CN102411871B - Modular manufacture training unit device and modular combined manufacture training system - Google Patents

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, duty in China, special secondary school, professorship, high specially, graduate's employment situation of colleges and universities is severe day by day, its reason of opinion is many-sided, 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 be subjected to the influence of traditional education, domestic most of institution of higher education orientates the laboratory as religion auxilliary department, practice assessment and 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 finishing normal experimental duties.During experiment, the student just does according to the step in the guide book of experiment, yet only knows that it does not know its reason, and experimental facilities and experiment place meaning can be given full play to the effect that participates in the service teaching, have hindered the organic connections of practice with teaching 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 comprises is poor, can't finish 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 according to oneself thinking, idea equipment be implemented the combination in any of each intermodule, cause student's creativity consciousness to can not get effective exercise at laboratory.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, more and more higher to the requirement of the talent's demand and the talent's level, especially the demand to the novelty talent more and more highlights, and 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 cultivation to the novelty talent, cultivates the connection between theory and practice, strengthens 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 combination training on installation platform that modularization is made the training module device, this training modular unit is by processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, the tiered warehouse facility modular unit, the loading platform modular unit, travelling belt detection module unit, the inclined ramp modular unit, horizontal slideway modular unit, well formula feed modular unit, the motor module unit, many processing/modular unit, terminal block and combination training on installation platform are formed, training is with modular unit independent groups shipment row training separately, after assembling with modular unit, each training all is installed on the combination training on installation platform, training constitutes modular combination respectively with modular unit and makes training system, it is on combination training on installation platform 4 trainings to be set at least to constitute two material loading/processing/assembling/warehouse-in/outbound system with modular unit that modular combination is made training system, raw material/processing/turnover/warehouse-in/outbound system, double assembling/warehouse-in/outbound system, material loading/check/except residual/warehouse-in system, check/correction/sorting system, single order/two order processing/outbound/warehouse-in-turnaround systems, the part system is processed/gone out to single order/dibit, check/correction/warehouse-in system, multiple spot material loading/processing/assembling/warehouse-in system, batching/outbound/categorizing system, two material loadings/pair assembling/detection/warehouse-in/outbound system, thick finishing/detection/except useless/warehouse-in/outbound system, material loading/maintenance/waste product/warehouse-in system, messy arrangement/ordering system and travelling belt ordering system, modular combination is made training system independent groups shipment row training separately, and at least 2 pack module combinations are made training system and constituted the manufacturing training system mutually.

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; use PC-LINK network and PROFIBUS fieldbus, implement 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 by last microcomputer software.

Processing/modular unit is by retention plate, get and anticipate a cylinder, processing/assembly manipulator, guide rail, locating piece, get the material locating piece, lift cylinder, clamp cylinder, base, lifting column, the machinery folder, terminal block, the section bar matrix, fixed base plate and solenoid valve group are formed, 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 arranges retention plate, the place, both sides of the edge of fixed base plate is oppositely arranged the stationary positioned hole, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and processing/modular unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole.Solenoid valve is set on the retention plate, processing/assembly manipulator, locating piece is expected the locating piece locating piece with getting, 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 arranges terminal block, the operation circuit of solenoid valve is connected with the output signal interface of the terminal block of processing/modular unit, master controller below the terminal block of processing/modular unit is passed cable-through hole and is arranged on combination training on installation platform by 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 by 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 anticipating a cylinder and clamp cylinder.The middle part of retention plate arranges processing/assembly manipulator, the bottom of processing/assembly manipulator is base, 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 arranges lift cylinder, and the opposite side of lifting column arranges the clamping cylinder, and the end that clamps cylinder fixedly installs the machinery folder, along the lifting column lifting, machinery presss from both sides by clamping cylinder grasping workpiece by lift cylinder for clamping cylinder and machinery folder.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 by locating piece processing/assembly station concentricity accurately locatees.The other end of retention plate arranges 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, get the material locating piece and reach automatic location along with getting the flexible of expansion link of anticipating a cylinder along guide rail, L shaped the other end integral body of getting the material locating piece is spill, 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, reach the processing that workpiece was accurately located and realized to concentricity by locating piece, assembling, 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 by getting, and can implement processing, the assembling of workpiece by lift cylinder and mechanical folder, can implement concentricity by the V-type locating piece and accurately locate.At 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, can guarantee the safety of the person and equipment in the process of training.

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 arrange 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 arranges the left limit terminal group, the left limit terminal group is connected with the input signal interface of terminal block by circuit, and the master controller below terminal block is passed cable-through hole and is arranged on combination training on installation platform by line cord by cable interface is connected; A side that transmits the other end of bracing frame arranges the right limit terminal group, the right limit terminal group is connected with the input signal interface of terminal block by 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 the training requirement to different motors.The bottom at the both ends of straight line moving manipulator unit arranges bracing frame separately, straight line moving manipulator unit is fixedly installed on the combination training on installation platform by bracing frame with bolt.Transmit in the bracing frame travelling belt and guide rail are set, the bottom of mechanical arm arranges the translation chassis, the translation chassis is embedded on the guide rail, translation chassis and travelling belt are connected to a fixed, drive 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 signal interface be connected.Translation arranges rotary cylinder on the chassis, the top of rotary cylinder arranges swivel base, the motor of solenoid valve, support column and execution lifting is set on the swivel base, one side of support column arranges the guide rail of lifting Y type reclaimer robot, the opposite side of support column arranges the motor of carrying out lifting, carries out any lifting of the motor location Y type reclaimer robot of lifting.The upper end of support column opposite side and bottom arrange 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 lifting carried out in upper limit terminal group and the restriction of lower limit terminal group.One end of swivel base arranges solenoid valve, the operation circuit of solenoid valve is connected with the output signal interface of terminal block, terminal block is passed by line cord by cable interface that cable-through hole enters the circuit connection groove and the master controller that is arranged on below the combination training on installation platform is connected, and carries out the instruction that master controller sends.The other end of swivel base arranges support column, drive rotary cylinder, 0-360 ° of scope of rotary cylinder driven rotary chassis rotation, motor, reclaimer robot support and the Y type reclaimer robot of the support column on the swivel base, execution lifting together rotate with swivel base.The reclaimer robot support is set on the support column, and the reclaimer robot support is U-shaped, 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 motor-driven reclaimer robot support, clamping cylinder and the oscilaltion of Y type reclaimer robot of carrying out lifting.One end of reclaimer robot support fixedly installs gripper cylinder, and an end of gripper cylinder arranges 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 separately by pipeline, solenoid valve receives the instruction of master controller, according to the opening and closing of instruction execution pneumatic line, drive opening and closing and extraction and the place work piece of rotary cylinder and gripper cylinder.

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 adjusted spacing position and spacing along section bar matrix move left and right, 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 along support column and adjust spacing position and spacing, and restriction is carried out the motor of lifting 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 motors 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 is by pivot arm, support column, get the parallel folder of material, universal stage, rotary cylinder, terminal block, the section bar matrix, fixed base plate, rotating electromagnetic valve group and stationary positioned hole are formed, fixed base plate integral body is rectangular, place, both sides of the edge relative fixed on the fixed base plate arranges 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 arranges terminal block, master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by 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, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and solid mechanical fingerprint module unit is fixed on the combination training on installation platform with bolt by 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, drives rotary 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 by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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 expects that with getting parallel folder is connected with rotary cylinder respectively separately by pipeline, drives rotary cylinder and gets opening and closing and 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 by the stroke of regulating oil buffer and in 0-360 ° of scope workpiece be 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 one 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 arrange 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, by quantity and the position of workpiece in the master controller record tiered warehouse facility modular unit.

The tiered warehouse facility modular unit in shelf and the goods yard that the section bar matrix is implemented adjustment storehouse body, increases or reduces shelf and goods yard by adjusting storehouse body fast-assembling web member, adjusts flexibly, is convenient to dismounting.

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 arranges the section bar matrix on the fixed base plate, and a side on the top of section bar matrix arranges terminal block., the master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on combination training on installation platform (12) by 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 by circuit, detection probe detects by the gap of workpiece positioning table and puts into workpiece on the loading platform, and detected numerical information is fed back to master controller.Place, both sides of the edge on the stationary positioned plate is oppositely arranged the stationary positioned hole, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and the loading platform module is fixed on the combination training on installation platform with bolt by 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 by 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, in case break down in the operational process, can guarantee the safety of the person and equipment.

Travelling belt detection module unit is by driving wheel, support, workpiece sensing equipment, detection probe, the cylinder support, the pusher window, locating support, the cylinder of selecting materials, terminal block, solenoid valve, locating support, the cylinder of selecting materials, travelling belt, the travelling belt bracing frame, drive wheel bracket and rotary encoder are formed, the bottom of travelling belt bracing frame arranges support, the bottom of support arranges the stationary positioned hole, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and travelling belt detection module unit is fixed on the combination training on installation platform with bolt by 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 arrange 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 adjusted the rate of tension of travelling belt by the adjusting slideway 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, 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 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 at 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 entered slideway, the both ends of travelling belt are respectively the loading and unloading station, so that respectively from travelling belt two ends feed with get material.Workpiece sensing equipment is by detection probe, the cylinder support, the pusher window, locating support, select materials cylinder and solenoid valve formed, 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 corresponding detection probe according to different detections, detection probe is connected with the input signal interface of terminal block, master controller below terminal block is passed cable-through hole and is arranged on combination training on installation platform by line cord by cable interface is connected, and detects the numerical information of workpiece to the master controller feedback.Locating support is fixedly installed on the travelling belt bracing frame, locating support integral body is L-shaped, the bottom of locating support arranges the gentle jar support of solenoid valve, the operation circuit of solenoid valve is connected with the output signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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 selected workpiece is released travelling belt.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, one end and the locating support of cylinder support are connected to a fixed, 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 workpiece on the travelling belt is released travelling belt.

Travelling belt detection module unit mainly is the transmission of implementing goods (being workpiece), by regulating the rate of tension that driving wheel can be regulated travelling belt, prevents that travelling belt from skidding, and improves the work efficiency of travelling belt.Surveyed area scope on travelling belt arranges workpiece sensing equipment, and workpiece sensing equipment can be adjusted the position of workpiece sensing equipment on travelling belt along the travelling belt bracing frame.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 conducive to travelling belt detection module unit best use state in making training system according to the position of designing requirement at travelling belt adjustment rotary encoder.Rotary encoder is applicable to automatic measurement and automatic control system, the displacement of energy measured angular, rotational speed etc.; And can be with measured value with cyclic binary code or natural binary code output.The fine structure compactness, volume is little in light weight, and is stable and reliable for performance.In travelling belt detection module unit, realize accurate location to workpiece by rotary encoder, and realize that by scrambler the position of various motors, speed detect.

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, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and inclined ramp detection module unit is fixed on the combination training on installation platform with bolt by 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, by fixed orifice slideway are fixed on the slideway support.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 arranges limiting block, and the restriction workpiece is accurately located in the end of slideway.One side of one end of slideway arranges 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 combination training on installation platform by line cord by cable interface is connected, and the digital information transmission that workpiece is entered 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 automatically to the goods in the slideway (being workpiece), 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, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and horizontal slideway detection module unit is fixed on the combination training on installation platform with bolt by 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, by fixed orifice slideway are fixed on the slideway support.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 arranges limiting block, and the restriction workpiece is accurately located in the end of slideway.One side of one end of slideway arranges 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 combination training on installation platform by line cord by cable interface is connected, and the digital information transmission that workpiece is entered slideway is given master controller.Workpiece enters 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 automatically to the goods in the slideway (being workpiece), and the slideway surface adopts hardening oxidation technology to make, and improves the wearing quality of slideway, and the surface of slideway arranges 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, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and well formula feed modular unit is fixed on the combination training on installation platform with bolt by 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, on the sidewall of section bar matrix detection probe is set, solenoid valve and terminal block, 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 combination training on installation platform by line cord by cable interface is connected, by circuit the numerical information of detected workpiece is fed back to controlled molding module unit, and receive 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 signal interface of terminal block on being installed in combination training on installation platform, solenoid valve drives the opening and closing of pusher cylinder according to instruction, and workpiece is released out feed bin.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, 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, go out feed bin integral body and be cube, a side that goes out feed bin arranges discharging opening, the top that goes out feed bin arranges charging aperture, the top that goes out feed bin fixedly installs well formula feed storehouse, 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 arranges charging aperture, and the bottom in well formula feed storehouse arranges discharging opening.The other end of platform arranges the pusher cylinder at the bottom of the storehouse, and the expansion link of pusher cylinder is corresponding with the 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 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, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and the motor module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole.On one end of fixed base plate terminal box is set, terminal box is connected by the output signal 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 combination training on installation platform by 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, passes through to exchange different motor realizations to the training requirement of different motors in same modular unit.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 by 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 at travelling belt.

The motor of motor module unit adopts alternating current generator, servomotor, stepper motor, brushless electric machine, different motors 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 the requirement that different motors are trained.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, in case break down in the operational process, can guarantee the safety of the person and equipment.

Many processing/modular unit are made up of fixed base plate, support column, terminal block, rotation positioning 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, spacing between the stationary positioned hole is installed identification point with the benchmark on the combination training on installation platform and is matched, and many processing/modular unit is fixed on the combination training on installation platform with bolt by 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 combination training on installation platform by 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 rotation positioning motor, the control circuit of rotation positioning motor is connected with the output signal interface of terminal block, station dial is installed in the upper end of support column, station dial integral body is Y-shaped, each end of Y type of station dial is spill, and the gap of spill constitutes the loading and unloading station.Station dial in the spill gap bottom of loading and unloading station fixedly installs the V-type locating piece, and the V-type locating piece is corresponding with the spill gap of loading and unloading station, and the rotation positioning motor drives station dial around 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 signal interface of terminal block, a station dial wherein end arranges positioning clamp holder, positioning clamp holder integral body is L-shaped, one 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, drive positioning clamping cylinder drive positioning clamp holder workpiece is passed to the V-type locating piece, reach processing or the assembling that workpiece was accurately located and realized to concentricity by the V-type locating piece.The middle part of station dial arranges processing/assembly manipulator, the bottom of processing/assembly manipulator is 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 arranges lift cylinder and solenoid valve, and the opposite side of lifting column arranges the clamping cylinder, and the end that clamps cylinder fixedly installs the machinery folder, along the lifting column lifting, machinery presss from both sides by clamping cylinder grasping holding workpiece by lift cylinder for clamping cylinder and machinery folder.It is corresponding that loading and unloading station before the locating piece and machinery press from both sides, and can realize that by locating piece processing/assembly station concentricity accurately locatees.The operation circuit of solenoid valve is connected with the output signal interface of terminal block, master controller below terminal block is passed cable-through hole and is arranged on combination training on installation platform by 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 separately by pipeline, drives opening and closing and extraction and the place work piece of lift cylinder, positioning clamping cylinder and clamping cylinder.

Terminal block is by the connection terminal base; the input signal interface; the output signal interface; circuit interface plate and cable interface are formed; the circuit interface plate is set on the connection terminal base; in the circuit interface plate earth leakage protection is set; short-circuit protection; insulation blocking; the route protection of intelligent protection; circuit interface plate top arranges the input signal interface; output signal interface and cable interface; the input signal interface; the output signal interface is connected with cable interface by the circuit of circuit interface plate; cable interface is connected with master controller by cable; give master controller the digital information transmission of the detection means of each modular unit feedback; and the instruction of master controller is transferred to the performer of each modular unit; be provided with earth leakage protection in the base; short-circuit protection; insulation blocking; the route protection of intelligent protection; in case break down in the operational process, guarantee the safety of the person and equipment.Terminal block is attached on the modular unit or is installed on the table top of combination training on installation platform, the feedback digital information of modular unit is given the instruction of master controller and reception master controller.

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 at same base, under the situation that does not change device hardware, by changing different Programmable Logic Controllers, implement the 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, in case break down in the operational process, can guarantee the safety of the person and equipment.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 by cable, by the crawl that starts, stop button can be realized corresponding modular unit, interlock action, be convenient to the training, maintenance, troubleshooting of module etc.

Combination training on installation platform and integrally is rectangular, install circuit connection groove, cable-through hole and benchmark on the combination training on installation platform sign is installed, on the combination training on installation platform benchmark is set sign is installed, 4 benchmark are set at least sign is installed, benchmark is installed and to be identified each other that X and Y-direction spacing are integral multiple, according to benchmark sign is installed and installs training and realize training request with modular unit.On the table top of combination training on installation platform the circuit connection groove is set, circuit connection groove global sections shape is rectangular, the bottom of circuit connection groove is the wire casing pedestal, wire casing pedestal global sections shape is spill, the concave bottom of wire casing pedestal arranges the stationary positioned hole, lay the wire casing pedestal according to designing requirement at combination training on installation platform, and by bolt the wire casing pedestal is fixed on the combination training on installation platform, wire hole is advanced in equidistant setting on the both sides cell wall of wire casing pedestal, the link tester that connects between each modular unit is crossed into wire hole turnover circuit connection groove, the top of circuit connection groove is the wire casing lid, the global sections shape of wire casing lid is spill, the upper port of wire casing pedestal arranges interior buckle, the lower port of wire casing lid arranges outer buckle, wire casing covers on the upper port of wire casing pedestal, and the interior buckle of the upper 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 training with network line and the circuit connection of 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 combination training on installation platform, at least arrange 4, terminal block passes cable-through hole by cable interface by line cord and the master controller that is arranged on below the combination training on installation platform is connected, the numerical information of feedback module unit and carry out the instruction that the master controller transmission comes.Below the combination training on installation 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 by circuit, master controller 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.

Two material loading/processing/assembling/warehouse-in/outbound system is by processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, the tiered warehouse facility modular unit, the loading platform modular unit, travelling belt detection module unit, the inclined ramp modular unit, horizontal slideway modular unit, well formula feed modular unit, the motor module unit, many processing/modular unit, terminal block, combination training on installation platform and master controller constitute, in two material loading/processing/assembling/warehouse-in/outbound system processing/modular unit is set, many processing/modular unit, at least 2 group inclined ramp modular units and at least 2 group well formula feed modular units, 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 are realized feeding, detect, processing, assembling, go into library storage, outbound, detect, the training on operation requirement of letter sorting.

One end of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the other end of combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, straight line moving manipulator unit and travelling belt detection module unit are T-shaped at combination training on installation 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 be arranged in parallel along a side of straight line moving manipulator unit, respectively processing/modular unit and many processing/modular unit are fixed on the combination training on installation platform with bolt by 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 processing/modular unit processes or assemble different workpiece separately with many processing/modular unit.The opposite side of straight line moving manipulator unit fixedly installs the tiered warehouse facility modular unit, the tiered warehouse facility modular unit is fixed on the combination training on installation platform with bolt by 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, the loading platform modular unit is fixed on the combination training on installation platform with bolt by 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, respectively 2 groups of well formula feed modular units are fixed on the combination training on installation platform with bolt by 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, solid mechanical fingerprint module unit is fixed on the combination training on installation platform with bolt by 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 combination training on installation platform with bolt by 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, horizontal slideway modular unit is fixed on the combination training on installation platform with bolt by 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, respectively 2 groups of inclined ramp modular units are fixed on the combination training on installation platform with bolt by 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 at travelling belt.The master controller that is arranged on combination training on installation platform bottom passes cable-through hole by line cord and enters the circuit connection groove and be connected with the terminal block that each group is trained with modular unit, master controller sends instruction and receives feedback digital information, at combination training on installation platform training assembling training modular unit, implement 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 combination training on installation 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 by 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 the workpiece 1 in the well formula feed storehouse to be shifted onto travelling belt detection module unit from the discharging opening that goes out feed bin.

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), by the pusher cylinder will be wherein outer ring (big part) in one group of well formula feed modular unit release and make it enter 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 workpiece 1 on the loading and unloading station of getting the parallel folder aligning of material travelling belt one end on the pivot arm.Start solenoid valve, get the parallel folder of material and clamp 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, workpiece 1 is transferred the training request of operation by the loading platform modular unit to straight line moving manipulator unit from travelling belt detection module unit.

Outer ring (big part) is placed on the end loading and unloading station on the travelling belt detection module unit, workpiece sensing equipment by 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, workpiece sensing equipment feeds back to master controller to detected numerical information, master controller receives the numerical information of outer ring (big part), after handling, data send instruction, rotary cylinder in the solid mechanical fingerprint module unit starts at this moment, pass through lift cylinder, get the parallel folder of material, workpiece is placed into 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 lifting 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 lifting 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 holding 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 lifting and regulate the height of mechanical arm, aim at the loading and unloading station of processing/modular unit.Start machinery gripper cylinder on hand, the workpiece 1 of Y type reclaimer robot clamping is placed on the loading and unloading station, motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting are removed Y type reclaimer robot, implement the training request of material loading processing work operation.

Straight line moving manipulator of the present invention unit is put into the loading and unloading station of processing/modular unit to the outer ring on the loading platform modular unit (big part) by the motor (adopting stepper motor or servomotor) of the motor of carrying out displacement (adopting stepper motor or servomotor), rotary cylinder, execution lifting and the interlock of Y type reclaimer robot, 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 workpiece 1 on the loading and unloading station is pushed 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 clamps 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 workpiece 1 on the processing/assembly station is pushed 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 workpiece 2 on the loading and unloading station of getting the parallel folder aligning of the material travelling belt other end on the pivot arm.Start solenoid valve, get the parallel folder of material and clamp 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, workpiece 2 is transferred the training request of operation by the loading platform modular unit to straight line moving manipulator unit from travelling belt detection module 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 lifting 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 machinery gripper cylinder on hand, and the clamping of Y type reclaimer tool folder is also extracted workpiece 2.Start the motor of machinery execution lifting on hand, 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 holding workpiece 2.

Start machinery rotary cylinder on hand and the motor of execution displacement, the workpiece 2 of Y type reclaimer robot clamping is aimed at the loading and unloading station of many processing/modular unit, start machinery gripper cylinder on hand, the workpiece 2 of Y type reclaimer robot clamping is placed on the loading and unloading station, motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting are removed Y type reclaimer robot.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of one of them place work piece 2 on the station dial is rotated to the position of aiming at processing/assembly manipulator; Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 2 on the loading and unloading station is pushed 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 clamps 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, by travelling belt detection module unit, solid mechanical fingerprint module unit, loading platform modular unit and straight line moving manipulator unit, inner ring (smallclothes) is placed the loading and unloading station of many processing/modular unit, by 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 the motor (68) of carrying out lifting, adjust the height of 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, by straight line moving manipulator unit outer ring (big part) is transplanted on the loading and unloading station of many processing/modular unit outer ring to be assembled (big part).

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, the workpiece 1 of mechanical arm clamping is placed on the loading and unloading station of many processing/modular unit.Motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting are removed Y type reclaimer robot, implement the training request of assembling workpiece operation.

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

The rotation positioning motor that starts many processing/modular unit drives station dial, the loading and unloading station of one of them place work piece 1 on the station dial is rotated to the position of aiming at processing/assembly manipulator; Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 1 on the loading and unloading station is pushed 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, processing/assembly manipulator descends, alignment pieces 1 starts the clamping cylinder, the machinery folder is put into workpiece 1 to the workpiece 2 that clamps, 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 of the suit after the assembling and workpiece 2 are made into the workpiece of suit assembling.The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of the workpiece of placing the suit assembling on the station dial is rotated to the position of aiming at straight line walking machine fingerprint module unit, implement the training request of suit assembling workpiece operation.

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

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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, the motor that starts rotary cylinder and execution lifting leaves many processing/modular unit, aim at the goods yard of tiered warehouse facility modular unit, start machinery gripper cylinder on hand, the workpiece of suit assembling is placed on the goods yard.Motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting, mobile Y type reclaimer robot leaves 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.

