively on the shelf (87) of tiered warehouse facility modular unit (4) by the mechanical arm (71) of straight line moving manipulator unit (2) again; Cycling is implemented the training request of outbound, the processing of two preface and in-stockroom operation until workpiece (36) completion of processing in the tiered warehouse facility modular unit (4) repeatedly;
The ordering of the workpiece (36) in tiered warehouse facility modular unit (4) occurs mixed and disorderly; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts the height of motor (68) the adjustment Y type reclaimer robot of carrying out (66), and Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), the mixed and disorderly workpiece (36) of ordering is gone up in Y type reclaimer robot (66) clamping goods yard (86);
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start the height of motor (68) the adjustment Y type reclaimer robot of carrying out (66); Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) is placed into the mixed and disorderly workpiece of the ordering of clamping (36) on the workpiece positioning table (89); Start the rotary cylinder (31) of straight line moving manipulator unit (2) and the motor (68) of execution displacement; Y type reclaimer robot (66) is removed workpiece positioning table (89); The room is vacateed in the goods yard (86) of tiered warehouse facility modular unit (4); The detection probe (34) of loading platform modular unit (5) detects the mixed and disorderly workpiece (36) of ordering on the workpiece positioning table (89); Detection probe (34) is through the numerical information of circuit to the mixed and disorderly workpiece (36) of master controller (44) feedback ordering; After master controller (44) receives numerical information, send instruction after treatment, mechanical arm (71) adjustment tiered warehouse facility modular unit (4) shelf (87) of straight line moving manipulator unit (2) are gone up the mixed and disorderly workpiece (36) of ordering; Utilize the room of vacateing on tiered warehouse facility modular unit (4) shelf (87), arrange the workpiece (36) on tiered warehouse facility modular unit (4) shelf (87) in order;
Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Y type reclaimer robot (66) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), the arrangement of the last workpiece (36) in goods yard (86) of workpiece (36) the adjustment tiered warehouse facility modular unit (4) on Y type reclaimer robot (66) the extraction goods yard (86) is orderly, the ordering of the workpiece (36) of cycling in tiered warehouse facility modular unit (4) repeatedly;
After tiered warehouse facility modular unit (4) shelf (87) are gone up workpiece (36) arrangement in order; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the workpiece positioning table (89) of loading platform modular unit (5); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) is placed into workpiece (36) clamping on the workpiece positioning table (89) and playback on the goods yard (86) of soaring in the tiered warehouse facility modular unit (4), implements the workpiece (36) of tiered warehouse facility modular unit (4) through loading platform modular unit (5) and arranges the training request of operation in order;
Processing/modular unit (1) and many processing/modular unit (11) are carried out process operation, repeat process operation, implement the training request of two process operations; Processing/modular unit (1) and many processing/modular unit (11) are carried out continuous 2 process operations; Workpiece (36) is carried out the operation of 2 processing; Enforcement is implemented the training request that raw material/processing/turnover/warehouse-in/outbound system (14) realizes the operation of single preface processing, two preface processing, turnover, warehouse-in and outbound to the training request of 2 process operations of workpiece.
4. a modular combination is made training system; It is characterized in that; Double assembling/warehouse-in according to claim 1/outbound system (15); This double assembling/warehouse-in/outbound system (15) is made up of processing/modular unit (1), many processing/modular unit (11), straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), travelling belt detection module unit (6), well formula feed modular unit (9), terminal block (28), motor module unit (10), aggregate erection training platform (12) and master controller (44); Processing/modular unit (1), many processing/modular unit (11), at least 2 group well formula feed modular units (9) are set in double assembling/warehouse-in/outbound system (15); 2 groups of well formula feed modular units (9) are supplied with different workpiece separately, and 2 kinds of different workpiece are implemented to detect, assemble, go into the overfill training on operation requirement in storehouse of library storage and storehouse separately;
One end, middle part of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The other end, middle part of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One end of travelling belt detection module unit (6) is corresponding with the other end of straight line moving manipulator unit (2); The Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the loading and unloading station (45) of an end of travelling belt detection module unit (6), just from loading and unloading station (45) extraction or the place work piece (36) of an end of travelling belt detection module unit (6); One side of straight line moving manipulator unit (2) fixedly installs processing/modular unit (1) and many processing/modular unit (11); Be separately fixed at processing/modular unit (1) and many processing/modular unit (11) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); Processing/modular unit (1) and many processing/modular unit (11) are arranged side by side, and the loading and unloading station (45) of processing/modular unit (1) and many processing/modular unit (11) is corresponding with straight line moving manipulator unit (2) respectively; The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4); Be fixedly installed on tiered warehouse facility modular unit (4) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The goods yard (86) of tiered warehouse facility modular unit (4) is corresponding with straight line moving manipulator unit (2), and the Y type reclaimer robot (66) of straight line moving manipulator unit (2) is aimed at the goods yard (86) of tiered warehouse facility modular unit (4) and just extracted or place work piece (36) from the goods yard (86) of tiered warehouse facility modular unit (4); The opposite side of the other end, travelling belt detection module unit (6) fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (68) of motor module unit (10) is carried out forward or reverse; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6), and driving wheel (92) drives operation of travelling belt (98) forward or inverted running; One side of the other end of travelling belt detection module unit (6) fixedly installs 2 groups of well formula feed modular units (9); Be fixed on 2 groups of well formula feed modular units (9) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); The port that goes out feed bin (107) of well formula feed modular unit (9) docks with travelling belt detection module unit (6) travelling belt (98), and it is corresponding with the loading and unloading station (45) of travelling belt detection module unit (6) to go out feed bin (107); One side of the other end of travelling belt detection module unit (6) fixedly installs connection terminal base (28); The operation circuit of the operation circuit of the solenoid valve (41) of 2 groups of well formula feed modular units (9) and the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends; Master controller (44) is fixedly installed on the bottom of aggregate erection training platform (12); Be fixed on aggregate erection training platform (12) bottom to master controller (44) through stationary positioned hole (38) with bolt; Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement the training request of the mounting arrangement of double assembling/warehouse-in/outbound system (15);
Placing 2 kinds of different workpiece (36) in the well formula feed storehouse (103) of 2 groups of well formula feed modular units (9) is workpiece 1 (36) and workpiece 2 (36); Master controller (44) sends instruction; Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece 1 (36) in one group of well formula feed storehouse (103) wherein onto on the loading and unloading station (45) of travelling belt (98) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107);
The motor (109) of starter motor modular unit (10) is carried out just to be changeed; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, and the workpiece 1 (36) on the travelling belt (98) is transferred to the loading and unloading station (45) of travelling belt (98) one ends from the loading and unloading station (45) of travelling belt (98) other end;
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of travelling belt (98) one ends, starts mechanical torch magnet valve group (67), and Y type reclaimer tool folder (66) grasps workpiece 1 (36); Extract workpiece 1 (36), implement the training request of workpiece 1 material loading operation;
Start and carry out the motor (68) of up-down; Promote Y type reclaimer robot (66); Workpiece 1 (36) is along with Y type reclaimer robot (66) promotes together; Y type reclaimer robot (66) leaves the loading and unloading station (45) of travelling belt (98), and Y type reclaimer robot (66) keeps the state of clamping workpiece 1 (36);