By 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, finishes the assembly work circulation of workpiece,

The ordering of the workpiece of suit assembling occurs mixed and disorderly in the tiered warehouse facility modular unit, master controller sends instruction, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, the workpiece that the mixed and disorderly suit of ordering assembles on the Y type reclaimer robot clamping goods yard.Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 the workpiece of the mixed and disorderly suit assembling of the ordering of clamping on the workpiece positioning table.Start rotary cylinder, displacement solenoid 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, adjust the workpiece that the mixed and disorderly suit of ordering assembles on the tiered warehouse facility modular unit shelf by the mechanical arm of straight line moving manipulator unit, the workpiece of suit assembling on the tiered warehouse facility modular unit shelf is arranged in order.Master controller sends instruction, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 extracts workpiece on the goods yard, and to adjust the arrangement of workpiece on the goods yard of tiered warehouse facility modular unit orderly, 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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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, 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 the 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 often ordering meeting is unordered in a jumble, by straight line moving manipulator unit and loading platform modular unit the workpiece adjustment in the tiered warehouse facility modular unit is sorted.

When the workpiece of suit assembling is filled in each goods yard of tiered warehouse facility modular unit, master controller is received the full data message in tiered warehouse facility modular unit storehouse, after processing data information, master controller sends instruction, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, the workpiece of suit assembling is placed on the workpiece positioning table, start the motor of carrying out displacement, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, remove Y type reclaimer robot from the workpiece positioning table of loading platform modular unit, by the loading platform modular unit workpiece of suit assembling is shifted 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.

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 clamps 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 the workpiece of assembling is placed 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, by straight line moving manipulator unit, loading platform modular unit and solid mechanical fingerprint module unit Workpiece transfer is arrived travelling belt detection module unit, workpiece is implemented to detect.By 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 finished the outbound operation of workpiece, enters 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, when the workpiece that detects qualified suit assembling, 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 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 to detect, the training request of letter sorting and outbound operation is carried out two material loading/processing/assembling/warehouse-in/outbound system 2 kinds of different labor and materials is implemented processing, assembling, warehouse-in, outbound, detect and sort the training request of operation.

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 by processing/modular unit, straight line moving manipulator unit, the tiered warehouse facility modular unit, the loading platform modular unit, combination training on installation platform and master controller are formed, 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 order process operations or processing/modular unit and many processing/modular unit execution pair order process operations or processing/modular unit and many processing/modular unit are carried out continuous process operation, assembly manipulation, the workpiece turnover, the training on operation requirement of workpiece warehouse-in and workpiece outbound.

The middle part of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by 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, respectively tiered warehouse facility modular unit and loading platform modular unit are fixed on the combination training on installation platform with bolt by 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, respectively processing/modular unit and many processing/modular unit are fixed on the combination training on installation platform with bolt by 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 combination training on installation platform fixedly installs master controller, with bolt master controller is fixed on combination training on installation platform bottom by the stationary positioned hole, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receives feedback digital information, in the training of combination training on installation platform assembling training with modular unit, implement the training request of the mounting arrangement of raw material/processing/turnover/warehouse-in/outbound system.

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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of Y type reclaimer robot, Y type reclaimer robot is aimed at the goods yard of the shelf of tiered warehouse facility modular unit, start machinery gripper cylinder on hand, extract and clamp the workpiece on the goods yard, start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, the clamping of Y type reclaimer robot workpiece and is removed the goods yard, Y type reclaimer robot is aimed at the loading and unloading station of processing/modular unit, start machinery gripper cylinder on hand, the workpiece of Y type reclaimer robot clamping is placed on the loading and unloading station of processing/modular unit, start bit shift solenoid valve group, motor, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, remove 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 workpiece on the loading and unloading station is pushed 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 clamps 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, and processed workpiece is placed back on the loading and unloading station, implements the training request of single order outbound, processing and in-stockroom operation.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting are removed the Y type reclaimer robot that clamps 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, start the motor of carrying out lifting, adjust the height of 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, the workpiece of Y type reclaimer robot clamping is placed on the goods yard, start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the goods yard, repeatedly cycling workpiece completion of processing in the tiered warehouse facility modular unit.

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 order, 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 outbound until the workpiece completion of processing in the tiered warehouse facility modular unit repeatedly, the training request of two order processing and in-stockroom operation.

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 order 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, master controller sends instruction, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, the mixed and disorderly workpiece of ordering on the Y type reclaimer robot clamping goods yard.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, start the motor of carrying out lifting, adjust the height of 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 the mixed and disorderly workpiece of the ordering of clamping on the workpiece positioning table.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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, detection probe is by 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 mechanical arm of straight line moving manipulator unit is adjusted the mixed and disorderly workpiece of ordering on the tiered warehouse facility modular unit shelf.Utilize the room of vacateing on the tiered warehouse facility modular unit shelf, the workpiece on the tiered warehouse facility modular unit shelf is arranged in order.

Master controller sends instruction, motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, 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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 the 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 by 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, after workpiece on the goods yard of tiered warehouse facility modular unit is arranged in order, again the workpiece on the loading platform modular unit is put back on the goods yard of tiered warehouse facility modular unit, 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 order processing, two order processing, turnover, warehouse-in and outbound to the training request of 2 process operations of workpiece.

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

One end, middle part of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the other end, middle part of combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by 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, respectively many processing/modular unit of processing/modular unit are fixed on the combination training on installation platform with bolt by 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, the tiered warehouse facility modular unit is fixedly installed on the combination training on installation platform with bolt by 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, the motor module unit is fixed on the combination training on installation platform with bolt by 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, the 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, respectively 2 groups of well formula feed modular units are fixed on the combination training on installation platform with bolt by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by line cord, carries out the instruction that master controller sends.Master controller is fixedly installed on the bottom of combination training on installation platform, with bolt master controller is fixed on combination training on installation platform bottom by the stationary positioned hole, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, at combination training on installation platform training assembling training modular unit, implement 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, by 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, realizes that 2 kinds of different workpiece implement detection separately, 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 controlled molding module 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.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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, start the motor of carrying out lifting, adjust the height of 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 clamps workpiece 1, extract workpiece 1, implement the training request of workpiece 1 material loading operation.

Start the motor of carrying out lifting, 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 holding workpiece 1.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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, start the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, the workpiece 1 of Y type reclaimer robot clamping is placed on the loading and unloading station of processing/modular unit.Motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting, remove Y type reclaimer robot, Y type reclaimer robot by 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 workpiece 1 on the loading and unloading station is pushed 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, machinery clamps the workpiece 1 on processing/assembly station, start solenoid valve and lift cylinder and promote processing/assembly manipulator, processing/assembly manipulator clamps 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, by travelling belt detection module unit checks and conveying labor and materials, by the Y type reclaimer robot of straight line moving manipulator unit workpiece 1 is sent into processing/modular 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 the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 clamps workpiece 2, extracts workpiece 2, implements the training request of workpiece 2 material loadings operation.

Start the motor of carrying out lifting, 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 holding workpiece 2.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor (68) of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, the workpiece 2 of Y type reclaimer robot clamping is placed on the loading and unloading station of processing/modular unit, start the motor of carrying out displacement, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, remove Y type reclaimer robot, Y type reclaimer robot by 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 workpiece 2 on the loading and unloading station is pushed to the translation of 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 the workpiece 1 after the assembling and workpiece 2 are made into the workpiece that suit assembles.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 to get and expect that locating piece 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, by travelling belt detection module unit checks and conveying labor and materials, by the Y type reclaimer robot of straight line moving manipulator unit workpiece 2 is sent into processing/modular unit and implement processing and assembling, implement the assembling of workpiece 1 and workpiece 2 in processing/modular unit.By clamping cylinder workpiece 2 is sent into assembly station, links workpiece 1(inner ring by lift cylinder and processing/assembly manipulator) the workpiece 2(outer ring of packing into) in, finish workpiece 1(inner ring) and workpiece 2(outer ring) assembly process.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, 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 clamps the workpiece of the assembling on the loading and unloading station.Motor and the mechanical arm solenoid valve group of the execution lifting on hand of startup machinery are extracted the workpiece of assembling, start the motor of rotary cylinder, execution lifting, and Y type reclaimer robot leaves the wherein loading and unloading station of one group of processing/modular unit.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of Y type reclaimer robot, goods yard on the shelf of aligning tiered warehouse facility modular unit, start machinery gripper cylinder on hand, the workpiece of the assembling of Y type reclaimer robot clamping is placed on the goods yard.Motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting, 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, finish 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.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, the motor of carrying out lifting is carried out motor and the mechanical arm solenoid valve group of lifting, 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, start the motor of carrying out lifting, adjust the height of 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 clamps workpiece 1, extract workpiece 1, implement the training request of workpiece 1 material loading operation.

Start the motor of carrying out lifting, 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 holding workpiece 1.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, the motor of carrying out lifting is carried out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, the workpiece 1 of Y type reclaimer robot clamping is placed on the loading and unloading station of many processing/modular unit.Motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting, remove Y type reclaimer robot, Y type reclaimer robot by 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.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of one of them place work piece 1 on the station dial is rotated to the position of aiming at processing/assembly manipulator; Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 1 on the loading and unloading station is pushed 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 clamps workpiece 1, starts lift cylinder, and processing/assembly manipulator clamps 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 the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 clamps workpiece 2, extracts workpiece 2, implements the training request of workpiece 2 material loadings operation.

Start the motor of carrying out lifting, 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 holding workpiece 2.Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, the workpiece 2 of Y type reclaimer robot clamping is placed on the loading and unloading station of many processing/modular unit, start the motor of carrying out displacement, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, remove Y type reclaimer robot, workpiece 2 is transferred on the loading and unloading station of many processing/modular unit by the Y type reclaimer robot of straight line moving manipulator unit, implemented the training request of workpiece 2 material loadings operation.

The rotation positioning motor that starts many processing/modular unit drives station dial, the loading and unloading station of one of them place work piece 2 on the station dial is rotated to the position of aiming at processing/assembly manipulator; Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 2 on the loading and unloading station is pushed 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, alignment pieces 2, start and clamp cylinder, the machinery folder is put into workpiece 2 to the workpiece 1 that clamps, 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, and workpiece 1 and workpiece 2 are made into the workpiece that suit assembles.The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of the workpiece of placing the suit assembling on the station dial is rotated to the position of aiming at straight line walking machine fingerprint module unit, implement the training request of suit assembling workpiece operation.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, 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 clamps the workpiece of the suit assembling on the loading and unloading station; Motor and the mechanical arm solenoid valve group of the execution lifting on hand of startup machinery are extracted the workpiece of suit assembling, start the motor of rotary cylinder, execution lifting, and Y type reclaimer robot leaves the loading and unloading station of many processing/modular unit.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, start the motor of carrying out lifting, adjust the height of Y type reclaimer robot, goods yard on the shelf of aligning tiered warehouse facility modular unit, start machinery gripper cylinder on hand, the workpiece of the suit of Y type reclaimer robot clamping assembling is placed on the goods yard.Motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting, 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 the shelf in the tiered warehouse facility modular unit are filled repeatedly.

2 groups of two kinds of interior different workpiece of well formula feed modular unit are workpiece 1 and workpiece 2, by travelling belt detection module unit checks and conveying labor and materials, Y type reclaimer robot by straight line moving manipulator unit is sent into many processing of processing/modular unit/modular unit enforcement processing and assembling to workpiece 1 and workpiece 2, 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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, the workpiece of the suit of Y type reclaimer robot clamping assembling is placed into 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, connecting line drag chain band connecting line translation together, start the motor of carrying out lifting, adjust the height of 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 enters the loading and unloading station of travelling belt one end, subsequent processing to be changed over to, implement the workpiece outbound of suit assembling and detect the training request of operating, carry out double assembling/warehouse-in/outbound system and implement the training request that single station assembling, double assembling, workpiece warehouse-in and workpiece outbound are operated.

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 be formed 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, combination training on installation platform and master controller, material loading/check/remove residual/warehouse-in system to implement material loading, check, remove training on operation requirement residual, that put in storage.

One end of combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by 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, well formula feed modular unit and terminal block are fixed on the combination training on installation platform with bolt by 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, inclined ramp detection module unit is fixed on the combination training on installation platform with bolt by 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, the motor module unit is fixed on the combination training on installation platform with bolt by 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 by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by line cord, carries out the instruction that master controller sends.The other end of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, straight line moving manipulator unit and travelling belt detection module unit are T-shaped to be arranged, and the other end of travelling belt detection module unit is relative with the middle part of straight line moving manipulator unit.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, respectively tiered warehouse facility modular unit and loading platform modular unit are fixed on the combination training on installation platform with bolt by the stationary positioned hole.Below the training main unit, fixedly install master controller, by the stationary positioned hole with bolt master controller be fixed on combination training on installation platform below, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, at combination training on installation platform training assembling training modular unit, implement material loading/check/remove 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 controlled molding module 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, detection probe during workpiece process surveyed area on the workpiece sensing equipment is implemented to detect to workpiece, implements material loading, detects the training request of operating.

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 situations 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 the detection probe of workpiece sensing equipment detects the workpiece that can not repair, workpiece sensing equipment by circuit to master controller and controlled molding module 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 enters 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 arranges detects the workpiece that can not repair, detection probe detected numerical information by circuit to master controller, workpiece implement is detected, removes 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 the detection probe of workpiece sensing equipment detects qualified workpiece, workpiece sensing equipment by 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 the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor (68) of carrying out lifting, adjust the height of 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 clamps 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, connecting line drag chain band connecting line translation together, start the motor of carrying out lifting, adjust the height of Y type reclaimer robot, goods yard on the shelf of the Y type reclaimer robot aligning tiered warehouse facility modular unit of mechanical arm, start machinery gripper cylinder on hand, Y type reclaimer robot is placed into qualified workpiece on the goods yard, start the motor of carrying out displacement, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, remove 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 by 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 the detection probe of workpiece sensing equipment detects defective recoverable workpiece, workpiece sensing equipment by 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 the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps defective recoverable workpiece.Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 clamps 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 by 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 the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting, 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, detection probe by circuit to master controller feedback digital information, master controller unit sends instruction after receiving numerical information after treatment, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, Y type reclaimer robot extracts the workpiece of having repaired on the workpiece positioning table.Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of Y type reclaimer robot, goods yard on the shelf of the Y type reclaimer robot aligning tiered warehouse facility modular unit of mechanical arm, start machinery gripper cylinder on hand, Y type reclaimer robot is placed workpiece on the goods yard, start the motor of carrying out displacement, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, remove Y type reclaimer robot from the goods yard of tiered warehouse facility modular unit, implement the defective workpiece of repairing except residual, the training request of reparation and in-stockroom operation, 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 by the Y type reclaimer robot of straight line moving manipulator unit, defective recoverable workpiece transfer is repaired to the loading platform modular unit, after to be repaired, again qualified workpiece is transferred to from the loading platform modular unit on the shelf of tiered warehouse facility modular unit, carried out material loading/check/except the material loading of residual/warehouse-in system, check, except 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 finished 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, combination training on installation 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 the check/correction/sorting system.

One end of combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, one side of travelling belt detection module unit fixedly installs the motor module unit, horizontal slideway detection module unit and 2 groups of inclined ramp detection module unit, by the stationary positioned hole with bolt respectively the motor module unit, horizontal slideway detection module unit and 2 groups of inclined ramp detection module unit are fixed on the combination training on installation platform, 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 by circuit, and the cable interface of terminal block is given master controller the numerical information feedback transmission by cable line.The opposite side of travelling belt detection module unit fixedly installs well formula feed modular unit, well formula feed modular unit is fixed on the combination training on installation platform with bolt by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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, solid mechanical fingerprint module unit is fixed on the combination training on installation platform with bolt by 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, processing/modular unit is fixed on the combination training on installation platform with bolt by 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 combination training on installation platform, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, at combination training on installation platform training assembling training modular unit, implement 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 by 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 situations: 1, qualified workpiece; 2, the defective workpiece that needs reparation.

When detecting the qualified workpiece that need not to revise, workpiece sensing equipment by 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 detection probe on the inclined ramp modular unit detects, workpiece sensing equipment by 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 entered.

When detecting the underproof workpiece that needs correction, workpiece sensing equipment by 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 after handling through data, start the rotary cylinder of solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, underproof workpiece on the loading and unloading station of getting the parallel folder aligning of the material travelling belt other end on the pivot arm, the startup solenoid valve is got the parallel folder of material and is clamped 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, enters 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 clamps 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 after handling through data, start getting of processing/modular unit and anticipate a cylinder, get and anticipate cylinder and drive and get the material locating piece the underproof workpiece on the loading and unloading station is pushed 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 clamps 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 and clamp cylinder, the machinery folder is placed on the workpiece of processing on processing/assembly station, start to get and anticipate a cylinder, the playback of material locating piece is got in drive, gets the material locating piece workpiece after repairing is placed back 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 after handling through data, 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, 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, the parallel folder of material got on the pivot arm is removed the loading and unloading station of processing/modular unit, and the loading and unloading station of getting the parallel folder aligning of the material travelling belt other end 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 after handling through data, 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 by 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, the operation training requirement of reparation, check and letter sorting is finished in cycling repeatedly, implements the training request of detection, reparation and the letter sorting operation of check/correction/sorting system.

Behind the workpiece sensing Equipment Inspection workpiece, qualified workpiece is sent into inclined ramp detection module unit, 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.

It is single that order/two order processing/outbound/warehouse-in-turnaround systems are by processing/modular unit, straight line moving manipulator unit, the tiered warehouse facility modular unit, the loading platform modular unit, many processing/modular unit, combination training on installation platform and master controller are formed, in single order/two order 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 order process operations, or processing/modular unit and many processing/two order process operation training requests of modular unit execution.

The middle part of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, one side of straight line moving manipulator unit stationary arrangement side by side arranges processing/modular unit, many processing/modular unit and loading platform modular unit, by the stationary positioned hole with bolt respectively processing/modular unit, many processing/modular unit and loading platform modular unit are fixed on the combination training on installation platform, 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 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, the tiered warehouse facility modular unit is fixed on the combination training on installation platform with bolt by 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 combination training on installation platform, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, use modular unit in combination training on installation platform training assembling training, implement the training request of single order/two order 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 that workpiece is processed/assembled to single order or workpiece is processed/assembled to two order.And straight line moving manipulator unit is implemented the turnover workpiece by the loading platform modular unit to the workpiece in the tiered warehouse facility modular unit.

Master controller sends instruction, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the workpiece of the generation processing on the goods yard.Start the rotary cylinder of straight line moving manipulator unit and 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, connecting line drag chain band connecting line translation together, start the motor of carrying out lifting, adjust the height of Y type reclaimer robot, Y type reclaimer robot is aimed at the loading and unloading station of processing/modular unit, start Y type reclaimer robot, the workpiece to be processed of Y type reclaimer robot clamping is placed on the loading and unloading station of processing/modular unit, start the motor of carrying out displacement, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, remove Y type reclaimer robot from the loading and unloading station of processing/modular unit, by straight line moving manipulator unit workpiece to be processed is transferred the training request of operating from the shelf of tiered warehouse facility modular unit to the loading and unloading station of processing/modular unit, implement outbound, the training request of 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 workpiece to be processed on the loading and unloading station is pushed 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 that clamps on processing/assembly station, startup solenoid valve and lift cylinder, 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 processed workpiece is placed back 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, connecting line drag chain band connecting line translation together, start the motor of carrying out lifting, adjust the height of 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 the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting are removed the Y type reclaimer robot that clamps processed workpiece.Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 processed workpiece of Y type reclaimer robot clamping is placed on the goods yard.Start rotary cylinder, displacement solenoid valve group and the motor of straight line moving manipulator unit, Y type reclaimer robot is removed the goods yard, cycling workpiece completion of processing in the tiered warehouse facility modular unit is repeatedly implemented the training request of outbound, the processing of single order and in-stockroom operation.

Master controller sends instruction, motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, start the motor of carrying out lifting, adjust the height of 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 clamps the workpiece to be processed on the goods yard.Start the rotary cylinder of straight line moving manipulator unit, carry out the motor of 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, connecting line drag chain band connecting line translation together, start the motor of carrying out lifting, adjust the height of 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, the workpiece to be processed of Y type reclaimer robot clamping is placed on the loading and unloading station of many processing/modular unit, start the motor of carrying out displacement, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, remove Y type reclaimer robot from the loading and unloading station of many processing/modular unit, by straight line moving manipulator unit workpiece to be processed is transferred the training request of operating from the shelf of tiered warehouse facility modular unit to the loading and unloading station of many processing/modular unit, implement outbound, the training request of material loading operation.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, and the loading and unloading station of the workpiece to be processed of one of them placement on the station dial is rotated to the position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece to be processed on the loading and unloading station is pushed 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, processing/assembly manipulator descends, aim at workpiece to be processed, start and clamp cylinder, machinery clamps workpiece to be processed, starts lift cylinder, and processing/assembly manipulator clamps 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, processing/assembly manipulator descends, aim at the loading and unloading station of station dial, start and clamp 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.The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, 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, connecting line drag chain band connecting line translation together, start the motor of carrying out lifting, adjust the height of 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 the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting are removed the Y type reclaimer robot that clamps processing back workpiece.Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 processed workpiece of Y type reclaimer robot clamping is placed on the goods yard.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the goods yard, cycling workpiece completion of processing in the tiered warehouse facility modular unit is repeatedly implemented the training request of outbound, the processing of single order 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 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 outbound until the workpiece completion of processing in the tiered warehouse facility modular unit repeatedly, the training request of two order processing and in-stockroom operation.

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 order 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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, 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 the motor of carrying out lifting, adjust the height of 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 of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the workpiece positioning table, and processed workpiece is waited for and entered 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 order processing, two order processing, outbound, warehouse-in and the turnover operation of single order/two order 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 entered to the workpiece in the tiered warehouse facility modular unit by part.

The part system is processed/gone out to single order/dibit is by 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, the motor module unit, terminal block, many processing/modular unit, combination training on installation platform and master controller are formed, single order/dibit is processed/is gone out in the part system processing/modular unit is set, many processing/modular unit, at least 2 group solid mechanical fingerprint module units and at least 2 group well formula feed modular units, 2 groups of solid mechanical fingerprint module units and processing/modular unit and many processing/modular unit are carried out single order process operation separately, 2 groups of well formula feed modular units are supplied with different workpiece separately, and 2 kinds of different workpiece are implemented feeding separately, detect, the training on operation requirement of processing and letter sorting.

One end of combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by 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, respectively 2 groups of well formula feed modular units are fixed on the combination training on installation platform with bolt by 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, respectively inclined ramp detection module unit and horizontal slideway detection module unit are fixed on the combination training on installation platform with bolt by 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, the motor module unit is fixed on the combination training on installation platform with bolt by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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 by 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, by the stationary positioned hole with bolt respectively processing/modular unit, many processing/modular unit and 2 groups of solid mechanical fingerprint module units are fixed on the combination training on installation platform, 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, the parallel folder of material of getting of another group solid mechanical fingerprint module unit is aimed at the loading and unloading station of many processing/modular unit of another group is just organized processing/modular unit from another the 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 by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, use modular unit in combination training on installation platform training assembling training, implement the training request that part system mounting arrangement was processed/gone out to single order/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 after testing respectively, and processing/modular unit is processed different workpiece respectively separately with many processing/modular unit.2 kinds of different workpiece after the processing are transplanted on inclined ramp detection module unit and horizontal slideway detection module unit after testing respectively.

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 workpiece 1 on the loading and unloading station of getting the parallel folder aligning of the material travelling belt other end on the pivot arm.Start solenoid valve, get the parallel folder of material and clamp 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 workpiece 1 on the loading and unloading station is pushed to the translation of 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 clamps 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 processed workpiece 1 is put back 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 processed workpiece 1 on the loading and unloading station of getting the parallel folder aligning of material processing/modular unit on the pivot arm.Start solenoid valve, get the parallel folder of material and clamp 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, starting solenoid valve is placed on workpiece 1 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 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 enters in the slideway of inclined ramp modular unit, the detection probe of inclined ramp modular unit detects processed workpiece 1, the numerical information of processed workpiece 1 is fed back to master controller, master controller is given subsequent processing the digital information transmission of processed workpiece 1, processed workpiece 1 is waited for and is entered subsequent processing, single operation that the part system was processed/gone out to single order/dibit is implemented in cycling repeatedly, single station processing, detect, sort and go out the training request of part operation.