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece 1 (36) of Y type reclaimer robot (66) clamping is aimed at the loading and unloading station (45) of processing/modular unit (1); Start the gripper cylinder (76) on the mechanical arm (71), be placed on the workpiece 1 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66); Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transplanted on workpiece 1 on the loading and unloading station (45) of processing/modular unit (1), implements the training request of workpiece 1 material loading operation;
Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 1 (36) to processing/assembly station (47) along retention plate (52); Workpiece 1 (36) moves to the position of processing/assembly station (47) and is then blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 1 (36) rests on the position of processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); Machinery folder (61) grasps the workpiece 1 (36) on processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) grasps workpiece 1 (36), starts lift cylinder (51) and promotes processing/assembly manipulator (54); Processing/assembly manipulator (54) promotes workpiece 1 (36), implements the training request of assembling workpiece 1 operation;
Start the pusher cylinder (106) of another group well formula feed modular unit (9) in 2 groups of well formula feed modular units (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) onto on the loading and unloading station (45) of travelling belt (98) of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107); The motor (109) of starter motor modular unit (10) is carried out just to be changeed; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, and the workpiece 2 (36) on the travelling belt (98) is transferred to the loading and unloading station (45) of travelling belt (98) one ends from the loading and unloading station (45) of travelling belt (98) other end;
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and mechanical arm (71) moves to the loading and unloading station (45) that Y type reclaimer robot (66) is aimed at travelling belt (98) one ends along guide rail (72); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer tool folder (66) grasps workpiece 2 (36), extracts workpiece 2 (36), implements the training request of workpiece 2 material loadings operation;
Start and carry out the motor (68) of up-down; Promote Y type reclaimer robot (66); Workpiece 2 (36) is along with Y type reclaimer robot (66) promotes together; Y type reclaimer robot (66) leaves the loading and unloading station (45) of travelling belt (98), and Y type reclaimer robot (66) keeps the state of clamping workpiece 2 (36);
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The workpiece 2 (36) of Y type reclaimer robot (66) clamping is aimed at the loading and unloading station (45) of processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece 2 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66), the Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transferred to workpiece 2 on the loading and unloading station (45) of one group of processing/modular unit (1) wherein, implements the training request of workpiece 2 material loadings operation;
Start getting of processing/modular unit (1) and anticipate a cylinder (53); Get and anticipate a cylinder (53) and drive and to get material locating piece (58) and push the workpiece on the loading and unloading station (45) 2 (36) to processing/assembly station (47) along retention plate (52); Workpiece 2 (36) moves to the position of processing/assembly station (47) and is then blocked by the V-type locating piece (57) on the retention plate (52), and workpiece 2 (36) rests on the position of processing/assembly station (47); Start solenoid valve (41) and lift cylinder (51) decline processing/assembly manipulator (54); Start and clamp cylinder (56); The workpiece 1 (36) of machinery folder (61) clamping is put into workpiece 2 (36); Workpiece 2 (36) suits are assembled in the workpiece 1 (36), and workpiece 1 (36) after the assembling and workpiece 2 (36) are made into the workpiece (36) of suit assembling; Start solenoid valve (41) and lift cylinder (51) and promote processing/assembly manipulator (54); Processing/assembly manipulator (54) leaves processing/assembly station (47); Start to get and anticipate a cylinder (53); Drive is got material locating piece (58) and is revert to loading and unloading station (45) to the workpiece (36) of suit assembling, implements the training request of assembling workpiece 1 and workpiece 2 operations;
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; Motor (68) drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Mechanical arm (71) moves to the loading and unloading station (45) of processing/modular unit (1) along guide rail (72), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) grasps the workpiece (36) of the assembling on the loading and unloading station (45); Start motor (68) and mechanical arm electromagnetic valve group (67) that the execution on the mechanical arm (71) is gone up and down; Extract the workpiece (36) of assembling; Start rotary cylinder (31) and carry out the motor (68) of up-down, Y type reclaimer robot (66) leaves the loading and unloading station (45) of processing/modular unit (1);
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the goods yard (86) on the shelf (87) of aligning tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed on the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling on the goods yard (86); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66); The workpiece (36) of assembling is filled in cycling on each goods yard (86) of tiered warehouse facility modular unit (4) repeatedly; Implement the training request of the workpiece in-stockroom operation of assembling; The training request of the workpiece (36) of assembling is filled in cycling in tiered warehouse facility modular unit (4) repeatedly, reaches the training request of single station assembling and in-stockroom operation;