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, send into inclined ramp detection module unit, subsequent processing to be entered.

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 workpiece 2 on the loading and unloading station of getting the parallel folder aligning of the material travelling belt other end on the pivot arm; Start solenoid valve, get the parallel folder of material and clamp 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.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of one of them place work piece 2 on the station dial is rotated to the position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 2 on the loading and unloading station is pushed 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 clamps workpiece 2, starts lift cylinder, and processing/assembly manipulator clamps 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, processed workpiece 2 is placed on the loading and unloading station, starts lift cylinder, processing/assembly manipulator leaves the loading and unloading station of station dial.The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of placing processed workpiece 2 on the station dial is rotated to the position of aiming at another group solid mechanical fingerprint module unit, 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 processed workpiece 2 on the loading and unloading station of getting many processing/modular unit of the parallel folder aligning of material on the pivot arm.Start solenoid valve, get the parallel folder of material and clamp 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, starting solenoid valve is placed on processed workpiece 2 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 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 enters in the slideway of horizontal slideway modular unit, the detection probe of horizontal slideway modular unit detects processed workpiece 2, the numerical information of processed workpiece 2 is fed back to master controller, master controller is given subsequent processing the digital information transmission of processed workpiece 2, processed workpiece 2 is waited for and is entered subsequent processing, single operation that the part system was processed/gone out to single order/dibit is implemented in cycling repeatedly, single station processing, double processing, detect, sort and go out the training request of part operation.

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, send into horizontal slideway detection module unit, subsequent processing to be entered.

Check/correction/warehouse-in system is by straight line moving manipulator unit, solid mechanical fingerprint module unit, the tiered warehouse facility modular unit, the loading platform modular unit, travelling belt detection module unit, inclined ramp detection module unit, well formula feed modular unit, the motor module unit, terminal block, combination training on installation platform and master controller are formed, at least 2 group well formula feed modular units are set in the 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 are implemented to detect separately, letter sorting, repair, go into the training on operation requirement of library storage.

One end of combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the other end of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by 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 at combination training on installation platform.One side of one end of travelling belt detection module unit fixedly installs 2 groups of well formula feed modular units, respectively 2 groups of well formula feed modular units are fixed on the combination training on installation platform with bolt by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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 by 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, the motor module unit is fixed on the combination training on installation platform with bolt by 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 signal interface of the terminal block of travelling belt detection module unit, the cable interface of terminal block is connected with master controller by line cord, carry out the instruction that master controller sends, the motor of starter motor modular unit, motor just, the counter-rotating operation, the travelling belt of driven by motor travelling belt detection module unit is just, running in the other direction.

The opposite side at the middle part of travelling belt detection module unit fixedly installs the inclined ramp modular unit, the inclined ramp modular unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the entrance of the slideway of inclined ramp modular unit docks with the surveyed area of travelling belt detection module unit, and the entrance 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 by 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, respectively manipulator unit and loading platform modular unit are fixed on the combination training on installation platform with bolt by 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, the tiered warehouse facility modular unit is fixed on the combination training on installation platform with bolt by 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 combination training on installation platform, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, at combination training on installation platform training assembling training modular unit, the training request of enforcement check/revise/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 controlled molding module 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 by the detection probe on the workpiece sensing equipment, three kinds of situations can appear in workpiece 1: defective workpiece, the 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 situations in the testing process, namely 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 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, the workpiece 1 that can't repair enters in the slideway, the detection probe of inclined ramp modular unit detects the workpiece 1 that can't repair, the detection probe of inclined ramp modular unit 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, 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 by network, after master controller receives the numerical information of workpiece, carry out sending instruction after data are handled, 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, qualified workpiece 1 is transferred to the loading and unloading station of the travelling belt other end.Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 qualified workpiece on the goods yard.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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 by network, after master controller receives the numerical information of workpiece, carry out sending instruction after data are handled, by 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, the defective workpiece 1 that need repair is 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 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 clamped 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 clamps 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 by 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, 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 after the reparation on the workpiece positioning table of loading platform modular unit, starts solenoid valve and gets the workpiece 1 of expecting after parallel folder clamps 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 the workpiece of getting after the reparation that the parallel folder of material clamps is placed 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 the workpiece 1 after repairing is transferred 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 by solid mechanical fingerprint module unit.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps 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 solenoid valve group of execution lifting, 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, start the motor of carrying out lifting, adjust the height of 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 clamps on the goods yard.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the goods yard of tiered warehouse facility modular unit, implement the workpiece 1 after repairing is transferred the training request of operating to the shelf of tiered warehouse facility modular unit from the loading and unloading station of travelling belt detection module unit by the Y type reclaimer robot of straight line moving manipulator unit, workpiece 1 after cycling is filled reparation in reaching the tiered warehouse facility modular unit is repeatedly implemented check/correction/warehouse-in system and is implemented single feed, check, letter sorting, the training request of 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 by network, after master controller receives the numerical information of workpiece, carry out sending instruction after data are handled, by straight line moving manipulator unit recoverable defective Workpiece transfer is implemented to repair operation to the loading platform modular unit, 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 arranges 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 divide to detect defective workpiece, qualified workpiece and the defective workpiece that can't repair that needs reparation through the detection of travelling belt detection module unit equally.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 by 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 transferred back on the loading and unloading station of travelling belt detection module unit by solid mechanical fingerprint module unit, be transplanted on the goods yard of tiered warehouse facility modular unit by mechanical arm by straight line moving manipulator unit again.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 by network, after master controller receives the numerical information of workpiece, carry out sending instruction after data are handled, by straight line moving manipulator unit two kinds of different recoverable defective workpiece are transplanted on the loading platform modular unit in succession 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 by processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, the tiered warehouse facility modular unit, the loading platform modular unit, travelling belt detection module unit, well formula feed modular unit, the motor module unit, many processing/modular unit, terminal block, combination training on installation platform and master controller are formed, in multiple spot material loading/processing/assembling/warehouse-in system processing/modular unit is set, many processing/modular unit and at least 2 group well formula feed modular units, 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 combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, one side of one end, travelling belt detection module unit fixedly installs the motor module unit, the motor module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, motor module unit, motor module unit is connected with the driving wheel of travelling belt detection module unit, the motor of starter motor modular unit, motor just, the counter-rotating operation, the travelling belt both forward and reverse directions running of driven by motor travelling belt detection module unit.The other end of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by 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, solid mechanical fingerprint module unit is fixed on the combination training on installation platform with bolt by 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, the loading platform modular unit is fixed on the combination training on installation platform with bolt by 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, one group of well formula feed modular unit wherein is fixed on the combination training on installation platform with bolt by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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, the cable interface of terminal block is connected with master controller by 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 by 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, another group well formula feed modular unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the operation circuit of the solenoid valve of another group well formula feed modular unit is connected with the output signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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, the cable interface of terminal block is connected with master controller by 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, respectively processing/modular unit and many processing/modular unit are fixed on the combination training on installation platform with bolt by 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, the tiered warehouse facility modular unit is fixed on the combination training on installation platform with bolt by 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 combination training on installation platform, by the stationary positioned hole with bolt master controller be fixed on combination training on installation platform below, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, at combination training on installation platform training assembling training modular unit, implement the training request of multiple spot material loading/processing/assembling/warehouse-in system mounting arrangement, carry out the multiple spot material loading of multiple spot material loading/processing/assembling/warehouse-in system, processing work, the training request of assembling workpiece and in-stockroom operation.

Straight line moving manipulator unit and travelling belt detection module unit parallel being crisscross arranged on combination training on installation 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 unit, 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 controlled molding module 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, workpiece 1 on the workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit on the pivot arm starts solenoid valve, gets the parallel folder of material and clamps 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, the rotation of support column and pivot arm 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, master controller sends instruction after receiving numerical information after treatment, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the workpiece 1 on the loading and unloading station, start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the loading and unloading station of the travelling belt other end of travelling belt detection module unit.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 processing/modular unit, start machinery gripper cylinder on hand, the workpiece 1 that is clamped on the Y type reclaimer robot is placed on the loading and unloading station of processing/modular unit, start the rotary cylinder of straight line moving manipulator unit, carry out the motor of displacement, Y type reclaimer robot is removed the loading and unloading station of processing/modular unit, implements the training request to feeding and the detection operation of workpiece 1.

Start getting of processing/modular unit and anticipate a cylinder, get and anticipate cylinder and drive and get the material locating piece workpiece 1 on the loading and unloading station is pushed to the translation of 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 clamps 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 processed workpiece 1 is placed back on the loading and unloading station, implement the training request to the process operation of workpiece 1.

Workpiece 1 is transplanted on travelling belt detection module unit by 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, master controller receives numerical information and sends instruction through after the digital processing, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, Y type reclaimer robot clamps workpiece 2.Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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, start the motor of carrying out lifting, adjust the height of 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, the workpiece 2 that is clamped on the Y type reclaimer robot is placed on the loading and unloading station of many processing/modular unit, start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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 detection operation.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of one of them place work piece 2 on the station dial is rotated to the position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 2 on the loading and unloading station is pushed 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, processing/assembly manipulator descends, alignment pieces 2, start and clamp cylinder, machinery clamps workpiece 2, starts lift cylinder, and processing/assembly manipulator clamps 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 by 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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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.Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of Y type reclaimer robot, mechanical arm moves to the loading and unloading station of many processing/modular unit along guide rail, start machinery gripper cylinder on hand, the workpiece 1 that is clamped on the Y type reclaimer robot is placed on the loading and unloading station of many processing/modular unit, start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of one of them place work piece 1 on the station dial is rotated to the position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 1 on the loading and unloading station is pushed 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, finish 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.The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of placing the workpiece after assembling on the station dial is rotated to the position of aiming at straight line walking machine fingerprint module unit, implement the training request to the assembly manipulation of workpiece 1 and workpiece 2.

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

Master controller sends instruction, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 of assembling on the goods yard.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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 by the loading and unloading station of straight line moving manipulator unit from many processing/modular unit, finish 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, combination training on installation 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 combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the other end of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the side of one end, travelling belt detection module unit fixedly installs the motor module unit, the motor module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, 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 signal interface of the terminal block of travelling belt detection module unit, the cable interface of terminal block is connected with master controller by line cord, carry out the instruction that master controller sends, the motor of starter motor modular unit, motor just, the counter-rotating operation, the travelling belt of driven by motor travelling belt detection module unit is just, running in the other direction.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, respectively horizontal slideway detection module unit and 2 groups of inclined ramp detection module unit are fixed on the combination training on installation platform with bolt by the stationary positioned hole, the circuit of 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 by 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, respectively tiered warehouse facility modular unit and loading platform modular unit are fixed on the combination training on installation platform with bolt by 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 combination training on installation platform, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, at combination training on installation platform training assembling training modular unit, implement the training request of batching/outbound/categorizing system mounting arrangement, carry 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 combination training on installation 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 by the workpiece sensing equipment that arranges on the travelling belt detection module unit and picks out workpiece 1 and workpiece 2.Master controller sends instruction, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the workpiece that mixes on the goods yard.Start rotary cylinder, displacement solenoid 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, 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, start the motor of carrying out lifting, adjust the height of 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 clamps on the loading and unloading station of the other end of travelling belt detection module unit, motor and the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting, remove Y type reclaimer robot from the loading and unloading station, implement the workpiece that mixes is transferred the training request of operating to the loading and unloading station of travelling belt detection module unit from the shelf of tiered warehouse facility modular unit by 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, 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 workpiece 1 in the slideway of corresponding inclined ramp modular unit, the detection probe of inclined ramp modular unit detects workpiece 1, 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 entered subsequent processing.

The workpiece that mixes is sent on the loading and unloading station of travelling belt detection module unit by straight line moving manipulator unit, travelling belt detection module unit transports the workpiece that mixes, the workpiece that mixes enters 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 entered 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 enters 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/pair assembling/detection/warehouse-in system is by processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, the tiered warehouse facility modular unit, the loading platform modular unit, travelling belt detection module unit, inclined ramp detection module unit, well formula feed modular unit, terminal block, the motor module unit, many processing/modular unit, combination training on installation platform and master controller are formed, and in two material loadings/pair assembling/detection/warehouse-in/outbound system processing/modular unit are set, many processing/modular unit and at least 2 group well formula feed modular units; 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, and two material loadings/pair assembling/detection/warehouse-in system implements 2 kinds of different workpiece feedings, detection, processing, assembles, goes into the training on operation requirement of library storage.

One end of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the other end of combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by 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 at combination training on installation platform.

One side of one end, straight line moving manipulator unit fixedly installs the tiered warehouse facility modular unit, the tiered warehouse facility modular unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the opposite side of one end, straight line moving manipulator unit fixedly installs the loading platform modular unit, well formula feed modular unit, processing/modular unit and many processing/modular unit, by the stationary positioned hole with bolt respectively the loading platform modular unit, one group of well formula feed modular unit wherein, processing/modular unit and many processing/modular unit are fixed on the combination training on installation 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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, the cable interface of terminal block is connected with master controller by 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 combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by 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, respectively solid mechanical fingerprint module unit, inclined ramp detection module unit, well formula feed modular unit and motor module unit is fixed on the combination training on installation platform.

One end of travelling belt detection module unit arranges wherein another group well formula feed modular unit of 2 groups of well formula feed modular units, another group well formula feed modular unit wherein is fixed on the combination training on installation platform with bolt by 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 workpiece that goes out in the feed bin is shifted onto on the loading and unloading station of travelling belt detection module unit.Wherein the operation circuit of the solenoid valve of another group well formula feed modular unit is connected with the output signal interface of terminal block, and the cable interface of terminal block is connected with master controller by 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 by line cord, to master controller feedback digital information.

The other end of travelling belt detection module unit arranges the motor module unit, the motor module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, 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 signal interface of the terminal block of travelling belt detection module unit, the cable interface of terminal block is connected with master controller by line cord, carry out the instruction that master controller sends, the motor of starter motor modular unit, the 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, inclined ramp detection module unit is fixed on the combination training on installation platform with bolt by 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, the cable interface of terminal block is connected with master controller by line cord, to master controller feedback digital information.

The side of travelling belt detection module unit fixedly installs solid mechanical fingerprint module unit, solid mechanical fingerprint module unit is fixed on the combination training on installation platform with bolt by 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 combination training on installation platform master controller is set, master controller with pass cable-through hole by line cord and enter the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, at combination training on installation platform training assembling training modular unit, implement the training request of two material loadings/pair assembling/detection/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/pair assembling/detection/warehouse-in system.

Straight line moving manipulator unit and travelling belt detection module unit are T-shaped setting at combination training on installation 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, processed workpiece is transplanted on the goods yard of tiered warehouse facility modular unit by 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 by 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 clamps 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 the loading and unloading station that solenoid valve is placed on workpiece 1 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, the parallel folder of material of getting by solid mechanical fingerprint module unit is transferred to workpiece 1 on the loading and unloading station of many processing/modular unit, implements the training request of workpiece 1 material loading operation.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of one of them place work piece 1 on the station dial is rotated to the position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 1 on the loading and unloading station is pushed 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, processing/assembly manipulator descends, alignment pieces 1, start and clamp cylinder, machinery clamps workpiece 1, starts lift cylinder, and processing/assembly manipulator clamps 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, workpiece 1 in one group of well formula feed modular unit wherein is placed on the travelling belt detection module unit, by solid mechanical fingerprint module unit workpiece 1 is transplanted on many processing/modular 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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the workpiece 2 on the workpiece positioning table.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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 of straight line moving manipulator unit and the motor of execution displacement, 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 by loading platform modular unit and straight line moving manipulator unit, and many processing/modular unit are implemented assembling to workpiece.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of one of them place work piece 2 on the station dial is rotated to the position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the workpiece 2 on the loading and unloading station is pushed 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, the workpiece 1 of processing/assembly manipulator clamping is put into workpiece 2 on the loading and unloading station, workpiece 1 and workpiece 2 are assembled into the assembling workpiece, start lift cylinder, processing/assembly manipulator clamps workpiece 1 and promotes, and leaves the loading and unloading station of station dial.The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of placing the workpiece after the assembling on the station dial is rotated to the position of secured in alignment manipulator unit, implement many processing/modular unit to the processing of workpiece 1 and workpiece 2 and the training request of assembly manipulation.

Many processing/modular unit are anticipated a cylinder by 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 workpiece 1 is placed in the workpiece 2, and many processing/modular unit are assembled into the assembling workpiece to workpiece 1 and workpiece 2 enforcements.

Start the rotary cylinder of solid mechanical fingerprint module unit, rotary cylinder driven rotary platform, support column and pivot arm rotation, assembling workpiece on the loading and unloading station of getting many processing/modular unit of the parallel folder aligning of material on the pivot arm starts solenoid valve, gets the parallel folder of material and clamps 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, starting solenoid valve is 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 after testing during the zone detection probe on the workpiece sensing equipment assembling workpiece is implemented to detect.

The assembling workpiece of many processing/modular unit assembling by 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 cylinder of selecting materials passes on the locating support pushes underproof assembling workpiece in the slideway of corresponding inclined ramp modular unit, 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 entered subsequent processing.

The assembling workpiece of many processing/modular unit assembling is placed 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, underproof assembling workpiece is sent into the inclined ramp modular unit wait for and enter subsequent processing.

When detecting qualified assembling workpiece, workpiece sensing equipment is to the numerical information of the qualified assembling workpiece of master controller feedback, 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 clamps 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 the loading and unloading station that solenoid valve is placed on qualified workpiece many 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 many processing/modular unit on the pivot arm.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, start machinery gripper cylinder on hand, Y type reclaimer robot clamps the qualified assembling workpiece on the loading and unloading station of many processing/modular unit.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit, start the motor of carrying out lifting, adjust the height of 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 of straight line moving manipulator unit and the motor of execution displacement, 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.

The assembling workpiece of many processing/modular unit assembling is placed 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, by solid mechanical fingerprint module unit and straight line moving manipulator unit underproof assembling workpiece is transplanted in the tiered warehouse facility modular unit and stores.

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 clamps 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 the loading and unloading station that solenoid valve is placed on workpiece 1 many 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 many processing/modular unit on the pivot arm.Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, start the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, Y type reclaimer robot clamps the workpiece 1 on the loading and unloading station.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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 of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the loading and unloading station of processing/modular unit; Workpiece 1 is transplanted on the loading and unloading station of processing/modular unit by solid mechanical fingerprint module unit and straight line moving manipulator unit, implements the training request of workpiece 1 material loading operation.

Processing/modular unit is implemented the material loading of workpiece 1, workpiece 1 in one group of well formula feed modular unit wherein is placed on the loading and unloading station of processing/modular unit by 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 workpiece 1 on the loading and unloading station is pushed 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 clamps 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 by 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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the workpiece 2 on the workpiece positioning table.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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 of straight line moving manipulator unit and the motor of execution displacement, 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 by 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 workpiece 2 on the loading and unloading station is pushed 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, machinery folder is placed into the workpiece 1 that clamps in the workpiece 2 on processing/assembly station, start solenoid valve and lift cylinder and promote processing/assembly manipulator, processing/assembly manipulator leaves processing/assembly station, workpiece 1 and workpiece 2 are assembled into the assembling workpiece, start to get and anticipate a cylinder, drive is got the material locating piece assembling workpiece is revert to the loading and unloading station, implements the training request of processing/modular unit assembling workpiece 1 and workpiece 2 operations.

Processing/modular unit is anticipated a cylinder by 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 workpiece 1 is placed 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.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the assembling workpiece on the loading and unloading station of processing/modular unit; Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the loading and unloading station of processing/modular unit, start the motor of carrying out lifting, adjust the height of 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 of straight line moving manipulator unit and the motor of execution displacement, 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, assembling workpiece on the loading and unloading station of getting many processing/modular unit of the parallel folder aligning of material on the pivot arm starts solenoid valve, gets the parallel folder of material and clamps 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, starting solenoid valve is 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 after testing during the zone detection probe on the workpiece sensing equipment assembling workpiece is implemented to detect.

The assembling workpiece of processing/modular unit assembling by 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 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 cylinder of selecting materials passes on the locating support pushes underproof assembling workpiece in the slideway of corresponding inclined ramp modular unit, 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 entered subsequent processing.

The assembling workpiece of processing/modular unit assembling is placed 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, underproof assembling workpiece is sent into the inclined ramp modular unit wait for and enter 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, 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 clamps 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 the loading and unloading station that solenoid valve is placed on qualified workpiece many processing/modular unit, 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 wherein loading and unloading station of one group of processing/modular unit.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the qualified assembling workpiece on the loading and unloading station of many processing/modular unit.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, Y type reclaimer robot is removed the loading and unloading station of many processing/modular unit, start the motor of carrying out lifting, adjust the height of 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 of straight line moving manipulator unit and the motor of execution displacement, 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.

The assembling workpiece of processing/modular unit assembling is placed 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, by solid mechanical fingerprint module unit and straight line moving manipulator unit underproof assembling workpiece is transplanted in the tiered warehouse facility modular unit and stores.

Implement 2 groups of well formula feed modular units and place different workpiece, processing/modular unit and many processing/different workpiece of modular unit each self-assembly of 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/pair assembling/detection/warehouse-in/outbound system carries out the training request of double feed, double assembling and in-stockroom operation.

Thick finishing/detections/except give up/warehouse-in/outbound system is by processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, the tiered warehouse facility modular unit, the loading platform modular unit, travelling belt detection module unit, inclined ramp detection module unit, well formula feed modular unit, the motor module unit, many processing/modular unit, terminal block, combination training on installation platform and master controller are formed, thick finishing/detection/except in useless/warehouse-in/outbound system processing/modular unit being set, many processing/modular unit and at least 2 group inclined ramp detection module unit, processing/modular unit and many processing/modular unit are implemented roughing and accurately machined operation separately, thick finishing/detection/except useless/warehouse-in/outbound system enforcement roughing, finishing detects, waste product is proposed, go into the training on operation purpose of library storage and outbound.

One end of combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the other end of combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole.One side of one end of travelling belt detection module unit fixedly installs well formula feed modular unit, well formula feed modular unit is fixed on the combination training on installation platform with bolt by 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, the operation circuit of the solenoid valve of well formula feed modular unit is connected with the output signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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, the cable interface of terminal block is connected with master controller by line cord, to master controller feedback digital information.Start the pusher cylinder of well formula feed modular unit, the workpiece in the well formula feed storehouse is shifted onto on the loading and unloading station of an 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, the motor module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the motor module unit is fixedly installed on the combination training on installation platform, 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 signal interface of the terminal block of travelling belt detection module unit, the cable interface of terminal block is connected with master controller by line cord, carry out the instruction that master controller sends, the motor of starter motor modular unit, the 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, respectively 2 groups of inclined ramp modular units are fixed on the combination training on installation platform with bolt by the stationary positioned hole, the entrance of the slideway of inclined ramp modular unit all docks with the surveyed area of travelling belt detection module unit, and the entrance 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 by 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, respectively solid mechanical fingerprint module unit and processing/modular unit are fixed on the combination training on installation platform with bolt by 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, many processing/modular unit are fixed on the combination training on installation platform with bolt by 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, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, travelling belt detection module unit and straight line moving manipulator unit are T-shaped at combination training on installation platform, and 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, respectively tiered warehouse facility modular unit and loading platform modular unit are fixed on the combination training on installation platform with bolt by 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 combination training on installation platform fixedly installs master controller, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, in the training of combination training on installation platform assembling training with modular unit, carry out thick finishing/detections/except 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 at combination training on installation 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.The 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 clamped 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, start solenoid valve and expect that getting the workpiece that parallel folder clamps 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, the parallel folder of material got on the pivot arm is removed the loading and unloading station of processing/modular unit, by solid mechanical fingerprint module unit get the parallel folder of material workpiece transfer to the loading and unloading station of processing/modular unit, implement the training request that the 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 workpiece on the loading and unloading station is pushed 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 clamps 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 and clamp cylinder, the machinery folder is placed on the workpiece of processing on processing/assembly station, start to get and anticipate a cylinder, the playback of material locating piece is got in drive, gets the material locating piece processed workpiece is placed back on the loading and unloading station.