Master controller (44) sends instruction; Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is shifted the workpiece 1 (36) in one group of well formula feed storehouse (103) wherein onto on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107);
The motor (109) of starter motor modular unit (10) is carried out just to be changeed; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, and the workpiece 1 (36) on the travelling belt (98) is transferred to the loading and unloading station (45) of travelling belt (98) one ends from the loading and unloading station (45) of travelling belt (98) other end;
The motor (68) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down is carried out the motor (68) and the mechanical arm electromagnetic valve group (67) of up-down; The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation, and connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot; Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of travelling belt (98) one ends, starts mechanical torch magnet valve group (67), and Y type reclaimer tool folder (66) grasps workpiece 1 (36); Extract workpiece 1 (36), implement the training request of workpiece 1 material loading operation;
Start and carry out the motor (68) of up-down; Promote Y type reclaimer robot (66); Workpiece 1 (36) is along with Y type reclaimer robot (66) promotes together; Y type reclaimer robot (66) leaves the loading and unloading station (45) of travelling belt (98), and Y type reclaimer robot (66) keeps the state of clamping workpiece 1 (36);
The motor (68) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down is carried out the motor (68) and the mechanical arm electromagnetic valve group (67) of up-down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The workpiece 1 (36) of Y type reclaimer robot (66) clamping is aimed at the loading and unloading station (45) of many processing/modular unit (11), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece 1 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of many processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66); Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transplanted on workpiece 1 on the loading and unloading station (45) of many processing/modular unit (11), implements the training request of workpiece 1 material loading operation;
The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and the loading and unloading station (45) of going up station dial (94) one of them place work piece 1 (36) rotates to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 1 (36) to V-type locating piece (57) along station dial (94); Workpiece 1 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 1 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling; Start the lift cylinder (51) on the lifting column (60); Decline processing/assembly manipulator (54), alignment pieces 1 (36) starts clamping cylinder (56); Machinery folder (61) grasps workpiece 1 (36); Start lift cylinder (51), processing/assembly manipulator (54) grasps workpiece 1 and promotes, and leaves the loading and unloading station (45) of station dial (94);
Start the pusher cylinder (106) of another group well formula feed modular unit (9) in 2 groups of well formula feed modular units (9), pusher cylinder (106) is shifted the workpiece in the well formula feed storehouse (103) 2 (36) onto on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107); The motor (109) of starter motor modular unit (10) is carried out just to be changeed; Motor (109) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives the operation of travelling belt (98) forward, and the workpiece 2 (36) on the travelling belt (98) is transferred to the loading and unloading station (45) of travelling belt (98) one ends from the loading and unloading station (45) of travelling belt (98) other end;
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives the travelling belt (73) of straight line moving manipulator unit (2); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, and mechanical arm (71) moves to the loading and unloading station (45) that Y type reclaimer robot (66) is aimed at travelling belt (98) one ends along guide rail (72); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer tool folder (66) grasps workpiece 2 (36), extracts workpiece 2 (36), implements the training request of workpiece 2 material loadings operation;
Start and carry out the motor (68) of up-down; Promote Y type reclaimer robot (66); Workpiece 2 (36) is along with Y type reclaimer robot (66) promotes together; Y type reclaimer robot (66) leaves the loading and unloading station (45) of travelling belt (98), and Y type reclaimer robot (66) keeps the state of clamping workpiece 2 (36); Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); The workpiece 2 (36) of Y type reclaimer robot (66) clamping is aimed at the loading and unloading station (45) of many processing/modular unit (1), starts the gripper cylinder (76) on the mechanical arm (71), is placed on the workpiece 2 (36) of Y type reclaimer robot (66) clamping on the loading and unloading station (45) of many processing/modular unit (1); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66), transfer to workpiece 2 on the loading and unloading station (45) of many processing/modular unit (1), implement the training request of workpiece 2 material loadings operation through the Y type reclaimer robot (66) of straight line moving manipulator unit (2);
The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94), and the loading and unloading station (45) of going up station dial (94) one of them place work piece 2 (36) rotates to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104); Positioning clamping cylinder (104) drives positioning clamp holder (111) and pushes the workpiece on the loading and unloading station (45) 2 (36) to V-type locating piece (57) along station dial (94); Workpiece 2 (36) moves to by the V-type locating piece (57) on the station dial (94) and blocks, and workpiece 2 (36) rests on the position of aiming at processing/assembly manipulator (54) and implements assembling;