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

Master controller sends instruction after handling through data, 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, start the workpiece on the solenoid valve extraction loading and unloading station, 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, and 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 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, the parallel folder of material got on the pivot arm is removed the loading and unloading station of travelling belt detection module unit, by 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; Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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, start the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, Y type reclaimer robot extracts and clamps the workpiece on the loading and unloading station of the other end of travelling belt detection module unit, Y type reclaimer robot by 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 by solid mechanical fingerprint module unit Workpiece transfer to travelling belt detection module unit, enter finishing step.

Start the rotary cylinder of straight line moving manipulator unit, displacement solenoid valve group and motor, 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, 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, start the motor of carrying out lifting, adjust the height of 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, the rough machined workpiece of Y type reclaimer robot clamping is placed 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 the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting are removed Y type reclaimer robot from the loading and unloading station of many processing/modular unit, implement the training request that processed workpiece enters finishing operations.

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

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, one of them loading and unloading station of placing rough machined workpiece on the station dial is rotated to the position of aligning processing/assembly manipulator.Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the rough machined workpiece on the loading and unloading station is pushed 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 clamps rough machined workpiece, starts the lift cylinder on the lifting column, promotes rough machined workpiece, implements finishing.Start lift cylinder, processing/assembly manipulator clamps 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.The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, the loading and unloading station of placing accurately machined workpiece on the station dial is rotated to the position of aiming at straight line walking machine fingerprint module unit, implement the training request of finishing operations.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, Y type reclaimer robot extracts and clamps the workpiece after the finishing.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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, the loading and unloading station operation of accurately machined workpiece from the loading and unloading station of the other end to an end, monitored area by way of travelling belt detection module unit, workpiece sensing equipment is implemented to detect to accurately machined workpiece.It is qualified by the detection probe on the workpiece sensing equipment accurately machined workpiece sensing to be judged whether, there will be two kinds of situations for accurately machined workpiece: underproof waste product and certified products, implement the training request to 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 by 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.

Detecting accurately machined workpiece when the detection probe of workpiece sensing equipment 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 enters 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 detection probe of the workpiece sensing equipment of travelling belt detection module unit is sent underproof waste product workpiece into inclined ramp detection module unit, subsequent processing to be entered 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, the travelling belt of travelling belt detection module unit is just being transported row, qualified workpiece is transferred to the loading and unloading station of the travelling belt other end from surveyed area.Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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; Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 the finishing of clamping after qualified workpiece be placed on the goods yard of tiered warehouse facility modular unit, start the motor of carrying out displacement, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 detection probe of the workpiece sensing equipment of travelling belt detection module unit is to detecting qualified workpiece in the accurately machined workpiece, by 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 entered.

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, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, accurately machined workpiece on the Y type reclaimer robot clamping goods yard.Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, 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 thick finishing/detection/arrange the training request of operating in order except workpiece in roughing, finishing, detection, letter sorting, removal waste product, warehouse-in and the adjustment outbound of useless/warehouse-in/outbound system.

Material loading/maintenance/waste product/warehouse-in system is by processing/modular unit, straight line moving manipulator unit, solid mechanical fingerprint module unit, the tiered warehouse facility modular unit, travelling belt detection module unit, horizontal slideway detection module unit, well formula feed modular unit, the motor module unit, many processing/modular unit, terminal block, combination training on installation platform and master controller are formed, 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 by 2 groups of processing/modular unit.

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

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 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 just extracts or place work piece from the loading and unloading station of travelling belt detection module unit one end.

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, the motor module unit is fixed on the combination training on installation platform with bolt by 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 signal interface of the terminal block of travelling belt detection module unit, the cable interface of terminal block is connected with master controller by line cord, carry out the instruction that master controller sends, the motor of starter motor modular unit, the 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, horizontal slideway modular unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, the entrance of the slideway of horizontal slideway modular unit all docks with the surveyed area of travelling belt detection module unit, the entrance 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, the cable interface of terminal block is connected with master controller by 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, well formula feed modular unit is fixed on the combination training on installation platform with bolt by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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, the cable interface of terminal block is connected with master controller by line cord, to master controller feedback digital information, start the pusher cylinder of well formula feed modular unit, the workpiece in the well formula feed storehouse is shifted onto on the loading and unloading station of the other end of travelling belt detection module unit.

The bottom of combination training on installation platform fixedly installs master controller, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, in the training of combination training on installation platform assembling training with modular unit, carry out the training request of the mounting arrangement of material loading/maintenance/waste product/warehouse-in system.

Straight line moving manipulator unit and travelling belt detection module unit parallel being crisscross arranged on combination training on installation 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 by 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, the operation of drive wheel travelling belt positive dirction, 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 by workpiece sensing equipment to travelling belt detection module unit, and the testing result of workpiece can two kinds of situations, 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 workpiece on the loading and unloading station of getting the parallel folder aligning of material travelling belt one end on the pivot arm, the startup solenoid valve is got the parallel folder of material and is clamped 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 clamps 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 qualified workpiece is transferred the training request of operating to the loading and unloading station of processing/modular unit from the loading and unloading station of travelling belt one end of travelling belt detection module unit by 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 workpiece on the loading and unloading station is pushed 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 clamps 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 roughing and place back on the loading and unloading station.

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 the motor of carrying out lifting, adjust the height of 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 clamps 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, start the motor of carrying out lifting, adjust the height of 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 rough machined workpiece is transferred the training request of operating to the loading and unloading station of many processing/modular unit from the loading and unloading station of processing/modular unit by straight line moving manipulator unit.

The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, and the loading and unloading station of the workpiece after one of them placement roughing on the station dial is rotated to the position of aiming at processing/assembly manipulator.Start the positioning clamping cylinder, the positioning clamping cylinder drives positioning clamp holder the rough machined workpiece on the loading and unloading station is pushed 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, processing/assembly manipulator descends, aim at rough machined workpiece, start and clamp cylinder, machinery clamps rough machined workpiece, starts lift cylinder, and processing/assembly manipulator clamps 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, processing/assembly manipulator descends, aim at the loading and unloading station of station dial, start and clamp 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.The rotation positioning motor that starts many processing/modular unit drives the station dial rotation, 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 by straight line moving manipulator unit on the loading and unloading station of many processing/modular unit, workpiece is implemented accurately machined operation.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 and clamps the workpiece after the finishing on the loading and unloading station of many processing/modular unit.Start to carry out motor, the rotary cylinder of displacement, motor and the mechanical arm solenoid valve group of execution lifting, the Y type reclaimer robot that clamps the workpiece after the finishing is removed.

Start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, 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, 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, surveyed area through travelling belt detection module unit, the workpiece of the workpiece sensing equipment of travelling belt detection module unit after to finishing implemented to detect, by 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, feed back the numerical information of workpiece after the workpiece sensing Equipment Inspection to master controller.

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 by circuit, master controller sends instruction after handling through data, start the cylinder of selecting materials of workpiece sensing equipment, the pusher window that the expansion link of cylinder of selecting materials passes on the locating support pushes underproof workpiece in the slideway of corresponding horizontal slideway modular unit, underproof workpiece enters 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, 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 by circuit, after handling, master controller and process data send instruction, 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, 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 the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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, start the motor of carrying out lifting, adjust the height of 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, start machinery gripper cylinder on hand, Y type reclaimer robot clamps qualified workpiece.

Motor and the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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, the qualified accurately machined workpiece of Y type reclaimer robot clamping is placed on the goods yard.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, 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 detecting qualified accurately machined workpiece by the Y type reclaimer robot of straight line moving manipulator unit, carry out the material loading of material loading/maintenance/waste product/warehouse-in system, check, remove defective workpiece, roughing, the training request of the operation of finishing and warehouse-in.

Workpiece is through after the finishing, by 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, combination training on installation 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 combination training on installation platform fixedly installs straight line moving manipulator unit, straight line moving manipulator unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, one side of straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit and loading platform modular unit, respectively tiered warehouse facility modular unit and loading platform modular unit are fixed on the combination training on installation platform with bolt by 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 combination training on installation platform below, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, use modular unit in combination training on installation platform training assembling training, carry out the training request of the mounting arrangement of messy arrangement/ordering system.

Word order straight line moving manipulator unit on combination training on installation platform, the both sides of straight line moving manipulator unit fixedly install tiered warehouse facility modular unit, loading platform modular unit and master controller.By straight line moving manipulator unit and loading platform modular unit the workpiece on the goods yard of tiered warehouse facility modular unit is resequenced.

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 by straight line moving manipulator unit and loading platform modular unit.Master controller sends instruction, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the workpiece of messy arrangement on the goods yard.Start the rotary cylinder of straight line moving manipulator unit and the motor of execution displacement, the clamping of Y type reclaimer robot the workpiece of messy arrangement and is removed the goods yard, start the motor of carrying out lifting, adjust the height of 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 by 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 the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting 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, by 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 by 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, master controller sends instruction after receiving numerical information after treatment, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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, 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 the mechanical arm solenoid valve group of the motor of the execution displacement of startup straight line moving manipulator unit, rotary cylinder, execution lifting, 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 the motor of carrying out lifting, adjust the height of 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 clamps the workpiece on the workpiece positioning table of loading platform modular unit, start the motor of the execution displacement of straight line moving manipulator unit, rotary cylinder, carry out motor and the mechanical arm solenoid valve group of lifting, 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 the motor of carrying out lifting, adjust the height of 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 the mechanical arm solenoid valve group of the motor of startup execution displacement, rotary cylinder, execution lifting, remove Y type reclaimer robot from the goods yard of tiered warehouse facility modular unit, messy arrangement/ordering system is carried out the training request to the workpiece arranging order operation of messy arrangement on the shelf of tiered warehouse facility 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, combination training on installation 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 combination training on installation platform fixedly installs travelling belt detection module unit, travelling belt detection module unit is fixed on the combination training on installation platform with bolt by the stationary positioned hole, one side of one end of travelling belt detection module unit fixedly installs the motor module unit, solid mechanical fingerprint module unit and loading platform modular unit, by the stationary positioned hole with bolt respectively the motor module unit, solid mechanical fingerprint module unit and loading platform modular unit are fixed on the combination training on installation platform, 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 signal interface of the terminal block of travelling belt detection module unit, the cable interface of terminal block is connected with master controller by line cord, carry out the instruction that master controller sends, the motor of starter motor modular unit, the 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, well formula feed modular unit is fixed on the combination training on installation platform with bolt by 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 signal interface of terminal block, the cable interface of terminal block is connected with master controller by 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, the cable interface of terminal block is connected with master controller by 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 combination training on installation platform fixedly installs master controller, master controller passes cable-through hole by line cord and enters the circuit connection groove and be connected with modular unit with each group training, master controller sends instruction and receiving feedback information, at combination training on installation platform training assembling training modular unit, implement the training request of travelling belt ordering system mounting arrangement.

Word order travelling belt detection module unit on combination training on installation 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 is the surveyed area transmission of the workpiece on the travelling belt from the loading and unloading station of the other end of travelling belt to 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, through sending instruction 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 clamps 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 clamps 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, the workpiece positioning table of getting the parallel folder aligning of material loading platform modular unit on the pivot arm, starting solenoid valve is placed on the workpiece positioning table of loading platform modular unit getting the workpiece that the parallel folder of material clamps lack of alignment, 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.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, the detection probe of workpiece sensing equipment 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, through sending instruction 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 clamps 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 clamps 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 position on the travelling belt getting workpiece that the parallel folder of material clamps lack of alignment, workpiece on the travelling belt is arranged in order, 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 travelling belt of travelling belt detection module unit, the workpiece of cycling on travelling belt reaches and arranges in order repeatedly, and the workpiece arrangement on the travelling belt of execution travelling belt ordering system is the training request of operation in order.

The workpiece of placing in the well formula feed storehouse of well formula feed modular unit is 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 ordering of the workpiece adjustment on the travelling belt of travelling belt detection module unit, by 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, the controlled molding module unit of well formula feed modular unit and motor module 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 controlled molding module unit by circuit, 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 is connected with the cylinder of modularization manufacturing training module device respectively separately by pipeline, 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 by 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 controlled molding module 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 motors 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 conducive to travelling belt detection module unit best use state in making training system according to the position of designing requirement at travelling belt adjustment rotary encoder.Rotary encoder is applicable to automatic measurement and automatic control system, the displacement of energy measured angular, rotational speed etc.; And can be with measured value with cyclic binary code or natural binary code output.The fine structure compactness, volume is little in light weight, and is stable and reliable for performance.In travelling belt detection module unit, realize accurate location to workpiece by rotary encoder, and realize the position of various motors, the training on operation requirement that speed detects by scrambler.

At the table top of combination training on installation platform the circuit connection groove is set according to designing requirement, 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 that modular unit is used in training, 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, by changing different Programmable Logic Controllers, different Programmable Logic Controllers exchanges at 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 by cable, by the crawl that starts, stop button can be realized corresponding modular unit, interlock action, be convenient to the training, maintenance, troubleshooting of module etc.

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, uses PC-LINK network and PROFIBUS fieldbus and implements 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 by 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, it 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 give training at equipment sub-module, branch knowledge point, all kinds of knowledge points that are conducive to electrical category specialty related in student's facility for study, carry out 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.Contained that the integrated related physical construction of electrical-mechanical, sensor detect, motor (alternating current generator, direct current generator, stepper motor, servomotor) drives technology such as control, PROFIBUS fieldbus, computer management and monitoring, PC-LINK network, be conducive to the integrated training with multi-subject knowledge of electrical-mechanical.

Description of drawings

Below in conjunction with drawings and Examples 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 combination training on installation 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.

Figure 19 modular combination make the material loading/check of training system/except 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 order of training system, the synoptic diagram of two order processing/outbound/warehouse-in/turnaround systems.

Figure 22 modular combination is made single order/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/pair assembling/detection/warehouse-in system of training system.

Figure 27 modular combination is made thick finishing/detections of training system/except giving 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/except residual/warehouse-in system training framework synoptic diagram.

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

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

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

The training framework synoptic diagram of Figure 38 check/revise/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/pair assembling/detect/warehouse-in system.

The thick finishing of Figure 42/detection/except the 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 combination training on installation platforms, 13 pairs of material loading/processing/assembling/warehouse-in/outbound systems, 14 raw materials/processing/turnover/warehouse-in/outbound system, 15 doubles assembling/warehouse-in/outbound system, 16 material loading/checks/except residual/warehouse-in system, 17 check/correction/sorting systems, 18 single orders, two order processing/outbound/warehouse-in/turnaround systems, the part system is processed/gone out to 19 single order/dibits, 20 check/correction/warehouse-in systems, 21 multiple spots material loading/processing/assembling/warehouse-in system, 22 batching/outbounds/categorizing system, 23 pairs of material loading/pair assembling/detection/warehouse-in systems, 24 thick finishing/detections/except useless/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 lid, 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 solenoid valve groups, 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 get 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 rotation positioning 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 signal interfaces, 114 cable interfaces, 115 circuit interface plates.

Embodiment

Embodiment 1

It is that training constitutes with modular unit and combination training on installation platform (12) that modularization is made the training module device, this training modular unit is 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 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 combination training on installation platform (12) are formed, training is with modular unit independent groups shipment row training separately, each training all is installed on the combination training on installation 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) with modular unit on combination training on installation platform (12) that modular combination is made training system, raw material/processing/turnover/warehouse-in/outbound system (14), double assembling/warehouse-in/outbound system (15), material loading/check/except residual/warehouse-in system (16), check/correction/sorting system (17), single order/two order processing/outbound/warehouse-in-turnaround systems (18), part system (19) is processed/gone out to single order/dibit, check/correction/warehouse-in system (20), multiple spot material loading/processing/assembling/warehouse-in system (21), batching/outbound/categorizing system (22), two material loadings/pair assembling/detection/warehouse-in system (23), thick finishing/detection/except useless/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), modular combination is made training system independent groups shipment row training separately, at least 2 pack module combinations are made training system and are constituted the manufacturing training system mutually, as 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) is by retention plate (52), get and 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 solenoid valve group (41) are formed, 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) arranges retention plate (52), the place, both sides of the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and processing/modular unit (1) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38).Solenoid valve (41) is set on the retention plate (52), processing/assembly manipulator (54), locating piece (57) and get the 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) arranges terminal block (28), the operation circuit of solenoid valve (41) is connected with the output signal 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 combination training on installation platform (12) by line cord by cable interface (114), 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) by pipeline respectively separately with the lift cylinder (51) of processing/modular unit (1), get to 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) arranges 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), clamp cylinder (56) and machinery folder (61), one side of lifting column (60) arranges lift cylinder (51), the opposite side of lifting column (60) arranges and clamps cylinder (56), 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) lifting, machinery folder (56) is by 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 by locating piece (57) processing/assembly station (47) concentricity accurately locatees.The other end of retention plate (52) arranges 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, 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 the processing that workpiece (36) was accurately located and realized to concentricity by locating piece (57), assembling, 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), 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) arrange 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) arranges left limit terminal group (63), left limit terminal group (63) is connected with the input signal interface (112) of terminal block (28) by circuit, and the master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by line cord by cable interface (114) is connected.A side that transmits the other end of bracing frame (65) arranges right limit terminal group (62), right limit terminal group (62) is connected with the input signal interface (112) of terminal block (28) by 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 the training requirement to different motors.The bottom at the both ends of straight line moving manipulator unit (2) arranges bracing frame (77) separately, straight line moving manipulator unit (2) is fixedly installed on the combination training on installation platform (12) by 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) arranges translation chassis (69), translation chassis (69) is embedded on the guide rail (72), translation chassis (69) is connected to a fixed with travelling belt (73), drive 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 signal interface (113) be connected.Rotary cylinder (31) is set on the translation chassis (69), the top of rotary cylinder (31) arranges swivel base (74), the motor (68) of mechanical arm solenoid valve (41), support column (82) and execution lifting is set on the swivel base (74), one side of support column (82) arranges the guide rail (72) of lifting Y type reclaimer robot, the opposite side of support column (82) arranges the motor (68) of carrying out lifting, carries out any lifting of motor (68) the location Y type reclaimer robot (66) of lifting.The upper end of support column (82) opposite side and bottom arrange upper limit terminal group (78) and lower limit terminal group (79) separately, and the motor (68) that lifting is carried out in upper limit terminal group (78) and lower limit terminal group (79) restriction drives the upgrading stroke of Y type reclaimer robot (66) on support column (82).One end of swivel base (74) arranges solenoid valve (41), the operation circuit of solenoid valve (41) is connected with the output signal interface (113) of terminal block (28), terminal block (28) is passed by line cord by cable interface (114) that cable-through hole (67) enters circuit connection groove (37) and the master controller (44) that is arranged on below combination training on installation platform (12) is connected, and carries out the instruction that master controller (44) sends.The other end of swivel base (74) arranges support column (82), drive rotary cylinder (31), 0-360 ° of scope of rotary cylinder (31) driven rotary chassis (74) rotation, motor (68), reclaimer robot support (75) and the Y type reclaimer robot (66) of the support column (82) on the swivel base (74), execution lifting together rotate with swivel base (74).Reclaimer robot support (75) is set on the support column (82), and reclaimer robot support (75) is U-shaped, 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) lifting displacement.One end of reclaimer robot support (75) fixedly installs gripper cylinder (76) and Y type reclaimer robot (66), starts the motor (68) of carrying out lifting 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) arranges 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 separately by pipeline, solenoid valve (41) receives the instruction of master controller (44), carry out the opening and closing of pneumatic line according to instruction, drive the opening and closing of rotary 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) is 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) arranges 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) arranges terminal block (28), master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by 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), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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), the upper end of support column (82) fixedly installs pivot arm (81), drives rotary 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) by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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 by pipeline, drive rotary cylinder (31) and opening and closing and extraction and the place work piece (36) of getting the parallel folder of material (83), as shown in Figure 3.

Embodiment 5

Tiered warehouse facility modular unit (4) is by goods yard (86), shelf (87), section bar base (88), section bar end cap (32) and section bar matrix (29) are formed, 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, one 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), goods yard (86) is set 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), by 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 by workpiece positioning table (89), loading platform (90), detection probe (34), terminal block (28), section bar matrix (29) and fixed base plate (30) are formed, 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) arranges terminal block (28), master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on combination training on installation platform (12) by 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) by circuit, detection probe (34) detects by the gap of workpiece positioning table (89) and puts into workpiece (36) on the loading platform (90), and detected numerical information is fed back to master controller (44); Place, both sides of the edge on the stationary positioned plate (30) is oppositely arranged stationary positioned hole (38), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, loading platform module (5) is fixed on the combination training on installation platform (12), as shown in Figure 5 with bolt by stationary positioned hole (38).

Embodiment 7

Travelling belt detection module unit (6) is by driving wheel (92), support (93), workpiece sensing equipment (97), detection probe (34), cylinder support (95), pusher window (96), locating support (99), the cylinder (100) of selecting materials, terminal block (28), solenoid valve (41), locating support (99), the cylinder (100) of selecting materials, travelling belt (98), travelling belt bracing frame (101), drive wheel bracket (102) and rotary encoder (40) are formed, the bottom of travelling belt bracing frame (101) arranges support (93), the bottom of support (93) arranges stationary positioned hole (38), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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) arrange drive wheel bracket (102) separately, drive wheel bracket (102) is concave shape, and drive wheel bracket arranges 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 adjusted the rate of tension of travelling belt (98) by the adjusting slideway 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 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) constitutes surveyed area (46) at travelling belt (98), workpiece sensing equipment (97) detects the workpiece (36) of flowing through on the travelling belt (98) and detected workpiece (36) is released travelling belt (98) and enters slideway (33), the both ends of travelling belt (98) are respectively loading and unloading station (45), so that respectively from travelling belt (98) two ends feed with get material.Workpiece sensing equipment (97) is by detection probe (34), cylinder support (95), pusher window (96), locating support (99), the cylinder (100) of selecting materials, and solenoid valve (41) is formed, 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 corresponding detection probe according to different detections, 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 combination training on installation platform (12) by line cord by cable interface (114) is connected, and detects the numerical information of workpiece to master controller (44) feedback.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) arranges the gentle jar support of solenoid valve (41) (95), the operation circuit of solenoid valve (41) is connected with the output signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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 selected workpiece (36) is released travelling belt (98).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), the expansion link of cylinder (100) of selecting materials is corresponding with the pusher window (96) of locating support (99), the expansion link of cylinder (100) of selecting materials passes pusher window (96) workpiece on the travelling belt (98) is released travelling belt (98), as Fig. 6, shown in Figure 7.

Embodiment 8

Inclined ramp modular unit (7) is by slideway support (42), slideway (33), detection probe (34) and limiting block (35) are formed, 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, spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and inclined ramp detection module unit (7) is fixed on the combination training on installation platform (12) with bolt by 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, by fixed orifice (43) slideway (33) are fixed on the slideway support (42).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) arranges limiting block (35), and restriction workpiece (36) is accurately located in the end of slideway (33).One side of one end of slideway (33) arranges 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 combination training on installation platform (12) by line cord by cable interface (114) is connected, and the digital information transmission that workpiece (36) is entered 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), as shown in Figure 8.

Embodiment 9

Horizontal slideway modular unit (8) is by slideway support (42), slideway (33), detection probe (34) and limiting block (35) are formed, 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, spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and horizontal slideway detection module unit (8) is fixed on the combination training on installation platform (12) with bolt by 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, by fixed orifice (43) slideway (33) are fixed on the slideway support (42).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) arranges limiting block (35), and restriction workpiece (36) is accurately located in the end of slideway (33).One side of one end of slideway (33) arranges 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 combination training on installation platform (12) by line cord by cable interface (114) is connected, and the digital information transmission that workpiece (36) is entered slideway (33) is given master controller (44).Workpiece (36) enters 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, as shown in Figure 9.

Embodiment 10

Well formula feed modular unit (9) is by well formula feed storehouse (103), detection probe (34), solenoid valve (41), pusher cylinder (106), go out feed bin (107), platform at the bottom of the storehouse (108), terminal block group (28), section bar matrix (29) and fixed base plate (30) are formed, 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), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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) is set on the sidewall of section bar matrix (29), solenoid valve (41) and terminal block (28), detection probe (34) is connected with the input signal interface (112) of terminal block (28) on being installed in combination training on installation platform (12), master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by line cord by cable interface (114) is connected, by circuit the numerical information of detected workpiece (36) is fed back to master controller (44), 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 signal interface (113) of terminal block (28) on being installed in combination training on installation platform (12), solenoid valve (41) drives the opening and closing of pusher cylinder (106) according to instruction, and workpiece (36) is released out feed bin (107).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, platform (108) is connected to a fixed at the bottom of the other end of section bar matrix (29) and the storehouse, one 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) arranges discharging opening, the top that goes out feed bin (107) arranges charging aperture, 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) arranges charging aperture, and the bottom in well formula feed storehouse (103) arranges discharging opening.The other end of platform at the bottom of the storehouse (108) arranges 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, as 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), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and motor module unit (10) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28) on being installed in travelling belt detection module unit (6) by circuit, master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by 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, the counter-rotating 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, passes through to exchange different motor realizations to the training requirement of different motors in same modular unit.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) by Synchronous Belt Drives travelling belt detection module unit (6), driving wheel (92) drives the operation of travelling belt (98) both forward and reverse directions, workpiece (36) is at the training request of travelling belt (98) enforcement different operating, as shown in figure 11.

Embodiment 12

Many processing/modular unit (11) are by fixed base plate (30), support column (82), terminal block (28), rotation positioning motor (91), station dial (94), positioning clamp holder (111) and processing/assembly manipulator (54) are formed, fixed base plate (30) is whole rounded, the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and many processing/modular unit (11) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) by 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 rotation positioning motor (91), the control circuit of rotation positioning motor (91) is connected with the output signal 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, each end of Y type of station dial (94) is spill, and the gap of spill constitutes loading and unloading stations (45).Station dial (94) in the spill gap bottom of loading and unloading station (45) fixedly installs V-type locating piece (57), V-type locating piece (57) is corresponding with the spill gap of loading and unloading station (45), and rotation positioning motor (91) drives station dial (94) around central part rotation or the location of 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 signal interface (113) of terminal block (28), station dial (a 94) wherein end arranges 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), drive positioning clamping cylinder (104) drive positioning clamp holder (105) workpiece (36) is passed to V-type locating piece (57), reach processing or the assembling that workpiece (36) was accurately located and realized to concentricity by V-type locating piece (57).The middle part of station dial (94) arranges 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), clamp cylinder (56) and machinery folder (61), one side of lifting column (60) arranges lift cylinder (51) and solenoid valve (41), the opposite side of lifting column (60) arranges and clamps cylinder (56), 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) lifting, machinery folder (56) is by clamping cylinder (56) grasping holding workpiece (36).The preceding loading and unloading station (45) of locating piece (57) is corresponding with machinery folder (56), can realize that by locating piece (57) processing/assembly station (47) concentricity accurately locatees.The operation circuit of solenoid valve (41) is connected with the output signal interface (113) of terminal block (28), master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by 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 separately by pipeline, drives opening and closing and extraction and the place work piece (36) of lift cylinder (51), positioning clamping cylinder (104) and clamping cylinder (56).

Terminal block (28) is by connection terminal base (111); input signal interface (112); output signal interface (113); circuit interface plate (115) and cable interface (114) are formed; circuit interface plate (115) is set on the connection terminal base (111); the circuit interface plate arranges earth leakage protection in (115); short-circuit protection; insulation blocking; the route protection of intelligent protection; circuit interface plate (115) top arranges input signal interface (112); output signal interface (113) and cable interface (114); input signal interface (112); output signal interface (113) is connected with cable interface (114) by the circuit of circuit interface plate (115); cable interface (114) is connected with master controller (44) by cable; give master controller (44) digital information transmission of the detection means of each modular unit feedback; and the instruction of master controller (44) is transferred to the performer of each modular unit; be provided with earth leakage protection in the base; short-circuit protection; insulation blocking; the route protection of intelligent protection; 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 combination training on installation platform (12); the instruction of the feedback digital information of modular unit to master controller (44) and reception master controller (44), as shown in figure 12.

Embodiment 13

Combination training on installation platform (12) is whole rectangular, install circuit connection groove (37), cable-through hole (110) and benchmark on the combination training on installation platform (12) sign (39) is installed, 4 benchmark are set on the combination training on installation platform (12) at least sign (39) is installed, benchmark install sign (39) each other X and Y-direction spacing be integral multiple, according to benchmark sign (39) is installed and installs training and realize training request with modular unit; On the table top of combination training on installation platform (12) circuit connection groove (37) is set, circuit connection groove (37) global sections shape is rectangular, the bottom of circuit connection groove (37) is wire casing pedestal (49), wire casing pedestal (49) global sections shape is spill, the concave bottom of wire casing pedestal (49) arranges the stationary positioned hole, lay wire casing pedestal (49) according to designing requirement at combination training on installation platform (12), and by bolt wire casing pedestal (49) is fixed in combination training on installation platform (12), wire hole (50) is advanced in equidistant 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), the global sections shape of wire casing lid (48) is spill, the upper port of wire casing pedestal (49) arranges interior buckle, the lower port of wire casing lid (48) arranges outer buckle, wire casing lid (48) covers on the upper port of wire casing pedestal (49), the interior buckle of the upper 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 training with network line and the circuit connection of 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 combination training on installation platform (12), at least arrange 4, terminal block (28) is passed cable-through hole (110) by line cord and is arranged on the following master controller (44) of combination training on installation platform (12) by cable interface (114) and is connected the instruction that the numerical information of feedback module unit and execution master controller (44) transmission come.Below the combination training on installation platform (12) master controller (44) is set, 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) by 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 training, maintenance, troubleshooting barrier of module etc., as Figure 13, Figure 14, shown in Figure 15.

Embodiment 14

Two material loading/processing/assembling/warehouse-in/outbound system (13) is 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 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), combination training on installation platform (12) and master controller (44) constitute, in two material loading/processing/assembling/warehouse-in/outbound system (13) processing/modular unit (1) is set, 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), 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 are realized feeding, detect, processing, assembling, go into library storage, outbound, detect, the training on operation requirement of letter sorting.

One end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), straight line moving manipulator unit (2) and travelling belt detection module unit (6) are T-shaped at combination training on installation 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) be arranged in parallel along a side of straight line moving manipulator unit (2), respectively processing/modular unit (1) and many processing/modular unit (11) are fixed on the combination training on installation platform (12) with bolt by 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) separately with many processing/modular unit (11).The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the Y type reclaimer tool of straight line moving manipulator unit (2) folder (66) 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 side by side with tiered warehouse facility modular unit (4), loading platform modular unit (5) is fixed on the combination training on installation platform (12) with bolt by 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), respectively 2 groups of well formula feed modular units (9) are fixed on the combination training on installation platform (12) with bolt by 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), solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) with bolt by 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), horizontal slideway modular unit (8) is fixed on the combination training on installation platform (12) with bolt by 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), respectively 2 groups of inclined ramp modular units (7) are fixed on the combination training on installation platform (12) with bolt by 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, travelling belt detection module unit (6), 2 groups of inclined ramp modular units (7) and workpiece sensing equipment (97) constitute surveyed area (46) at travelling belt (98).Master controller (44) is arranged on the bottom of combination training on installation platform (12), master controller (44) passes cable-through hole by line cord and enters circuit connection groove (37) and be connected with the terminal block (28) of each group training with modular unit, master controller (44) sends instruction and receives feedback digital information, at combination training on installation platform (12) training assembling training 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 instruction and starts the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), and pusher cylinder (106) is the workpiece 1(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends of 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 workpiece 1(36 on the loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt (98) one ends on the pivot arm (81)); Start solenoid valve (41), get the parallel folder of material (83) and clamp 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.Start solenoid valve (41) workpiece 1(36) be placed 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), by loading platform modular unit (5) workpiece 1(36) transfer the training request of operation to straight line moving manipulator unit (2) from travelling belt detection module unit (6).

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, mechanical arm (71) moves to the workpiece positioning table (89) of aiming at loading platform modular unit (5) along guide rail (72), start the motor (68) of the execution lifting of mechanical arm (71), regulate the height of Y type reclaimer tool folder (66), workpiece 1(36 on the alignment pieces positioning table (89)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer tool folder (66) extracts workpiece 1(36).Start the motor (68) of the execution lifting of mechanical arm (71), promote Y type reclaimer robot (66), workpiece 1(36) along with Y type reclaimer robot (66) promotes together, workpiece 1(36) leave the workpiece positioning table (89) of loading platform modular unit (5), Y type reclaimer robot (66) keeps holding workpiece 1(36) state.

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 (68) of carrying out lifting 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), the workpiece 1(36 of Y type reclaimer robot (66) clamping) be placed on the loading and unloading station (45), start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm solenoid valve group (67) of carrying out lifting, 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) workpiece 1(36 is then blocked by the V-type locating piece (57) on the retention plate (52) in the position that moves to processing/assembly station (47)) rest 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) clamps 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the processing/assembly station (47)) push loading and unloading station (45) to along retention plate (52), workpiece 1(36) move to the position of loading and unloading station (45), 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 the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends of 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 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 workpiece 2(36 on 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)).Start solenoid valve (41), get the parallel folder of material (83) and clamp 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.Start solenoid valve (41) workpiece 2(36) be placed 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), by loading platform modular unit (5) workpiece 2(36) transfer the training request of operation to straight line moving manipulator unit (2) from travelling belt detection module unit (6).

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 lifting 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) of the execution lifting on the mechanical arm (71), promote Y type reclaimer robot (66), workpiece 2(36) along with Y type reclaimer robot (66) promotes together, workpiece 2(36) leave the workpiece positioning table (89) of loading platform modular unit (5), Y type reclaimer robot (66) keeps holding workpiece 2(36) state.

The motor (68) of the rotary cylinder (31) on the startup mechanical arm (71) and execution displacement, the workpiece 2(36 of Y type reclaimer robot (66) clamping) aim at 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), the workpiece 2(36 of Y type reclaimer robot (66) clamping) be placed on the loading and unloading station (45) of station dial (94), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66).

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) translation, blocked workpiece 2(36 by the V-type locating piece (57) on the station dial (94)) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble.Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 2(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 2(36), start lift cylinder (51), processing/assembly manipulator (54) clamps 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, connecting line drag chain (70) is being with connecting line translation together, start the motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), 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, start the motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), aim at the loading and unloading station (45) of many processing/modular unit (11), the workpiece 1(36 of mechanical arm (71) clamping) be 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 solenoid valve group (67) of carrying out lifting, remove Y type reclaimer robot (66), implement the training request of assembling workpiece operation.

The rotation positioning motor (91) that starts many processing/modular unit (1) drives station dial (94), and station dial (94) is gone up one of them place work piece 1(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 1(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 1(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 1(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble.

Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 1(36), start and clamp cylinder (56), machinery folder (61) is the workpiece 2(36 that clamps) put into workpiece 1, start lift cylinder (51), processing/assembly manipulator (54) promotes the loading and unloading station (47) that leaves station dial (94), workpiece 2(36) suit is assembled to workpiece 1(36) in, the workpiece 1(36 of the suit after the assembling) and workpiece 2(36) be made into the workpiece (36) of suit assembling.The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, the loading and unloading station (45) of station dial (94) being gone up the 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) and is 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 lifting 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), the workpiece (36) of suit assembling is placed on the goods yard (86).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm solenoid valve group (67) of carrying out lifting, mobile Y type reclaimer robot (66) leaves 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 workpiece (36) of the mixed and disorderly suit assembling of ordering is gone up in Y type reclaimer robot (66) clamping goods yard (86).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 the rotary cylinder (31) of straight line moving manipulator unit (2), displacement solenoid valve group (2-2) and motor (68), 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, adjust the workpiece (36) that tiered warehouse facility modular unit (4) shelf (87) are gone up the mixed and disorderly suit assembling of ordering by the mechanical arm (71) of straight line moving manipulator unit (2), tiered warehouse facility modular unit (4) shelf (87) are gone up the workpiece (36) of suit assembling and arranged in order.Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 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 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the workpiece (36) of suit assembling is placed on the workpiece positioning table (89), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from the workpiece positioning table (89) of loading platform modular unit (5), by loading platform modular unit (5) workpiece (36) of suit assembling is shifted 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.

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) clamps 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) workpiece (36) of suit assembling is placed 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 to detect, the training request of 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 processing, assembling, warehouse-in, outbound, detect and sort the training request of operation, as 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 by 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), combination training on installation platform (12) and master controller (44) are formed, 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 order process operation or processing/modular unit (1) and many processing/modular unit (11) are carried out two order process operations or processing/modular unit (1) and many processing/modular unit (11) and are carried out continuous process operation, assembly manipulation, the workpiece turnover, the training on operation requirement of workpiece warehouse-in and workpiece outbound.

The middle part of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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), respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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), respectively processing/modular unit (1) and many processing/modular unit (11) are fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) fixedly installs master controller (44), with bolt master controller (44) is fixed on the bottom of combination training on installation platform (12) by stationary positioned hole (38), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receives feedback digital information, in the training of combination training on installation platform (12) assembling training with modular unit, implement the training request of the mounting arrangement of raw material/processing/turnover/warehouse-in/outbound system (14).

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 clamp 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 the motor (68) of carrying out lifting, Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1), start the gripper cylinder (76) on the mechanical arm (71), the workpiece (36) of Y type reclaimer robot (66) clamping is placed on the loading and unloading station (45) of processing/modular unit (1), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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) workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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) processing work (36) is put on processing/assembly station (47), start to get and anticipate a cylinder (53), material locating piece (58) playback is got in drive, processed workpiece (36) is placed back on the loading and unloading station (45), implement the training request of single order outbound, processing and in-stockroom operation.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 solenoid valve group (67) of carrying out lifting, the Y type reclaimer robot (66) that clamps workpiece (36) is removed.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 the motor (68) of carrying out lifting, adjust the height of 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 workpiece (36) of Y type reclaimer robot (66) clamping 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 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 outbound until workpiece (36) completion of processing in the tiered warehouse facility modular unit (4) repeatedly, the training request of two order processing and in-stockroom operation.

The ordering of the workpiece (36) in tiered warehouse facility modular unit (4) occurs mixed and disorderly, master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting and adjust the height of 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 mixed and disorderly workpiece (36) of ordering is gone up in Y type reclaimer robot (66) clamping goods yard (86).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting and adjust the height of 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 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 by 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, the mechanical arm (71) of straight line moving manipulator unit (2) is adjusted tiered warehouse facility modular unit (4) shelf (87) and is gone up the mixed and disorderly workpiece (36) of ordering; Utilize the room of vacateing on tiered warehouse facility modular unit (4) shelf (87), the workpiece (36) on tiered warehouse facility modular unit (4) shelf (87) is arranged in order.

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), implement the workpiece (36) of tiered warehouse facility modular unit (4) by loading platform modular unit (5) and arrange the training request of operation in order, as 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 order processing, two order processing, turnover, warehouse-in and outbound, as 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 by 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), combination training on installation platform (12) and master controller (44) are formed, processing/modular unit (1) is set in the double assembling/warehouse-in/outbound system (15), many processing/modular unit (11), at least 2 group well formula feed modular units (9), 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 separately, assembling, go into the overfill training on operation requirement in storehouse of library storage and storehouse.

One end, middle part of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end, middle part of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), respectively processing/modular unit (1) and many processing/modular unit (11) are separately fixed on the combination training on installation platform (12) with bolt by 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), tiered warehouse facility modular unit (4) is fixedly installed on the combination training on installation platform (12) with bolt by 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 the 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), respectively 2 groups of well formula feed modular units (9) are fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by line cord, carries out the instruction that master controller (44) sends.Master controller (44) is fixedly installed on the bottom of combination training on installation platform (12), with bolt master controller (44) is fixed on combination training on installation platform (12) bottom by stationary positioned hole (38), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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 the workpiece 1(36 in one group of well formula feed storehouse (103) wherein) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) of travelling belt detection module unit (6).

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, the workpiece 1(36 on the travelling belt (98)) be 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, start the motor (68) of carrying out lifting, adjust the height of 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, start mechanical torch magnet valve group (67), Y type reclaimer tool folder (66) clamps workpiece 1(36), extract workpiece 1(36), implement the training request that workpiece 1 material loading is operated.

Start the motor (68) of carrying out lifting, promote Y type reclaimer robot (66), workpiece 1(36) 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 holding workpiece 1(36) state.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), the workpiece 1(36 of Y type reclaimer robot (66) clamping) the loading and unloading station (45) of aligning processing/modular unit (1), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 1(36 of Y type reclaimer robot (66) clamping) be placed 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 solenoid valve group (67) of carrying out lifting, remove Y type reclaimer robot (66), Y type reclaimer robot (66) by 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) workpiece 1(36 is then blocked by the V-type locating piece (57) on the retention plate (52) in the position that moves to processing/assembly station (47)) rest 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) clamps 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) clamps workpiece 1(36), start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece 1(36), implement the training request that assembling workpiece 1 is operated.

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 the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) of travelling belt detection module unit (6).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, the workpiece 2(36 on the travelling belt (98)) be 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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) clamps workpiece 2(36), extract workpiece 2(36), implement the training request that workpiece 2 material loadings are operated.

Start the motor (68) of carrying out lifting, promote Y type reclaimer robot (66), workpiece 2(36) 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 holding workpiece 2(36) state.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (68), the workpiece 2(36 of Y type reclaimer robot (66) clamping) the loading and unloading station (45) of aligning processing/modular unit (1), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 2(36 of Y type reclaimer robot (66) clamping) be placed on the loading and unloading station (45) of processing/modular unit (1), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66), workpiece 2 is transferred on the loading and unloading station (45) of processing/modular unit (1) by the Y type reclaimer robot (66) of straight line moving manipulator unit (2), implemented the training request of workpiece 2 material loadings operation.

Start getting of processing/modular unit (1) and anticipate a cylinder (53), get anticipate a cylinder (53) drive get material locating piece (58) the workpiece 2(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 2(36) workpiece 2(36 is then blocked by the V-type locating piece (57) on the retention plate (52) in the position that moves to processing/assembly station (47)) rest 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) puts into workpiece 2(36), workpiece 2(36) suit is assembled to workpiece 1(36) in, the workpiece 1(36 after the assembling) and workpiece 2(36) be 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) workpiece (36) of suit assembling is revert to loading and unloading station (45), implements the training request of assembling workpiece 1 and workpiece 2 operations.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps the workpiece (36) of the assembling on the loading and unloading station (45).Start motor (68) and the mechanical arm solenoid valve group (67) of the execution lifting on the mechanical arm (71), extract the workpiece (36) of assembling, start the motor (68) of rotary cylinder (31) and execution lifting, Y type reclaimer robot (66) leaves 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), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (68), 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), the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling is placed on the goods yard (86).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm solenoid valve group (67) of carrying out lifting, 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 the workpiece 1(36 in one group of well formula feed storehouse (103) wherein) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6).

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, the workpiece 1(36 on the travelling belt (98)) be 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), the motor (68) of carrying out lifting is carried out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, start the motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot, Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of travelling belt (98) one ends, start mechanical torch magnet valve group (67), Y type reclaimer tool folder (66) clamps workpiece 1(36), extract workpiece 1(36), implement the training request that workpiece 1 material loading is operated.

Start the motor (68) of carrying out lifting, promote Y type reclaimer robot (66), workpiece 1(36) 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 holding workpiece 1(36) state.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), the motor (68) of carrying out lifting is carried out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), the workpiece 1(36 of Y type reclaimer robot (66) clamping) the loading and unloading station (45) of many processing/modular unit of aligning (11), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 1(36 of Y type reclaimer robot (66) clamping) be placed 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 solenoid valve group (67) of carrying out lifting, remove Y type reclaimer robot (66), Y type reclaimer robot (66) by 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 1(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 1(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 1(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 1(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble.Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 1(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 1(36), start lift cylinder (51), processing/assembly manipulator (54) clamps 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 the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6).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, the workpiece 2(36 on the travelling belt (98)) be 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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) clamps workpiece 2(36), extract workpiece 2(36), implement the training request that workpiece 2 material loadings are operated.

Start the motor (68) of carrying out lifting, promote Y type reclaimer robot (66), workpiece 2(36) 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 holding workpiece 2(36) state.Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), the workpiece 2(36 of Y type reclaimer robot (66) clamping) the loading and unloading station (45) of many processing/modular unit of aligning (1), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 2(36 of Y type reclaimer robot (66) clamping) be placed on the loading and unloading station (45) of many processing/modular unit (1), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66), workpiece 2 is transferred on the loading and unloading station (45) of many processing/modular unit (1) by the Y type reclaimer robot (66) of straight line moving manipulator unit (2), implemented the training request of workpiece 2 material loadings operation.

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94), and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 2(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble.

Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 2(36), start and clamp cylinder (56), machinery folder (61) is the workpiece 1(36 that clamps) put into workpiece 2, start lift cylinder (51) processing/assembly manipulator (54) and promote the loading and unloading station (45) that leaves station dial (94), workpiece 1(36) suit is assembled to workpiece 2(36) in, workpiece 1(36) and workpiece 2(36) be made into the workpiece (36) of suit assembling.The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, the loading and unloading station (45) of station dial (94) being gone up the 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps the workpiece (36) of the suit assembling on the loading and unloading station (45).Start motor (68) and the mechanical arm solenoid valve group (67) of the execution lifting on the mechanical arm (71), extract the workpiece (36) of suit assembling, start the motor (68) of rotary cylinder (31), execution lifting, Y type reclaimer robot (66) leaves the loading and unloading station (45) of many processing/modular unit (1).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), 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), the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling is placed on the goods yard (86).Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm solenoid valve group (67) of carrying out lifting, 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 from the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6)) and workpiece 2(36), 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 simultaneously respectively) and workpiece 2(36), 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 the shelf (87) in the tiered warehouse facility modular unit (4) are filled 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling is placed into 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, start the motor (68) of carrying out lifting, adjust the height of 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 enters 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 detect the training request of operating, carry out double assembling/warehouse-in/outbound system (15) and implement single station assembling, the double assembling, the training request of workpiece warehouse-in and workpiece outbound operation is as 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 be formed 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), combination training on installation 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, that put in storage.

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), well formula feed modular unit (9) and terminal block (28) are fixed on the combination training on installation platform (12) with bolt by 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), inclined ramp detection module unit (7) is fixed on the combination training on installation platform (12) with bolt by 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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) by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by line cord, carries out the instruction that master controller (44) sends.The other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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 other end of travelling belt detection module unit (6) is relative with the middle part of straight line moving manipulator unit (2).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, respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38).Below training main unit (12), fixedly install master controller (44) by stationary positioned hole (38) with bolt master controller (44) be fixed on make up training on installation platform (12) below, master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training modular unit, enforcement material loading/check/remove 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 material loading, detects the training request of operating.

Detection probe (34) when workpiece sensing equipment (97) detects the workpiece (36) that can not repair, workpiece sensing equipment (97) by 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) enters 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) arranges detects the workpiece (36) that can not repair, detection probe (34) is fed back by 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) by 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.Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps 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 the motor (68) of carrying out lifting, adjust the height of 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), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, Y type reclaimer robot (66) by 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) by 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.Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps defective recoverable workpiece (36).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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) clamps 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) by 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 solenoid valve group (67) of carrying out lifting, 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) by 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 the motor (68) of carrying out lifting, adjust the height of 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).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 workpiece (36) on the goods yard (86), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4), implement the defective workpiece of repairing except residual, the training request of reparation and in-stockroom operation, 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) by the Y type reclaimer robot (66) of straight line moving manipulator unit (2), defective recoverable workpiece transfer is repaired 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 material loading/check/remove material loading of residual/warehouse-in system (16), check, except residual, the training request of the operation of repairing and putting in storage is as 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 by 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), combination training on installation platform (12) and master controller (44) are formed, and check is implemented at least 2 group inclined ramp detection module unit (7) in the check/correction/sorting system (17), revise, the training on operation requirement of letter sorting.