Start the lift cylinder (51) on the lifting column (60); Processing/assembly manipulator (54) descends; Alignment pieces 2 (36); Start clamping cylinder (56), machinery folder (61) is put into workpiece 2 to the workpiece that grasps 1 (36), starts lift cylinder (51) processing/assembly manipulator (54) and promotes the loading and unloading station (45) that leaves station dial (94); Workpiece 1 (36) suit is assembled in the workpiece 2 (36), is made into the workpiece (36) that suit assembles to workpiece 1 (36) and workpiece 2 (36); The positioning of rotating motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation; The loading and unloading station (45) of going up station dial (94) workpiece (36) of placing the suit assembling rotates to the position of aiming at straight line walking machine fingerprint module unit (2), implements the training request of suit assembling workpiece operation;
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; Motor (68) drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Mechanical arm (71) moves to the loading and unloading station (45) of many processing/modular unit (11) along guide rail (72), starts the gripper cylinder (76) on the mechanical arm (71), and Y type reclaimer robot (66) grasps the workpiece (36) of the suit assembling on the loading and unloading station (45); Start motor (68) and mechanical arm electromagnetic valve group (67) that the execution on the mechanical arm (71) is gone up and down; Extract the workpiece (36) of suit assembling; Start rotary cylinder (31), carry out the motor (68) of up-down, Y type reclaimer robot (66) leaves the loading and unloading station (45) of many processing/modular unit (1);
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the goods yard (86) on the shelf (87) of aligning tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), be placed on the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling on the goods yard (86); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66); The workpiece (36) of assembling is filled in cycling on each goods yard (86) of tiered warehouse facility modular unit (4) repeatedly; Implement the training request of the workpiece in-stockroom operation of assembling; The training request of the workpiece (36) of assembling is filled in cycling in tiered warehouse facility modular unit (4) repeatedly, reaches the training request of single station assembling and in-stockroom operation;
The mechanical arm (71) of straight line moving manipulator unit (2) obtains workpiece 1 (36) and workpiece 2 (36) from the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6); Simultaneously respectively to processing/modular unit (1) and many processing/modular unit (11) conveying workpieces 1 (36) and workpiece 2 (36); Processing/modular unit (1) and many processing/modular unit (1) are assembled workpiece 1 (36) and workpiece 2 (36) simultaneously respectively; The workpiece (36) of the suit assembling after processing/modular unit (1) and many processing/modular unit (11) assembling is transported on the shelf (87) of tiered warehouse facility modular unit (4) by the mechanical arm (71) of straight line moving manipulator unit (2) again; Cycling is implemented the training request of double assembling and in-stockroom operation until filling the shelf (87) in the tiered warehouse facility modular unit (4) repeatedly;
When the workpiece (36) of suit assembling is filled in each goods yard (86) of tiered warehouse facility modular unit (4); Need be with workpiece (36) outbound of suit assembling; Master controller (44) sends instruction; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down, the motor (68) of carrying out displacement drives travelling belt (73), and travelling belt (73) drive mechanical arm (71) is along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece (36) of the suit assembling on the goods yard (86) of Y type reclaimer robot (66) aligning tiered warehouse facility modular unit (4); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts the workpiece (36) of suit assembling;
Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6); Start the gripper cylinder (76) on the mechanical arm (71), be placed into the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling the loading and unloading station (45) of travelling belt (98) one ends; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together, starts to carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66); Mechanical arm (71) leaves the loading and unloading station (45) of travelling belt (98) one ends, implements the training request of the workpiece outbound operation of assembling;
The motor (68) of starter motor modular unit (10) is carried out counter-rotating; Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) inverted running, and the workpiece (36) that the loading and unloading station (45) of travelling belt (98) one ends is gone up the suit assembling transmits to surveyed area (46); When the workpiece (36) of suit assembling passes through surveyed area (46); Detection probe (34) on the workpiece sensing equipment (97) is implemented to detect to the workpiece (36) of suit assembling; The workpiece (36) of the suit assembling after the detection gets into the loading and unloading station (45) of travelling belt (98) one ends; Subsequent processing to be changed over to; Implement the workpiece outbound of assembling and the training request of detecting operation, carry out the training request that double assembling/warehouse-in/outbound system (15) implements single station assembling, double assembling, workpiece warehouse-in and workpiece outbound operation.
5. a modular combination is made training system; It is characterized in that; Material loading according to claim 1/check/except that residual/warehouse-in system (16); This material loading/check/remove residual/warehouse-in system (16) to form by straight line moving manipulator unit (2), tiered warehouse facility modular unit (4), loading platform modular unit (5), travelling belt detection module unit (6), inclined ramp detection module unit (7), well formula feed modular unit (9), terminal block (28), motor module unit (10), aggregate erection training platform (12) and master controller (44), material loading/check/remove residual/warehouse-in system (16) to implement material loading, check, remove training on operation requirement residual, warehouse-in;
One end of aggregate erection training platform (12) fixedly installs travelling belt detection module unit (6); Be fixed on travelling belt detection module unit (6) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); One side of one end of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9) and terminal block (28); Be fixed on well formula feed modular unit (9) and terminal block (28) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); The port that goes out feed bin (107) of well formula feed modular unit (9) docks with travelling belt detection module unit (6) travelling belt (98), and it is corresponding with the loading and unloading station (45) of (6) one ends, travelling belt detection module unit to go out feed bin (107); One side of the other end of travelling belt detection module unit (6) fixedly installs inclined ramp detection module unit (7); Be fixed on inclined ramp detection module unit (7) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38), the loading and unloading station (45) of the port of the slideway (33) of inclined ramp detection module unit (7) and the other end, travelling belt detection module unit (6) connects; The opposite side of the other end of travelling belt detection module unit (6) fixedly installs motor module unit (10); Be fixed on motor module unit (10) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Motor module unit (10) is connected with the driving wheel (92) of travelling belt detection module unit (6); The motor (68) of starter motor modular unit (10), motor (68) drive travelling belt (98) running of travelling belt detection module unit (6); The detection probe (34) of inclined ramp detection module unit (7) is connected with the input signal interface (112) of terminal block (28) through circuit; Cable interface (114) by terminal block (28) is connected with master controller (44); The operation circuit of the operation circuit of the solenoid valve (41) of well formula feed modular unit (9) and the terminal box (109) of motor module unit (10) is connected with the output signaling interface (113) of terminal block (28); The cable interface (114) of terminal block (28) is connected with master controller (44) through line cord, carries out the instruction that master controller (44) sends; The other end of aggregate erection training platform (12) fixedly installs straight line moving manipulator unit (2); Be fixed on straight line moving manipulator unit (2) on the aggregate erection training platform (12) with bolt through stationary positioned hole (38); Straight line moving manipulator unit (2) is T-shaped with travelling belt detection module unit (6) to be arranged, and the middle part of the other end of travelling belt detection module unit (6) and straight line moving manipulator unit (2) is relative; The both sides of one end of travelling belt detection module unit (6) fixedly install tiered warehouse facility modular unit (4) and loading platform modular unit (5) separately, are fixed on tiered warehouse facility modular unit (4) and loading platform modular unit (5) on the aggregate erection training platform (12) respectively with bolt through stationary positioned hole (38); Below training main unit (12), fixedly install master controller (44); Through stationary positioned hole (38) with bolt master controller (44) be fixed on aggregate erection training platform (12) below; Master controller (44) passes cable-through hole (110) entering circuit connection groove (37) through line cord and is connected with modular unit with each group training; Master controller (44) sends instruction and receiving feedback information; Go up training assembling training at aggregate erection training platform (12) and use modular unit, implement material loading/check/except that the training request of the mounting arrangement of residual/warehouse-in system (16);