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), by stationary positioned hole (38) with bolt respectively motor module unit (10), horizontal slideway detection module unit (8) and 2 groups of inclined ramp detection module unit (7) are fixed on the combination training on installation platform (12), 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) by circuit, and the cable interface (114) of terminal block (28) is given master controller (44) the numerical information feedback transmission by cable line.The opposite side of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9), well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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), solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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), processing/modular unit (1) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and train with each group and be connected with modular unit, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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) by 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) by 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) by circuit to master controller (44) feedback digital information.

When detecting the underproof workpiece (36) that needs correction, workpiece sensing equipment (97) by 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 after handling through data, 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, underproof workpiece (36) on 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), startup solenoid valve (41) is got the parallel folder of material (83) and is clamped 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) clamps 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 after handling through data, 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) the underproof workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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 and clamp cylinder (56), machinery folder (61) is placed on the workpiece (36) of processing on processing/assembly station (47), start to get and anticipate a cylinder (53), material locating piece (58) playback is got in drive, gets material locating piece (58) workpiece (36) after repairing is placed back on the loading and unloading station (45).

Master controller (44) sends instruction after handling through data, 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, 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 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 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 after handling through data, 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) by 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), reparation is finished in cycling repeatedly, the operation training requirement of check and letter sorting, implement the detection of check/correction/sorting system (17), repair and sort the training request of operation, as 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

It is single that order/two order processing/outbound/warehouse-in-turnaround systems (18) are by 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), combination training on installation platform (12) and master controller (44) are formed, in single order/two order processing/outbound/warehouse-in-turnaround systems (18) processing/modular unit (1) is set, the controlled molding module units of many processing/modular unit (11) and at least 2 groups (11), single group processing/modular unit (1) and many processing/modular unit (11) fill order's order process operation, or processing/modular unit (1) and the two order process operation training requests of many processing/modular unit (11) execution.

The middle part of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), one side of straight line moving manipulator unit (2) stationary arrangement side by side arranges processing/modular unit (1), many processing/modular unit (11) and loading platform modular unit (5), by stationary positioned hole (38) with bolt respectively processing/modular unit (1), many processing/modular unit (11) and loading platform modular unit (5) are fixed on the combination training on installation platform (12), 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) with the workpiece positioning table (89) of loading platform modular unit (5), 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), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, use modular unit in combination training on installation platform (12) training assembling training, implement the training request of single order/two order processing/outbound/warehouse-in-turnaround system (18) mounting arrangements.

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) extracts and clamps 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 the motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1), start Y type reclaimer robot (66), the workpiece to be processed (36) of Y type reclaimer robot (66) clamping is placed on the loading and unloading station (45) of processing/modular unit (1), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from the loading and unloading station (45) of processing/modular unit (1), by straight line moving manipulator unit (2) workpiece to be processed (36) is transferred the training request of operating from the shelf (87) of tiered warehouse facility modular unit (4) to the loading and unloading station (45) of processing/modular unit (1), implement outbound, the training request of 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) workpiece to be processed (36) on the loading and unloading station (45) is pushed 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) clamps the workpiece to be processed (36) on processing/assembly station (47), start solenoid valve (41) and lift cylinder (51), rising processing/assembly manipulator (54) 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), start solenoid valve (41) and lift cylinder (51), 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) processed workpiece (36) is placed back 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 the motor (68) of carrying out lifting, adjust the height of 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 solenoid valve group (67) of carrying out lifting, the Y type reclaimer robot (66) that clamps processed workpiece (36) is removed; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 processed workpiece (36) of Y type reclaimer robot (66) clamping is placed on the goods yard (86).Start rotary cylinder (31), displacement solenoid 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 order and in-stockroom operation.

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 the motor (68) of carrying out lifting, adjust the height of 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) extracts and clamps the workpiece to be processed (36) on the goods yard (86).Start the rotary cylinder (31) of straight line moving manipulator unit (2), carry out the motor (68) of 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 the motor (68) of carrying out lifting, adjust the height of 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), the workpiece to be processed (36) of Y type reclaimer robot (66) clamping is placed on the loading and unloading station (45) of many processing/modular unit (11), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from the loading and unloading station (45) of many processing/modular unit (11), by straight line moving manipulator unit (2) workpiece to be processed (36) is transferred the training request of operating 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 outbound, the training request of material loading operation.

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up one of them loading and unloading station (45) of placing workpiece (36) to be processed rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) workpiece to be processed (36) on the loading and unloading station (45) is pushed 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), processing/assembly manipulator (54) descends, aim at workpiece (36) to be processed, start and clamp cylinder (56), machinery folder (61) clamps workpiece to be processed (36), starts lift cylinder (51), and processing/assembly manipulator (54) clamps 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), processing/assembly manipulator (54) descends, aim at the loading and unloading station (45) of station dial (94), start and clamp 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up 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 the motor (68) of carrying out lifting, adjust the height of 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 solenoid valve group (67) of carrying out lifting, the Y type reclaimer robot (66) that clamps processing back workpiece (36) is removed.Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 processed workpiece (36) of Y type reclaimer robot (66) clamping 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 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 order 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 outbound until workpiece (36) completion of processing in the tiered warehouse facility modular unit (4) repeatedly, the training request of two order processing and in-stockroom operation.

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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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, connecting line drag chain (70) is being with connecting line translation together, start the motor (68) of carrying out lifting, adjust the height of 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) 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) wait and entered 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 single order processing of single order/two order processing/outbound/warehouse-in-turnaround systems (18), the processing of two orders, outbound, the training request of warehouse-in and turnover operation is as Fig. 1, Fig. 2, Fig. 4, Fig. 5, Figure 12, Figure 14, Figure 15, Figure 21, shown in Figure 36.

Embodiment 21

Part system (19) is processed/gone out to single order/dibit is by 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), combination training on installation platform (12) and master controller (44) are formed, single order/dibit is processed/is gone out processing/modular unit (1) is set in the part system (19), 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), 2 groups of solid mechanical fingerprint module units (3) are carried out single order process operation separately 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 feeding separately, detect, the training on operation requirement of processing and letter sorting.

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), respectively 2 groups of well formula feed modular units (9) are fixed on the combination training on installation platform (12) with bolt by 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), respectively inclined ramp detection module unit (7) and horizontal slideway detection module unit (8) are fixed on the combination training on installation platform (12) with bolt by 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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), by stationary positioned hole (38) with bolt respectively processing/modular unit (1), many processing/modular unit (11) and 2 groups of solid mechanical fingerprint module units (3) are fixed on the combination training on installation platform (12), 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).Pieces of processing / assembly module units (11) fixed to one end of the other set of fixed robotic module unit (3) and the other holding arm module unit (3) parallel reclaimer clip (83) toward the belt detection module unit (6) the loading and unloading station (45) begins with the belt detection module unit (6) for loading and unloading station (45) to withdraw or place the workpiece (36) and the other holding arm module unit (3) reclaimer parallel clamp (83) aligned pieces machining / assembly module unit (11) for loading and unloading station (45) begins with pieces of processing / assembly module unit (11) for loading and unloading station (45) to extract or placed on the workpiece (36).Fixedly install master controller (44) below the training main unit (12), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, use modular unit in combination training on installation platform (12) training assembling training, implement the training request that part system (19) mounting arrangement was processed/gone out to single order/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 the workpiece 1(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6).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 workpiece 1(36 on 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)).Start solenoid valve (41), get the parallel folder of material (83) and clamp 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).Start solenoid valve (41) workpiece 1(36) be 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 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) move to processing/assembly station (47) and blocked workpiece 1(36 by the V-type locating piece (57) on the retention plate (52)) rest 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) clamps 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).Treat workpiece 1(36) processing after, start solenoid valve (41) and lift cylinder (51), processing/assembly manipulator (54) descends, start and clamp cylinder (56), machinery folder (61) is processed workpiece 1(36) be placed 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) processed workpiece 1(36) put back 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 processed workpiece 1(36 on 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), get the parallel folder of material (83) and clamp 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), start solenoid valve (41) processed workpiece 1(36) be placed on the loading and unloading station (45) of travelling belt (98) other end, start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) being got the loading and unloading station (45) that the parallel folder of material (83) is removed travelling belt (98) other end on the pivot arm (81).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)) the loading and unloading station (45) of from travelling belt (98) other end is transferred to the surveyed area (46) of travelling belt (98), processed workpiece 1(36) through surveyed area when (46) detection probe (34) on the workpiece sensing equipment (97) to processed workpiece 1(36) implement to detect.When detecting processed workpiece 1(36), start the cylinder of selecting materials (100) that is fixed on cylinder support (95), the expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) processed workpiece 1(36) push in the slideway (33) of corresponding inclined ramp modular unit (7), processed workpiece 1(36) enters 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), processed workpiece 1(36) numerical information feed back to master controller (44), master controller (44) is processed workpiece 1(36) digital information transmission give subsequent processing, processed workpiece 1(36) wait enters subsequent processing, single operation that part system (19) was processed/gone out to single order/dibit is implemented in cycling repeatedly, single station processing, detect, sort and go out the training request of part operation.

Master controller (44) sends instruction, start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends 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, 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 workpiece 2(36 on 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)).Start solenoid valve (41), get the parallel folder of material (83) and clamp 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); Start solenoid valve (41) workpiece 2(36) be placed 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 2(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to process.Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 2(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 2(36), start lift cylinder (51), processing/assembly manipulator (54) clamps workpiece 2(36) promote, leave the loading and unloading station (45) of station dial (94).To workpiece 2(36) implement to process, treat workpiece 2(36) processing after, start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, processed workpiece 2(36) be placed 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) go up is placed processed workpiece 2(36) loading and unloading station (45) rotate to the position of aiming at another group solid mechanical fingerprint module unit (3), implement processing work 2(36) training request of operation.

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 processed workpiece 2(36 on 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)).Start solenoid valve (41), get the parallel folder of material (83) and clamp 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), start solenoid valve (41) processed workpiece 2(36) be placed on the loading and unloading station (45) of travelling belt (98) other end, start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) being got the loading and unloading station (45) that the parallel folder of material (83) is removed travelling belt (98) other end on the pivot arm (81).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) is 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) detection probe (34) during through surveyed area (46) on the workpiece sensing equipment (97) is to processed workpiece 2(36) implement to detect.When detecting processed workpiece 2(36), start the cylinder of selecting materials (100) that is fixed on cylinder support (95), the expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) processed workpiece 2(36) push in the slideway (33) of corresponding horizontal slideway modular unit (8), processed workpiece 2(36) enters 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), processed workpiece 2(36) numerical information feed back to master controller (44), master controller (44) is processed workpiece 2(36) digital information transmission give subsequent processing, processed workpiece 2(36) wait enters subsequent processing, cycling repeatedly, implement single order/dibit and process/go out single operation of part system (19), single station processing, double processing, detect, sort and go out the training request of part operation, as 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 by 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), combination training on installation platform (12) and master controller (44) are formed, at least 2 group well formula feed modular units (9) are set in the 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 are implemented to detect separately, letter sorting, repair, go into the training on operation requirement of library storage.

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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 at combination training on installation 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), respectively 2 groups of well formula feed modular units (9) are fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal 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) by line cord, carry out the instruction that master controller (44) sends, the motor (68) of starter motor modular unit (10), motor (68) just, the counter-rotating operation, the travelling belt (98) of motor (68) drive travelling belt detection module unit (6) is just, running in the other direction.

The opposite side at the middle part of travelling belt detection module unit (6) fixedly installs inclined ramp modular unit (7), inclined ramp modular unit (7) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the entrance 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 entrance 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) by 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), respectively manipulator unit (3) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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), and 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 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 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), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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 the workpiece 1(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of an end of travelling belt (98) 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, 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) through surveyed area (46), the detection probe (34) on the workpiece sensing equipment (97) is to workpiece 1(36) implement to detect.By the detection probe (34) on the workpiece sensing equipment (97) to workpiece 1(36) detect and need to judge whether to repair, workpiece 1(36) three kinds of situations can appear: defective workpiece, the qualified workpiece of repairing and the defective workpiece that can't repair of needing, implement workpiece 1(36) the training request of single feeding, detection and letter sorting operation.

When detecting the workpiece 1(36 that can't repair), the workpiece 1(36 that detection probe (34) can't be repaired to master controller (44) feedback) numerical information, 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 expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) the workpiece 1(36 that can't repair) push in the slideway (33) of corresponding inclined ramp modular unit (7), the workpiece 1(36 that can't repair) enters in the slideway (33), the detection probe (34) of inclined ramp modular unit (7) detects the workpiece 1(36 that can't repair), the workpiece 1(36 that the detection probe (34) of inclined ramp modular unit (7) can't be repaired to master controller (44) feedback) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, the workpiece 1(36 that can't repair) wait 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 qualified workpiece 1(36 of master controller (44) feedback) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, the travelling belt (98) of travelling belt detection module unit (6) continues operation, qualified workpiece 1(36) be transferred to the loading and unloading station (45) of travelling belt (98) other end.Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the workpiece 1(36 that detection probe (34) is repaired to the defective need of master controller (44) feedback) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, the travelling belt (98) of travelling belt detection module unit (6) continues operation, the defective workpiece 1(36 that needs reparation) 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) got on the pivot arm (81) is aimed at the loading and unloading station (45) of travelling belt (98) other end and is gone up the defective workpiece 1(36 that repairs of needing), start solenoid valve (41) and get the parallel folder of material (83) and clamp the defective workpiece 1(36 that repairs of needing).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 need repair that parallel folder (83) clamps is placed on the workpiece positioning table (89) of loading platform modular unit (5), to the defective workpiece 1(36 that need repair on the workpiece positioning table (89)) enforcement reparation operation.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 by solid mechanical fingerprint module unit (3) the defective workpiece 1(36 that needs reparation) go up training request from operation to the workpiece positioning table (89) of loading platform modular unit (5) that transfer from the loading and unloading station (45) of travelling belt detection module unit (6).

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), to the defective workpiece 1(36 that needs reparation) implement to repair, workpiece 1(36 after repair to master controller (44) feedback the reparation back) numerical information, 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 workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) on the pivot arm (81) is gone up the workpiece 1(36 after repairing), startup solenoid valve (41) is got the workpiece 1(36 after the parallel folder of material (83) clamps 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) workpiece of getting after the reparation that the parallel folder of material (83) clamps (36) is placed 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 the workpiece 1(36 after repairing by solid mechanical fingerprint module unit (3)) go up training request from operation to the loading and unloading station (45) of travelling belt detection module unit (6) that transfer from the workpiece positioning table (89) of loading platform modular unit (5).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps the workpiece 1(36 after the reparation on the loading and unloading station (45) of travelling belt (98) other end); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 clamps 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 the workpiece 1(36 after repairing by the Y type reclaimer robot (66) of straight line moving manipulator unit (2)) go up training request from operation to the shelf (87) of tiered warehouse facility modular unit (4) that transfer from the loading and unloading station (45) of travelling belt detection module unit (6), workpiece 1(36 after cycling is filled reparation in reaching tiered warehouse facility modular unit (4) repeatedly), implement check/correction/warehouse-in system (20) and implement single feed, check, letter sorting, the training request of reparation and in-stockroom operation.

Check/correction/warehouse-in system (20) arranges 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) to divide to detect defective workpiece, qualified workpiece and the defective workpiece that can't repair that needs reparation through the detection of travelling belt detection module unit (6) equally.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) by 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 transferred back on the loading and unloading station (45) of travelling belt detection module unit (6) by solid mechanical fingerprint module unit (3), be transplanted on the goods yard (86) of tiered warehouse facility modular unit (4) by mechanical arm (71) by straight line moving manipulator unit (2) again.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, as 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 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), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28), combination training on installation platform (12) and master controller (44) are formed, in multiple spot material loading/processing/assembling/warehouse-in system (21) processing/modular unit (1) is set, many processing/modular unit (11) and at least 2 group well formula feed modular units (9), 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 combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), one side of (6) one ends, travelling belt detection module unit fixedly installs motor module unit (10), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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, the travelling belt (98) of motor (68) drive travelling belt detection module unit (6) is just, running in the other direction.The other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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), solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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), and 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 (98) of 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), loading platform modular unit (5) is fixed on the combination training on installation platform (12) with bolt by 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), one group of well formula feed modular unit (9) wherein is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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) by 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), another group well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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), respectively processing/modular unit (1) and many processing/modular unit (11) are fixed on the combination training on installation platform (12) with bolt by 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), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12), by stationary positioned hole (38) with bolt master controller (44) be fixed on the combination training on installation platform (12) below, master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training modular unit, implement the training request of multiple spot material loading/processing/assembling/warehouse-in system (21) mounting arrangement, carry out the multiple spot material loading of multiple spot material loading/processing/assembling/warehouse-in system (21), processing work, the training request of assembling workpiece and in-stockroom operation.

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 the workpiece 1(36 in the well formula feed storehouse (103)) shift onto on the workpiece positioning table (89) of loading platform modular unit (5) 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 1(36 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)), start solenoid valve (41), get the parallel folder of material (83) and clamp 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 solenoid valve (41) workpiece 1(36) be placed on the loading and unloading station (45) of an end of travelling belt (98) of travelling belt detection module unit (6), start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) 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 in the process of transmission) surveyed area (46) of process travelling belt detection module unit (6), the workpiece sensing equipment (97) of detection module unit (6) is to workpiece 1(36) implement to detect, workpiece sensing equipment (97) is to master controller (44) feedback workpiece 1(36) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps 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).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the workpiece 1(36 that is clamped on the Y type reclaimer robot (66)) be placed 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 workpiece 1(36) feeding and detect the training request of operation.

Start getting of processing/modular unit (1) and anticipate a cylinder (53), get anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) move to processing/assembly station (47) and blocked workpiece 1(36 by the V-type locating piece (57) on the retention plate (52)) rest 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) clamps 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); Treat workpiece 1(36) implement processing after, start solenoid valve (41) and lift cylinder (51), processing/assembly manipulator (54) descends, start and clamp cylinder (56), machinery folder (61) is processed workpiece 1(36) be placed 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) processed workpiece 1(36) places back on the loading and unloading station (45), enforcement is to workpiece 1(36) the training request of process operation.

Master controller (44) sends instruction, start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6).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 in the process of transmission) surveyed area (46) of process travelling belt detection module unit (6), the workpiece sensing equipment (97) of detection module unit (6) is to workpiece 2(36) implement to detect, workpiece sensing equipment (97) is to master controller (44) feedback workpiece 2(36) numerical information, master controller (44) receives numerical information and sends instruction through after the digital processing, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps workpiece 2(36).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 2(36 that is clamped on the Y type reclaimer robot (66)) be placed 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 workpiece 2(36) feeding and the training request that detects operation.

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 2(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to process.Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 2(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 2(36), start lift cylinder (51), processing/assembly manipulator (54) clamps workpiece 2(36) promote, 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 processed workpiece 1(36); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 1(36 that is clamped on the Y type reclaimer robot (66)) be placed 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 1(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 1(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 1(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 1(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble.

Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, processed workpiece 2(36) put into workpiece 1(36), finish assembly manipulation, workpiece 1(36) and workpiece 2(36) be 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, the loading and unloading station (45) of station dial (94) go up being placed the workpiece (36) after the assembling rotates to the position of aiming at straight line walking machine fingerprint module unit (2), implements workpiece 1(36) and workpiece 2(36) the training request of assembly manipulation.

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) different workpiece by the multiple spot material loading, processing work, the training request of assembling workpiece and warehouse-in is as 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.

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), combination training on installation 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 combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the side of (6) one ends, travelling belt detection module unit fixedly installs motor module unit (10), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal 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) by 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) 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), respectively horizontal slideway detection module unit (8) and 2 groups of inclined ramp detection module unit (7) are fixed on the combination training on installation platform (12) with bolt by 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) by 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), respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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), go up the workpiece sensing equipment (97) that arranges by travelling belt detection module unit (6) and from the workpiece (36) that mixes, detect, distinguish and sort out workpiece 1(36) and workpiece 2(36).Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts and clamps 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, connecting line drag chain (70) is being with connecting line translation together, start the motor (68) of carrying out lifting, adjust the height of 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 clamps on the loading and unloading station (45) of the other end of travelling belt detection module unit (6), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from loading and unloading station (45), implement the workpiece (36) that mixes is gone up training request from operation to the loading and unloading station (45) of travelling belt detection module unit (6) that transfer from the shelf (87) of tiered warehouse facility modular unit (4) by 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 master controller (44) feedback workpiece 1(36) numerical 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 expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) workpiece 1(36) push 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), the detection probe (34) of inclined ramp modular unit (7) is to master controller (44) feedback workpiece 1(36) numerical information, after master controller (44) receives numerical information, through sending instruction, workpiece 1(36 after the digital processing) wait for and enter subsequent processing.

When from the workpiece (36) that mixes, detecting workpiece 2(36), workpiece sensing equipment (97) is to master controller (44) feedback workpiece 2(36) numerical 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 expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) workpiece 2(36) push 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) is to master controller (44) feedback workpiece 2(36) numerical information, after master controller (44) receives numerical information, send instruction through after the digital processing, workpiece 2(36) wait enters subsequent processing, cycling mixes workpiece (36) all outbound enforcement detection and letter sorting in tiered warehouse facility modular unit (4) repeatedly, carry out the batching of batching/outbound/categorizing system (22), outbound, detect and sort the training request of operation, as 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/pair assembling/detection/warehouse-in/outbound system (23) is 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), combination training on installation platform (12) and master controller (44) are formed, and in two material loadings/pair assembling/detection/warehouse-in/outbound system (23) processing/modular unit (1) are set, many processing/modular unit (11) and at least 2 group well formula feed modular units (9).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/pair assembling/detection/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 combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), use bolt straight line moving manipulator unit (2) by stationary positioned hole (38), be fixed on the combination training on installation platform (12), the other end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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 at combination training on installation platform (12).

One side of (2) one ends, straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit (4), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by 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), by stationary positioned hole (38) with bolt respectively loading platform modular unit (5), one group of well formula feed modular unit (9) wherein, processing/modular unit (1) and many processing/modular unit (11) are fixed on the combination training on installation 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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 combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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) are respectively solid mechanical fingerprint module unit (3), inclined ramp detection module unit (7), well formula feed modular unit (9) and motor module unit (10) are fixed on the combination training on installation platform (12).

One end of travelling belt detection module unit (6) arranges wherein another group well formula feed modular unit (9) of 2 groups of well formula feed modular units (9), another group well formula feed modular unit (9) wherein is fixed in combination training on installation platform (12) with bolt by stationary positioned hole (38), 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) workpiece (36) that goes out in the feed bin (107) is shifted onto on the loading and unloading station (45) of travelling belt detection module unit (6).Wherein the operation circuit of the solenoid valve (41) of another group well formula feed modular unit (9) is connected with the output signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, to master controller (44) feedback digital information.

The other end of travelling belt detection module unit (6) arranges motor module unit (10), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal 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) by 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) drive 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), inclined ramp detection module unit (7) is fixed on the combination training on installation platform (12) with bolt by 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) by 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), solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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) the 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).

Below the combination training on installation platform (12) master controller (44) is set, master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training modular unit, implement the training request of two material loadings/pair assembling/detection/warehouse-in system (23) mounting arrangement, carry out the dibit material loading of two material loadings/pair assembling/detection/warehouse-in system (23), the training request of dibit assembling workpiece and in-stockroom operation.