Place work piece (36) in the well formula feed storehouse (103) of well formula feed modular unit (9); Master controller (44) sends instruction; Start pusher cylinder (106), pusher cylinder (106) is shifted the workpiece (36) in the well formula feed storehouse (103) onto on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) from the discharging opening that goes out feed bin (107); The motor (68) of starter motor modular unit (10); Motor (68) drives the driving wheel (92) of travelling belt detection module unit (6); Driving wheel (92) drives travelling belt (98) operation; The workpiece (36) of travelling belt (98) from the loading and unloading station (45) of travelling belt (98) one ends transmit to surveyed area (46); Detection probe (34) during workpiece (36) process surveyed area (46) on the workpiece sensing equipment (97) is implemented to detect to workpiece (36), implements the training request of material loading, detecting operation;
Detection probe (34) when workpiece sensing equipment (97) detects the workpiece (36) that can not repair; Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Start the cylinder of selecting materials (100) that is fixed on cylinder support (95) on the workpiece sensing equipment (97), the pusher window (96) that the expansion link of the cylinder of selecting materials (100) passes on the locating support (99) pushes the workpiece that can not repair (36) in the slideway (33) of corresponding inclined ramp modular unit (7); The workpiece that can not repair (36) gets into slideway (33) and blocks from the limited retaining in bottom (35) that the port of slideway (33) slides into slideway (33); The workpiece that can not repair (36) stops at limiting block (35) and locates; The detection probe (34) that the side of slideway (33) is provided with detects the workpiece (36) that can not repair; Detection probe (34) is fed back through circuit detected numerical information to master controller (44), workpiece is implemented to detect, remove the training request of defective goods operation;
Detection probe (34) when workpiece sensing equipment (97) detects qualified workpiece (36); Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Travelling belt (98) continues operation, workpiece (36) from the surveyed area (46) of travelling belt (98) to loading and unloading station (45) transmission of travelling belt (98) other end; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the workpiece (36) on the loading and unloading station (45) of Y type reclaimer robot (66) aligning travelling belt (98) other end of mechanical arm (71);
Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) grasps qualified workpiece (36); Start straight line moving manipulator unit (2) the execution displacement and motor (68); The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down; The height of adjustment Y type reclaimer robot (66); Goods yard (86) on the shelf (87) of Y type reclaimer robot (66) the aligning tiered warehouse facility modular unit (4) of mechanical arm (71); Start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) is placed into qualified workpiece (36) on the goods yard (86), starts motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm electromagnetic valve group (67) of carrying out up-down; Remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4); Cycling is filled qualified workpiece (36) until reaching tiered warehouse facility modular unit (4) repeatedly, and the Y type reclaimer robot (66) through straight line moving manipulator unit (2) is transplanted on the loading and unloading station (45) of qualified workpiece (36) from travelling belt detection module unit (6) on the shelf (87) of tiered warehouse facility modular unit (4), implements the training request of qualified workpiece in-stockroom operation;
Detection probe (34) when workpiece sensing equipment (97) detects defective recoverable workpiece (36); Workpiece sensing equipment (97) passes through circuit to master controller (44) feedback digital information; Master controller (44) sends instruction after receiving numerical information after treatment; Travelling belt (98) continues operation, defective recoverable workpiece (36) from the surveyed area (46) of travelling belt (98) to loading and unloading station (45) transmission of travelling belt (98) other end; Motor (68) and mechanical arm electromagnetic valve group (67) that the motor (68) of the execution displacement of startup straight line moving manipulator unit (2), rotary cylinder (31), execution are gone up and down; The motor (68) of carrying out displacement drives travelling belt (73); Travelling belt (73) drives mechanical arm (71) along guide rail (72) translation; Connecting line drag chain (70) is being with connecting line translation together; Start and carry out the motor (68) of up-down, the height of adjustment Y type reclaimer robot (66), the defective recoverable workpiece (36) on the loading and unloading station (45) of Y type reclaimer robot (66) aligning travelling belt (98) other end