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 the workpiece 1(36 in the well formula feed storehouse (103)) shift an end loading and unloading station (45) of travelling belt detection module unit (6) onto 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 clamp 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 solenoid valve (41) workpiece 1(36) be placed 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), the parallel folder of material (83) of getting by 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 1(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 1(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 1(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 1(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to process.Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 1(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 1(36), start lift cylinder (51), processing/assembly manipulator (54) clamps workpiece 1(36) promote, 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 the workpiece 2(36 in the well formula feed storehouse (103)) shift onto on the workpiece positioning table (89) of loading platform modular unit (5) from the discharging opening that goes out feed bin (107).The detection probe (34) of loading platform modular unit (5) is to master controller (44) feedback workpiece 2(36) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 the motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps 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), start solenoid valve (41) workpiece 2(36) be placed 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 2(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble.Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, the workpiece 1(36 of processing/assembly manipulator (54) clamping) put into the workpiece 2(36 on the loading and unloading station (45)), with workpiece 1(36) and workpiece 2(36) be assembled into and assemble workpiece (36), start lift cylinder (51), processing/assembly manipulator (54) clamps workpiece 1(36) promote, leave the loading and unloading station (45) of station dial (94).The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, the loading and unloading station (45) that station dial (94) go up is placed the workpiece (36) after the assembling rotates to the position of secured in alignment manipulator unit (3), implements many processing/modular unit (11) to workpiece 1(36) and workpiece 2(36) processing 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, assembling workpiece (36) on 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), start solenoid valve (41), get the parallel folder of material (83) and clamp 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), the rotation of support column (82) and pivot arm (81) being got the loading and unloading station (45) that the parallel folder of material (83) is removed the other end 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, 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 after testing the zone when (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), 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 entered 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 clamp 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), the rotation of support column (82) and pivot arm (81) 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 motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), Y type reclaimer robot (66) clamps 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 the motor (68) of carrying out lifting, adjust the height of 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), 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 the workpiece 1(36 in the well formula feed storehouse (103)) shift an end loading and unloading station (45) of travelling belt detection module unit (6) onto 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 clamp 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 solenoid valve (41) workpiece 1(36) be placed 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), start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps 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), start solenoid valve (41) workpiece 1(36) be placed 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).Workpiece 1 is transplanted on the loading and unloading station (45) of processing/modular unit (1) by solid mechanical fingerprint module unit (3) and straight line moving manipulator unit (2), implements the training request of workpiece 1 material loading operation.

Start getting of processing/modular unit (1) and anticipate a cylinder (53), get anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) move to processing/assembly station (47) and blocked workpiece 1(36 by the V-type locating piece (57) on the retention plate (52)) rest 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) clamps 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) the enforcement process operation.

Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is the workpiece 2(36 in the well formula feed storehouse (103)) shift onto on the workpiece positioning table (89) of loading platform modular unit (5) from the discharging opening that goes out feed bin (107).The detection probe (34) of loading platform modular unit (5) is to master controller (44) feedback workpiece 2(36) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps 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), start solenoid valve (41) workpiece 2(36) be placed 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 2(36 on the loading and unloading station (45)) push processing/assembly station (47) to, workpiece 2(36) move to processing/assembly station (47) along retention plate (52) and blocked workpiece 2(36 by the V-type locating piece (57) on the retention plate (52)) rest 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 the workpiece 1(36 that clamps) be placed into the workpiece 2(36 on processing/assembly station (47)) in, start solenoid valve (41) and lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) leaves processing/assembly station (47), workpiece 1(36) and workpiece 2(36) be assembled into the assembling workpiece (36), start to get and anticipate a cylinder (53), drive is got material locating piece (58) assembling workpiece (36) is revert to loading and unloading station (45), implements the training request of processing/modular unit (1) assembling workpiece 1 and workpiece 2 operations.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps 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 the motor (68) of carrying out lifting, adjust the height of 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 the gripper cylinder (76) on the mechanical arm (71), 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, assembling workpiece (36) on 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), start solenoid valve (41), get the parallel folder of material (83) and clamp 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), the rotation of support column (82) and pivot arm (81) being got the loading and unloading station (45) that the parallel folder of material (83) is removed an end 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, 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 after testing the zone when (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), 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 entered 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 clamp 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), the rotation of support column (82) and pivot arm (81) 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 motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), Y type reclaimer robot (66) clamps 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 the motor (68) of carrying out lifting, adjust the height of 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), 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 the different workpiece (36) of many processing/modular unit (11) each self-assembly of difference, 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/pair assembling/detection/warehouse-in/outbound system (23) carries out the double feed, the training request of double assembling and in-stockroom operation is as 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/detections/except give up/warehouse-in/outbound system (24) is 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), combination training on installation platform (12) and master controller (44) are formed, thick finishing/detection/except in useless/warehouse-in/outbound system (24) processing/modular unit (1) being set, with many processing/modular unit (11), at least 2 group inclined ramp detection module unit (7), processing/modular unit (1) and many processing/modular unit (11) are implemented roughing and accurately machined operation separately, thick finishing/detection/except useless/warehouse-in/outbound system (24) enforcement roughing, finishing detects, waste product is proposed, go into the training on operation purpose of library storage and outbound.

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38).One side of one end of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9), well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, to master controller (44) feedback digital information.Start the pusher cylinder (106) of well formula feed modular unit (9), the workpiece (36) in the well formula feed storehouse (103) is shifted 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), motor module unit (10) is fixedly installed on the combination training on installation 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 signal 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) by 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) 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), respectively 2 groups of inclined ramp modular units (7) are fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the entrance 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 entrance 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) by 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), respectively solid mechanical fingerprint module unit (3) and processing/modular unit (1) are fixed on the combination training on installation platform (12) with bolt by 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), many processing/modular unit (11) are fixed on the combination training on installation platform (12) with bolt by 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), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), travelling belt detection module unit (6) and straight line moving manipulator unit (2) are T-shaped at combination training on installation platform (12), and 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), respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) fixedly installs master controller (44), master controller (44), pass cable-through hole (110) by line cord and enter circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, in the training of combination training on installation platform (12) assembling training with modular unit, carry out thick finishing/detections/remove to give up/training request of the mounting arrangement of warehouse-in/outbound system (24).

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 clamped 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) clamps 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), the parallel folder of material (83) of getting by solid mechanical fingerprint module unit (3) arrives workpiece transfer on the loading and unloading station (45) of processing/modular unit (1), implements the training request of workpiece 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) workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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 and clamp cylinder (56), machinery folder (61) is placed on the workpiece (36) of processing on processing/assembly station (47), start to get and anticipate a cylinder (53), material locating piece (58) playback is got in drive, gets material locating piece (58) processed workpiece (36) is placed back on the loading and unloading station (45).

Master controller (44) sends instruction after handling through data, 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 the rough machined workpiece (36) on solenoid valve (41) the extraction 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 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), start 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), 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 detection module unit (6), by 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 the transmission of the loading and unloading station (45) 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).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts and clamps 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) by 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 the motor (68) of carrying out lifting, adjust the height of 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), the rough machined workpiece (36) of Y type reclaimer robot (66) clamping is placed 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 solenoid valve group (67) of carrying out lifting, 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 enters finishing operations.

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up one of them loading and unloading station (45) of placing rough machined workpiece (36) rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the rough machined workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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) clamps 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up the loading and unloading station (45) of placing accurately machined workpiece (36) rotate to the position of aiming at straight line walking machine fingerprint module unit (2), implement the training request of finishing operations.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), 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 clamps 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, 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).By the detection probe (34) on the workpiece sensing equipment (97) accurately machined workpiece (36) is detected and to judge whether qualifiedly, there will be two kinds of situations for accurately machined workpiece (36).Underproof waste product and certified products are implemented the training request to 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) enters 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, 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, qualified workpiece (36) is transferred to the loading and unloading station (45) of travelling belt (98) other end from surveyed area (46).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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.Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 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 the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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).Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 thick finishing/detection/arrange the training request of operating in order except workpiece in roughing, finishing, detection, letter sorting, removal waste product, warehouse-in and the adjustment outbound of useless/warehouse-in/outbound system (24), as 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 by 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), combination training on installation platform (12) and master controller (44) are formed, 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 by processing/modular unit (1) and many processing/modular unit (11).

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

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).

Pieces of processing / assembly module units (11) fixed to one end of the other set of fixed robotic module unit (3) and the other holding arm module unit (3) parallel reclaimer clip (83) toward the belt detection module unit (6) the loading and unloading station (45) begins with the belt detection module unit (6) for loading and unloading station (45) to withdraw or place the workpiece (36) and the other holding arm module unit (3) reclaimer parallel clamp (83) aligned pieces machining / assembly module unit (11) for loading and unloading station (45) begins with pieces of processing / assembly module unit (11) for loading and unloading station (45) to extract or placed on the workpiece (36).

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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal 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) by 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) 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 horizontal slideway modular unit (8), horizontal slideway modular unit (8) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the entrance 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 entrance 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) by 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), well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, to master controller (44) feedback digital information, start the pusher cylinder (106) of well formula feed modular unit (9), the workpiece (36) in the well formula feed storehouse (103) is shifted onto on the loading and unloading station (45) of the other end of travelling belt detection module unit (6).

The bottom of combination training on installation platform (12) fixedly installs master controller (44), master controller (44) passes cable-through hole (110) entry-line by 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, in the training of combination training on installation platform (12) assembling training with modular unit, carry out the training request of the mounting arrangement of material loading/maintenance/waste product/warehouse-in system (25).

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, workpiece (36) on the loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt (98) one ends on the pivot arm (81), startup solenoid valve (41) is got the parallel folder of material (83) and is clamped 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) clamps 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 qualified workpiece (36) is gone up training request from operation to the loading and unloading station (45) of processing/modular unit (1) that transfer from the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) by 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) workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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), processing/assembly manipulator (54) descends, start and clamp cylinder (56), 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) workpiece after the roughing (36) is placed back 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 the motor (68) of carrying out lifting, adjust the height of 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 clamps 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 the motor (68) of carrying out lifting, adjust the height of 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 rough machined workpiece (36) is gone up training request from operation to the loading and unloading station (45) of many processing/modular unit (11) that transfer from the loading and unloading station (45) of processing/modular unit (1) by straight line moving manipulator unit (2).

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up one of them loading and unloading station (45) of placing the workpiece (36) after roughing rotate to the position of aiming at processing/assembly manipulator (54).Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the rough machined workpiece (36) on the loading and unloading station (45) is pushed 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), processing/assembly manipulator (54) descends, aim at rough machined workpiece (36), start and clamp cylinder (56), machinery folder (61) clamps rough machined workpiece (36), starts lift cylinder (51), and processing/assembly manipulator (54) clamps 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), processing/assembly manipulator (54) descends, aim at the loading and unloading station (45) of station dial (94), start and clamp 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 rotation positioning 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.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), Y type reclaimer robot (66) extracts and clamps 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 motor (68) and the mechanical arm solenoid valve group (67) of lifting, the Y type reclaimer robot (66) that clamps the workpiece (36) after the finishing is removed.

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), start the gripper cylinder (76) on the mechanical arm (71), 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, surveyed area (46) through 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), by 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 back to the numerical information of 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 by circuit, master controller (44) sends instruction after handling through data, 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) enters 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), 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 by circuit, master controller (44) sends instruction after handling through data, 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, qualified workpiece (36) is transferred to 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), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps qualified workpiece (36).

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the qualified accurately machined workpiece (36) of Y type reclaimer robot (66) clamping 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 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 by the Y type reclaimer robot (66) of straight line moving manipulator unit (2), carry out the material loading of material loading/maintenance/waste product/warehouse-in system (25), check, remove defective workpiece, roughing, the training request of the operation of finishing and warehouse-in is as 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), combination training on installation 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 combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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), respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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 the combination training on installation platform (12) below, master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, use modular unit in combination training on installation platform (12) training assembling training, 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 by straight line moving manipulator unit (2) and loading platform modular unit (5); Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) extracts and clamps 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 the motor (68) of carrying out lifting, adjust the height of 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) 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) by 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 solenoid valve group (67) of carrying out lifting, 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps the workpiece (36) on the workpiece positioning table (89) of loading platform modular unit (5), start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 solenoid valve group (67) of carrying out lifting, remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4), messy arrangement/ordering system (26) is carried out the training request to the workpiece arranging order operation of messy arrangement on the shelf of tiered warehouse facility modular unit, as 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), combination training on installation 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 combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), by stationary positioned hole (38) with bolt respectively motor module unit (10), solid mechanical fingerprint module unit (3) and loading platform modular unit (5) are fixed on the combination training on installation 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 signal 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) by line cord, carry out the instruction that master controller (44) sends, the motor (109) of starter motor modular unit (10), motor (109) just, the counter-rotating operation, the travelling belt (98) of motor (109) drive travelling belt detection module unit (6) is just, running in the other direction.

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), well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, 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 combination training on installation platform (12) fixedly installs master controller (44), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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) is surveyed area (46) transmission of the workpiece (36) on the travelling belt (98) from the loading and unloading station (45) of the other end of travelling belt (98) to 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, through sending instruction 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) clamps 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) clamps 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) clamps lack of alignment, start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) 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, through sending instruction 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) clamps 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) clamps 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 position on the travelling belt (98) getting workpiece (36) that the parallel folder of material (83) clamps 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, the parallel folder of material (83) got on the pivot arm (81) is removed the travelling belt (98) of travelling belt detection module unit (6), the workpiece of cycling on travelling belt reaches and arranges in order repeatedly, workpiece arrangement on the travelling belt of execution travelling belt ordering system (27) is the training request of operation in order, as 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 combination training on installation platform (12), this training modular unit is 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 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 combination training on installation platform (12) are formed, training is with modular unit independent groups shipment row training separately, each training all is installed on the combination training on installation 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) with modular unit on combination training on installation platform (12) that modular combination is made training system, raw material/processing/turnover/warehouse-in/outbound system (14), double assembling/warehouse-in/outbound system (15), material loading/check/except residual/warehouse-in system (16), check/correction/sorting system (17), single order/two order processing/outbound/warehouse-in-turnaround systems (18), part system (19) is processed/gone out to single order/dibit, check/correction/warehouse-in system (20), multiple spot material loading/processing/assembling/warehouse-in system (21), batching/outbound/categorizing system (22), two material loadings/pair assembling/detection/warehouse-in system (23), thick finishing/detection/except useless/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), modular combination is made training system independent groups shipment row training separately, and at least 2 pack module combinations are made training system and constituted the manufacturing training system mutually;

Processing/modular unit (1) is by retention plate (52), get and 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 solenoid valve group (41) are formed, 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) arranges retention plate (52), the place, both sides of the edge of fixed base plate (30) is oppositely arranged stationary positioned hole (38), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and processing/modular unit (1) is fixed on the combination training on installation platform (12) with bolt by 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) arranges terminal block (28); The operation circuit of solenoid valve (41) is connected with the output signal 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 combination training on installation platform (12) by 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) by pipeline respectively separately with the lift cylinder (51) of processing/modular unit (1), get to 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) arranges 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), clamp cylinder (56) and machinery folder (61), one side of lifting column (60) arranges lift cylinder (51), the opposite side of lifting column (60) arranges and clamps cylinder (56), 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) lifting, machinery folder (56) is by 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 by locating piece (57) processing/assembly station (47) concentricity accurately locatees; The other end of retention plate (52) arranges 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, 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 the processing that workpiece (36) was accurately located and realized to concentricity by V-type locating piece (57), assembling, 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) arrange 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) arranges left limit terminal group (63), left limit terminal group (63) is connected with the input signal interface (112) of terminal block (28) by circuit, and the master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by line cord by cable interface (114) is connected; A side that transmits the other end of bracing frame (65) arranges right limit terminal group (62), right limit terminal group (62) is connected with the input signal interface (112) of terminal block (28) by 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 the training requirement to different motors; The bottom at the both ends of straight line moving manipulator unit (2) arranges bracing frame (77) separately, straight line moving manipulator unit (2) is fixedly installed on the combination training on installation platform (12) by 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) arranges translation chassis (69), translation chassis (69) is embedded on the guide rail (72), translation chassis (69) is connected to a fixed with travelling belt (73), drive 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 input signal interface (112) and the output signal 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) arranges swivel base (74), the motor (68) of solenoid valve (41), support column (82) and execution lifting is set on the swivel base (74), one side of support column (82) arranges the guide rail (72) of lifting Y type reclaimer robot, the opposite side of support column (82) arranges the motor (68) of carrying out lifting, carries out any lifting of motor (68) the location Y type reclaimer robot (66) of lifting; The upper end of support column (82) opposite side and bottom arrange upper limit terminal group (78) and lower limit terminal group (79) separately, and the motor (68) that lifting is carried out in upper limit terminal group (78) and lower limit terminal group (79) restriction drives the lifting travel of Y type reclaimer robot (66) on support column (82); One end of swivel base (74) arranges solenoid valve (41), the operation circuit of solenoid valve (41) is connected with the output signal interface (113) of terminal block (28), terminal block (28) is passed by line cord by cable interface (114) that cable-through hole (67) enters circuit connection groove (37) and the master controller (44) that is arranged on below combination training on installation platform (12) is connected, and carries out the instruction that master controller (44) sends; The other end of swivel base (74) arranges support column (82), drive rotary cylinder (31), 0-360 ° of scope of rotary cylinder (31) driven rotary chassis (74) rotation, motor (68), reclaimer robot support (75) and the Y type reclaimer robot (66) of the support column (82) on the swivel base (74), execution lifting together rotate with swivel base (74); Reclaimer robot support (75) is set on the support column (82), and reclaimer robot support (75) is U-shaped, 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) lifting displacement; One end of reclaimer robot support (75) fixedly installs gripper cylinder (76) and Y type reclaimer robot (66), starts the motor (68) of carrying out lifting 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) arranges 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 separately by pipeline, solenoid valve (41) receives the instruction of master controller (44), carry out the opening and closing of pneumatic line according to instruction, drive the opening and closing of rotary cylinder (31) and gripper cylinder (76), and rotation, extraction and place work piece (36);

Solid mechanical fingerprint module unit (3) is 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) arranges 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) arranges terminal block (28), master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by 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), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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), the upper end of support column (82) fixedly installs pivot arm (81), drives rotary 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) by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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 by pipeline, drives rotary cylinder (31) and gets opening and closing and extraction and the place work piece (36) of expecting parallel folder (83);

Tiered warehouse facility modular unit (4) is by goods yard (86), shelf (87), section bar base (88), section bar end cap (32) and section bar matrix (29) are formed, 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, one 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) arrange goods yard (86) on every layer of shelf (87), at least 5 goods yards (86), and each goods yard (86) go up place work piece (36); Workpiece (36) is deposited in the goods yard (86) of tiered warehouse facility modular unit (4), by 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 by workpiece positioning table (89), loading platform (90), detection probe (34), terminal block (28), section bar matrix (29) and fixed base plate (30) are formed, 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) arranges terminal block (28), master controller (44) below terminal block (28) is passed cable-through hole (67) and is arranged on combination training on installation platform (12) by 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) by circuit, detection probe (34) detects by the gap of workpiece positioning table (89) and puts into workpiece (36) on the loading platform (90), and detected numerical information is fed back to master controller (44); Place, both sides of the edge on the stationary positioned plate (30) is oppositely arranged stationary positioned hole (38), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and loading platform module (5) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38);

Travelling belt detection module unit (6) is by driving wheel (92), support (93), workpiece sensing equipment (97), detection probe (34), cylinder support (95), pusher window (96), locating support (99), the cylinder (100) of selecting materials, terminal block (28), solenoid valve (41), locating support (99), the cylinder (100) of selecting materials, travelling belt (98), travelling belt bracing frame (101), drive wheel bracket (102) and rotary encoder (40) are formed, the bottom of travelling belt bracing frame (101) arranges support (93), the bottom of support (93) arranges stationary positioned hole (38), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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) arrange drive wheel bracket (102) separately, drive wheel bracket (102) is concave shape, and drive wheel bracket arranges 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 adjusted the rate of tension of travelling belt (98) by the adjusting slideway 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 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) constitutes surveyed area (46) at travelling belt (98), workpiece sensing equipment (97) detects the workpiece (36) of flowing through on the travelling belt (98) and detected workpiece (36) is released travelling belt (98) and enters slideway (33), the both ends of travelling belt (98) are respectively loading and unloading station (45), so that respectively from travelling belt (98) two ends feed with get material; Workpiece sensing equipment (97) is by detection probe (34), cylinder support (95), pusher window (96), locating support (99), select materials cylinder (100) and solenoid valve (41) formed, 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 corresponding detection probe according to different detections, 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 combination training on installation platform (12) by line cord by cable interface (114) is connected, and detects the numerical information of workpiece to master controller (44) feedback; 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) arranges the gentle jar support of solenoid valve (41) (95), the operation circuit of solenoid valve (41) is connected with the output signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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 selected workpiece (36) is released travelling belt (98); 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), the expansion link of cylinder (100) of selecting materials 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) workpiece on the travelling belt (98) is released travelling belt (98);

Inclined ramp modular unit (7) is by slideway support (42), slideway (33), detection probe (34) and limiting block (35) are formed, 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, spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and inclined ramp detection module unit (7) is fixed on the combination training on installation platform (12) with bolt by 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, by fixed orifice (43) slideway (33) are fixed on the slideway support (42); 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) arranges limiting block (35), and restriction workpiece (36) is accurately located in the end of slideway (33); One side of one end of slideway (33) arranges 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 combination training on installation platform (12) by line cord by cable interface (114) is connected, and the digital information transmission that workpiece (36) is entered 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 by slideway support (42), slideway (33), detection probe (34) and limiting block (35) are formed, 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, spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and horizontal slideway detection module unit (8) is fixed on the combination training on installation platform (12) with bolt by 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, by fixed orifice (43) slideway (33) are fixed on the slideway support (42); 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) arranges limiting block (35), and restriction workpiece (36) is accurately located in the end of slideway (33); One side of one end of slideway (33) arranges 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 combination training on installation platform (12) by line cord by cable interface (114) is connected, and the digital information transmission that workpiece (36) is entered slideway (33) is given master controller (44); Workpiece (36) enters 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) is by well formula feed storehouse (103), detection probe (34), solenoid valve (41), pusher cylinder (106), go out feed bin (107), platform at the bottom of the storehouse (108), terminal block (28), section bar matrix (29) and fixed base plate (30) are formed, 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), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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) is set on the sidewall of section bar matrix (29), solenoid valve (41) and terminal block (28), detection probe (34) is connected with the input signal interface (112) of terminal block (28) on being installed in combination training on installation platform (12), master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by line cord by cable interface is connected, by circuit the numerical information of detected workpiece (36) is fed back to master controller (44), 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 signal interface (113) of terminal block (28) on being installed in combination training on installation platform (12), solenoid valve (41) drives the opening and closing of pusher cylinder (106) according to instruction, and workpiece (36) is released out feed bin (107); 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, platform (108) is connected to a fixed at the bottom of the other end of section bar matrix (29) and the storehouse, one 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) arranges discharging opening, the top that goes out feed bin (107) arranges charging aperture, 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) arranges charging aperture, and the bottom in well formula feed storehouse (103) arranges discharging opening; The other end of platform at the bottom of the storehouse (108) arranges 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), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and motor module unit (10) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38); Terminal box (109) is set on one end of fixed base plate (30), terminal box (109) is connected by the output signal 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 combination training on installation platform (12) by 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, the counter-rotating 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, passes through to exchange different motor realizations to the training requirement of different motors in same modular unit; 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) by 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 implemented the training request of different operating at travelling belt (98);

Many processing/modular unit (11) are by fixed base plate (30), support column (82), terminal block (28), rotation positioning motor (91), station dial (94), positioning clamp holder (111) and processing/assembly manipulator (54) are formed, fixed base plate (30) is whole rounded, the edge of fixed base plate (30) arranges stationary positioned hole (38), spacing between the stationary positioned hole (38) is installed identification point (39) with the benchmark on the combination training on installation platform (12) and is matched, and many processing/modular unit (11) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) by 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 rotation positioning motor (91), the control circuit of rotation positioning motor (91) is connected with the output signal 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, each end of Y type of station dial (94) is spill, and the gap of spill constitutes loading and unloading stations (45); Station dial (94) in the spill gap bottom of loading and unloading station (45) fixedly installs V-type locating piece (57), V-type locating piece (57) is corresponding with the spill gap of loading and unloading station (45), and rotation positioning motor (91) drives station dial (94) around central part rotation or the location of 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 signal interface (113) of terminal block (28), station dial (a 94) wherein end arranges 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), drive positioning clamping cylinder (104) drive positioning clamp holder (105) workpiece (36) is passed to V-type locating piece (57), reach processing or the assembling that workpiece (36) was accurately located and realized to concentricity by V-type locating piece (57); The middle part of station dial (94) arranges 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), clamp cylinder (56) and machinery folder (61), one side of lifting column (60) arranges lift cylinder (51) and solenoid valve (41), the opposite side of lifting column (60) arranges and clamps cylinder (56), 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) lifting, machinery folder (56) is by clamping cylinder (56) grasping holding workpiece (36); The preceding loading and unloading station (45) of locating piece (57) is corresponding with machinery folder (56), can realize that by locating piece (57) processing/assembly station (47) concentricity accurately locatees; The operation circuit of solenoid valve (41) is connected with the output signal interface (113) of terminal block (28), master controller (44) below terminal block (28) is passed cable-through hole (110) and is arranged on combination training on installation platform (12) by 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 separately by pipeline, drives opening and closing and extraction and the place work piece (36) of lift cylinder (51), positioning clamping cylinder (104) and clamping cylinder (56);

Terminal block (28) is by connection terminal base (111), input signal interface (112), output signal interface (113), circuit interface plate (115) and cable interface (114) are formed, circuit interface plate (115) is set on the connection terminal base (111), the circuit interface plate arranges earth leakage protection in (115), short-circuit protection, insulation blocking, the route protection of intelligent protection, circuit interface plate (115) top arranges input signal interface (112), output signal interface (113) and cable interface (114), input signal interface (112), output signal interface (113) is connected with cable interface (114) by the circuit of circuit interface plate (115), cable interface (114) is connected with master controller (44) by cable, give master controller (44) digital information transmission of the detection means of each modular unit feedback, and the instruction of master controller (44) is transferred to the performer of each modular unit, be provided with earth leakage protection in the base, short-circuit protection, insulation blocking, the route protection of intelligent protection, 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 combination training on installation platform (12), the feedback digital information of modular unit is given the instruction of master controller (44) and reception master controller (44);

Combination training on installation platform (12) is whole rectangular, install circuit connection groove (37), cable-through hole (110) and benchmark on the combination training on installation platform (12) sign (39) is installed, 4 benchmark are set on the combination training on installation platform (12) at least sign (39) is installed, benchmark install sign (39) each other X and Y-direction spacing be integral multiple, according to benchmark sign (39) is installed and installs training and realize training request with modular unit; On the table top of combination training on installation platform (12) circuit connection groove (37) is set, circuit connection groove (37) global sections shape is rectangular, the bottom of circuit connection groove (37) is wire casing pedestal (49), wire casing pedestal (49) global sections shape is spill, the concave bottom of wire casing pedestal (49) arranges the stationary positioned hole, lay wire casing pedestal (49) according to designing requirement at combination training on installation platform (12), and by bolt wire casing pedestal (49) is fixed in combination training on installation platform (12), wire hole (50) is advanced in equidistant 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), the global sections shape of wire casing lid (48) is spill, the upper port of wire casing pedestal (49) arranges interior buckle, the lower port of wire casing lid (48) arranges outer buckle, wire casing lid (48) covers on the upper port of wire casing pedestal (49), the interior buckle of the upper 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 training with network line and the circuit connection of 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 combination training on installation platform (12), at least arrange 4, terminal block (28) is passed cable-through hole (110) by line cord and is arranged on the following master controller (44) of combination training on installation platform (12) by cable interface (114) and is connected the instruction that the numerical information of feedback module unit and execution master controller (44) transmission come; Below the combination training on installation platform (12) master controller (44) is set, 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) by 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 training, maintenance, the troubleshooting barrier of module.

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 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 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), combination training on installation platform (12) and master controller (44) constitute, in two material loading/processing/assembling/warehouse-in/outbound system (13) processing/modular unit (1) is set, 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), 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 are realized feeding, detect, processing, assembling, go into library storage, outbound, detect, the training on operation requirement of letter sorting;

One end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), straight line moving manipulator unit (2) and travelling belt detection module unit (6) are T-shaped at combination training on installation 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) be arranged in parallel along a side of straight line moving manipulator unit (2), respectively processing/modular unit (1) and many processing/modular unit (11) are fixed on the combination training on installation platform (12) with bolt by 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) separately with many processing/modular unit (11); The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the Y type reclaimer tool of straight line moving manipulator unit (2) folder (66) 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 side by side with tiered warehouse facility modular unit (4), loading platform modular unit (5) is fixed on the combination training on installation platform (12) with bolt by 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), respectively 2 groups of well formula feed modular units (9) are fixed on the combination training on installation platform (12) with bolt by 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), solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) with bolt by 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), horizontal slideway modular unit (8) is fixed on the combination training on installation platform (12) with bolt by 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), respectively 2 groups of inclined ramp modular units (7) are fixed on the combination training on installation platform (12) with bolt by 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, travelling belt detection module unit (6), 2 groups of inclined ramp modular units (7) and workpiece sensing equipment (97) constitute surveyed area (46) at travelling belt (98); The master controller (44) that is arranged on combination training on installation platform (12) bottom passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with the terminal block (28) that each group is trained with modular unit, master controller (44) sends instruction and receives feedback digital information, at combination training on installation platform (12) training assembling training 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 instruction and starts the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), and pusher cylinder (106) is the workpiece 1(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends of 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 workpiece 1(36 on the loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt (98) one ends on the pivot arm (81)); Start solenoid valve (41), get the parallel folder of material (83) and clamp 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; Start solenoid valve (41) workpiece 1(36) be placed 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), by loading platform modular unit (5) workpiece 1(36) transfer the training request of operation to straight line moving manipulator unit (2) from travelling belt detection module unit (6);

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, mechanical arm (71) moves to the workpiece positioning table (89) of aiming at loading platform modular unit (5) along guide rail (72), start the motor (68) of the execution lifting of mechanical arm (71), regulate the height of Y type reclaimer tool folder (66), workpiece 1(36 on the alignment pieces positioning table (89)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer tool folder (66) extracts workpiece 1(36); Start the motor (68) of the execution lifting of mechanical arm (71), promote Y type reclaimer robot (66), workpiece 1(36) along with Y type reclaimer robot (66) promotes together, workpiece 1(36) leave the workpiece positioning table (89) of loading platform modular unit (5), Y type reclaimer robot (66) keeps holding workpiece 1(36) state;

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 (68) of carrying out lifting 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), the workpiece 1(36 of Y type reclaimer robot (66) clamping) be placed on the loading and unloading station (45), start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm solenoid valve group (67) of carrying out lifting, 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) workpiece 1(36 is then blocked by the V-type locating piece (57) on the retention plate (52) in the position that moves to processing/assembly station (47)) rest 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) clamps 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the processing/assembly station (47)) push loading and unloading station (45) to along retention plate (52), workpiece 1(36) move to the position of loading and unloading station (45), 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 the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6);

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 workpiece 2(36 on 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)); Start solenoid valve (41), get the parallel folder of material (83) and clamp 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; Start solenoid valve (41) workpiece 2(36) be placed 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), by loading platform modular unit (5) workpiece 2(36) transfer the training request of operation to straight line moving manipulator unit (2) from travelling belt detection module unit (6);

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 lifting 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) of the execution lifting on the mechanical arm (71), promote Y type reclaimer robot (66), workpiece 2(36) along with Y type reclaimer robot (66) promotes together, workpiece 2(36) leave the workpiece positioning table (89) of loading platform modular unit (5), Y type reclaimer robot (66) keeps holding workpiece 2(36) state;

The motor (68) of the rotary cylinder (31) on the startup mechanical arm (71) and execution displacement, the workpiece 2(36 of Y type reclaimer robot (66) clamping) aim at 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), the workpiece 2(36 of Y type reclaimer robot (66) clamping) be placed on the loading and unloading station (45) of station dial (94), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66);

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) translation, blocked workpiece 2(36 by the V-type locating piece (57) on the station dial (94)) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble; Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 2(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 2(36), start lift cylinder (51), processing/assembly manipulator (54) clamps 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, connecting line drag chain (70) is being with connecting line translation together, start the motor (68) of carrying out lifting, adjust the height of 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)), start 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, start the motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), aim at the loading and unloading station (45) of many processing/modular unit (11), the workpiece 1(36 of mechanical arm (71) clamping) be 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 solenoid valve group (67) of carrying out lifting, remove Y type reclaimer robot (66), implement the training request of assembling workpiece operation;

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94), and station dial (94) is gone up one of them place work piece 1(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 1(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 1(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 1(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble;

Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 1(36), start and clamp cylinder (56), machinery folder (61) is the workpiece 2(36 that clamps) put into workpiece 1, start lift cylinder (51), processing/assembly manipulator (54) promotes the loading and unloading station (45) that leaves station dial (94), workpiece 2(36) suit is assembled to workpiece 1(36) in, the workpiece 1(36 of the suit after the assembling) and workpiece 2(36) be made into the workpiece (36) of suit assembling; The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, the loading and unloading station (45) of station dial (94) being gone up the 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) and is 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 lifting 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), the workpiece (36) of suit assembling is placed on the goods yard (86); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm solenoid valve group (67) of carrying out lifting, mobile Y type reclaimer robot (66) leaves 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 workpiece (36) of the mixed and disorderly suit assembling of ordering is gone up in Y type reclaimer robot (66) clamping goods yard (86); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 the rotary cylinder (31) of straight line moving manipulator unit (2), displacement solenoid valve group (2-2) and motor (68), 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, adjust the workpiece (36) that tiered warehouse facility modular unit (4) shelf (87) are gone up the mixed and disorderly suit assembling of ordering by the mechanical arm (71) of straight line moving manipulator unit (2), tiered warehouse facility modular unit (4) shelf (87) are gone up the workpiece (36) of suit assembling and arranged in order; Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 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 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the workpiece (36) of suit assembling is placed on the workpiece positioning table (89), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from the workpiece positioning table (89) of loading platform modular unit (5), by loading platform modular unit (5) workpiece (36) of suit assembling is shifted 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;

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) clamps 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) workpiece (36) of suit assembling is placed 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 to detect, the training request of letter sorting and outbound operation is carried out two material loading/processing/assembling/warehouse-in/outbound system (13) 2 kinds of different labor and materials is implemented processing, assembling, warehouse-in, outbound, detect and sort the training request of operation.

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 by 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), combination training on installation platform (12) and master controller (44) are formed, 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 order process operation or processing/modular unit (1) and many processing/modular unit (11) are carried out two order process operations or processing/modular unit (1) and many processing/modular unit (11) and are carried out continuous process operation, assembly manipulation, the workpiece turnover, the training on operation requirement of workpiece warehouse-in and workpiece outbound;

The middle part of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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), respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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), respectively processing/modular unit (1) and many processing/modular unit (11) are fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) fixedly installs master controller (44), with bolt master controller (44) is fixed on the bottom of combination training on installation platform (12) by stationary positioned hole (38), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receives feedback digital information, in the training of combination training on installation platform (12) assembling training with modular unit, implement the training request of the mounting arrangement of raw material/processing/turnover/warehouse-in/outbound system (14);

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 clamp 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 the motor (68) of carrying out lifting, Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1), start the gripper cylinder (76) on the mechanical arm (71), the workpiece (36) of Y type reclaimer robot (66) clamping is placed on the loading and unloading station (45) of processing/modular unit (1), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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) workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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) processing work (36) is put on processing/assembly station (47), start to get and anticipate a cylinder (53), material locating piece (58) playback is got in drive, processed workpiece (36) is placed back on the loading and unloading station (45), implement the training request of single order outbound, processing and in-stockroom operation;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 solenoid valve group (67) of carrying out lifting, the Y type reclaimer robot (66) that clamps workpiece (36) is removed; 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 the motor (68) of carrying out lifting, adjust the height of 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 workpiece (36) of Y type reclaimer robot (66) clamping 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 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 outbound until workpiece (36) completion of processing in the tiered warehouse facility modular unit (4) repeatedly, the training request of two order processing and in-stockroom operation;

The ordering of the workpiece (36) in tiered warehouse facility modular unit (4) occurs mixed and disorderly, master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting and adjust the height of 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 mixed and disorderly workpiece (36) of ordering is gone up in Y type reclaimer robot (66) clamping goods yard (86);

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting and adjust the height of 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 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 by 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, the mechanical arm (71) of straight line moving manipulator unit (2) is adjusted tiered warehouse facility modular unit (4) shelf (87) and is gone up the mixed and disorderly workpiece (36) of ordering; Utilize the room of vacateing on tiered warehouse facility modular unit (4) shelf (87), the workpiece (36) on tiered warehouse facility modular unit (4) shelf (87) is arranged in order;

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) by 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 order processing, two order 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/outbound system according to claim 1 (15), this double assembling/warehouse-in/outbound system (15) is by 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), combination training on installation platform (12) and master controller (44) are formed, processing/modular unit (1) is set in the double assembling/warehouse-in/outbound system (15), many processing/modular unit (11), at least 2 group well formula feed modular units (9), 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 separately, assembling, go into the overfill training on operation requirement in storehouse of library storage and storehouse;

One end, middle part of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end, middle part of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), respectively processing/modular unit (1) and many processing/modular unit (11) are separately fixed on the combination training on installation platform (12) with bolt by 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), tiered warehouse facility modular unit (4) is fixedly installed on the combination training on installation platform (12) with bolt by 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 the 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), respectively 2 groups of well formula feed modular units (9) are fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by line cord, carries out the instruction that master controller (44) sends; Master controller (44) is fixedly installed on the bottom of combination training on installation platform (12), with bolt master controller (44) is fixed on combination training on installation platform (12) bottom by stationary positioned hole (38), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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 the workpiece 1(36 in one group of well formula feed storehouse (103) wherein) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) of travelling belt detection module unit (6);

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, the workpiece 1(36 on the travelling belt (98)) be 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, start the motor (68) of carrying out lifting, adjust the height of 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, start mechanical torch magnet valve group (67), Y type reclaimer tool folder (66) clamps workpiece 1(36), extract workpiece 1(36), implement the training request that workpiece 1 material loading is operated;

Start the motor (68) of carrying out lifting, promote Y type reclaimer robot (66), workpiece 1(36) 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 holding workpiece 1(36) state;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), the workpiece 1(36 of Y type reclaimer robot (66) clamping) the loading and unloading station (45) of aligning processing/modular unit (1), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 1(36 of Y type reclaimer robot (66) clamping) be placed 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 solenoid valve group (67) of carrying out lifting, remove Y type reclaimer robot (66), Y type reclaimer robot (66) by 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) workpiece 1(36 is then blocked by the V-type locating piece (57) on the retention plate (52) in the position that moves to processing/assembly station (47)) rest 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) clamps 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) clamps workpiece 1(36), start lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) promotes workpiece 1(36), implement the training request that assembling workpiece 1 is operated;

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 the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) of travelling belt detection module unit (6); 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, the workpiece 2(36 on the travelling belt (98)) be 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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) clamps workpiece 2(36), extract workpiece 2(36), implement the training request that workpiece 2 material loadings are operated;

Start the motor (68) of carrying out lifting, promote Y type reclaimer robot (66), workpiece 2(36) 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 holding workpiece 2(36) state;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), the workpiece 2(36 of Y type reclaimer robot (66) clamping) the loading and unloading station (45) of aligning processing/modular unit (1), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 2(36 of Y type reclaimer robot (66) clamping) be placed on the loading and unloading station (45) of processing/modular unit (1), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66), Y type reclaimer robot (66) by 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 2(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 2(36) workpiece 2(36 is then blocked by the V-type locating piece (57) on the retention plate (52) in the position that moves to processing/assembly station (47)) rest 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) puts into workpiece 2(36), workpiece 2(36) suit is assembled to workpiece 1(36) in, the workpiece 1(36 after the assembling) and workpiece 2(36) be 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) workpiece (36) of suit assembling is revert to loading and unloading station (45), implements the training request of assembling workpiece 1 and workpiece 2 operations;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps the workpiece (36) of the assembling on the loading and unloading station (45); Start motor (68) and the mechanical arm solenoid valve group (67) of the execution lifting on the mechanical arm (71), extract the workpiece (36) of assembling, start the motor (68) of rotary cylinder (31) and execution lifting, Y type reclaimer robot (66) leaves 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), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), 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), the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling is placed on the goods yard (86); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm solenoid valve group (67) of carrying out lifting, 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 the workpiece 1(36 in one group of well formula feed storehouse (103) wherein) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6);

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, the workpiece 1(36 on the travelling belt (98)) be 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), the motor (68) of carrying out lifting is carried out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, start the motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot, Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of travelling belt (98) one ends, start mechanical torch magnet valve group (67), Y type reclaimer tool folder (66) clamps workpiece 1(36), extract workpiece 1(36), implement the training request that workpiece 1 material loading is operated;

Start the motor (68) of carrying out lifting, promote Y type reclaimer robot (66), workpiece 1(36) 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 holding workpiece 1(36) state;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), the motor (68) of carrying out lifting is carried out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), the workpiece 1(36 of Y type reclaimer robot (66) clamping) the loading and unloading station (45) of many processing/modular unit of aligning (11), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 1(36 of Y type reclaimer robot (66) clamping) be placed 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 solenoid valve group (67) of carrying out lifting, remove Y type reclaimer robot (66), Y type reclaimer robot (66) by 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 1(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 1(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 1(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 1(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble; Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 1(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 1(36), start lift cylinder (51), processing/assembly manipulator (54) clamps 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 the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) other end of travelling belt detection module unit (6); 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, the workpiece 2(36 on the travelling belt (98)) be 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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) clamps workpiece 2(36), extract workpiece 2(36), implement the training request that workpiece 2 material loadings are operated;

Start the motor (68) of carrying out lifting, promote Y type reclaimer robot (66), workpiece 2(36) 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 holding workpiece 2(36) state; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), the workpiece 2(36 of Y type reclaimer robot (66) clamping) the loading and unloading station (45) of many processing/modular unit of aligning (1), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 2(36 of Y type reclaimer robot (66) clamping) be placed on the loading and unloading station (45) of many processing/modular unit (1), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66), workpiece 2 is transferred on the loading and unloading station (45) of many processing/modular unit (1) by the Y type reclaimer robot (66) of straight line moving manipulator unit (2), implemented the training request of workpiece 2 material loadings operation;

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94), and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 2(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble;

Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 2(36), start and clamp cylinder (56), machinery folder (61) is the workpiece 1(36 that clamps) put into workpiece 2, start lift cylinder (51) processing/assembly manipulator (54) and promote the loading and unloading station (45) that leaves station dial (94), workpiece 1(36) suit is assembled to workpiece 2(36) in, workpiece 1(36) and workpiece 2(36) be made into the workpiece (36) of suit assembling; The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, the loading and unloading station (45) of station dial (94) being gone up the 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps the workpiece (36) of the suit assembling on the loading and unloading station (45); Start motor (68) and the mechanical arm solenoid valve group (67) of the execution lifting on the mechanical arm (71), extract the workpiece (36) of suit assembling, start the motor (68) of rotary cylinder (31), execution lifting, Y type reclaimer robot (66) leaves the loading and unloading station (45) of many processing/modular unit (1);

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), 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), the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling is placed on the goods yard (86); Start motor (68), the rotary cylinder (31) of carrying out displacement, motor (68) and the mechanical arm solenoid valve group (67) of carrying out lifting, 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 from the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6)) and workpiece 2(36), 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 simultaneously respectively) and workpiece 2(36), 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 the shelf (87) in the tiered warehouse facility modular unit (4) are filled 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the workpiece (36) of the suit of Y type reclaimer robot (66) clamping assembling is placed into 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, start the motor (68) of carrying out lifting, adjust the height of 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 enters 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 that detects operation, carry out the training request of the single station assembling of double assembling/warehouse-in/outbound system (15) enforcement, 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 residual/warehouse-in system (16), this material loading/check/except residual/warehouse-in system (16) be 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), combination training on installation platform (12) and master controller (44) are formed, material loading/check/except residual/warehouse-in system (16) enforcement material loading, check, except residual, the training on operation requirement of warehouse-in;

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), well formula feed modular unit (9) and terminal block (28) are fixed on the combination training on installation platform (12) with bolt by 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), inclined ramp detection module unit (7) is fixed on the combination training on installation platform (12) with bolt by 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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) by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by line cord, carries out the instruction that master controller (44) sends; The other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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 other end of travelling belt detection module unit (6) is relative with the middle part of straight line moving manipulator unit (2); 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, respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38); Below training main unit (12), fixedly install master controller (44), by stationary positioned hole (38) with bolt master controller (44) be fixed on the combination training on installation platform (12) below, master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training modular unit, enforcement material loading/check/remove 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 material loading, detects the training request of operating;

Detection probe (34) when workpiece sensing equipment (97) detects the workpiece (36) that can not repair, workpiece sensing equipment (97) by 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) enters 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) arranges detects the workpiece (36) that can not repair, detection probe (34) is fed back by 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) by 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; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps 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 the motor (68) of carrying out lifting, adjust the height of 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), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, Y type reclaimer robot (66) by 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) by 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; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps defective recoverable workpiece (36); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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) clamps 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) by 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 solenoid valve group (67) of carrying out lifting, 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) by circuit to master controller (44) feedback digital information, master controller (44) sends instruction after receiving numerical information after treatment, 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 the motor (68) of carrying out lifting, adjust the height of 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); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 workpiece (36) on the goods yard (86), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4), implement the defective workpiece of repairing except residual, the training request of reparation and in-stockroom operation, 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) by the Y type reclaimer robot (66) of straight line moving manipulator unit (2), defective recoverable workpiece transfer is repaired to loading platform modular unit (5), after to be repaired, again qualified workpiece is transferred to from loading platform modular unit (5) on the shelf (87) of tiered warehouse facility modular unit (4), carried out material loading/check/except the material loading of residual/warehouse-in system (16), check, except training request residual, the operation of repairing and putting in storage.

6. a modular combination is made training system, it is characterized in that, check according to claim 1/correction/sorting system (17), this check/correction/sorting system (17) is by 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), combination training on installation platform (12) and master controller (44) are formed, and check is implemented at least 2 group inclined ramp detection module unit (7) in the check/correction/sorting system (17), revise, the training on operation requirement of letter sorting;

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), by stationary positioned hole (38) with bolt respectively motor module unit (10), horizontal slideway detection module unit (8) and 2 groups of inclined ramp detection module unit (7) are fixed on the combination training on installation platform (12), the motor (68) 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) by circuit, and the cable interface (114) of terminal block (28) is given master controller (44) the numerical information feedback transmission by cable line; The opposite side of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9), well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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), solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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), processing/modular unit (1) is fixed on the combination training on installation platform (12) with bolt by 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 install master controller (44) below the combination training on installation platform (12), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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) by 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) by 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) by circuit to master controller (44) feedback digital information;

When detecting the underproof workpiece (36) that needs correction, workpiece sensing equipment (97) by 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 after handling through data, 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, underproof workpiece (36) on 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), startup solenoid valve (41) is got the parallel folder of material (83) and is clamped 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) clamps 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 after handling through data, 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) the underproof workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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 and clamp cylinder (56), machinery folder (61) is placed on the workpiece (36) of processing on processing/assembly station (47), start to get and anticipate a cylinder (53), material locating piece (58) playback is got in drive, gets material locating piece (58) workpiece (36) after repairing is placed back on the loading and unloading station (45);

Master controller (44) sends instruction after handling through data, 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, 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 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 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 after handling through data, 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) by 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), reparation is finished in cycling repeatedly, the detection of check/correction/sorting system (17) is implemented in the operation training requirement of check and letter sorting, repair and sort the training request of operation.

7. a modular combination is made training system, it is characterized in that, single order according to claim 1/two order processing/outbound/warehouse-in-turnaround systems (18), this list order/two order processing/outbound/warehouse-in-turnaround systems (18) are by 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), combination training on installation platform (12) and master controller (44) are formed, in single order/two order processing/outbound/warehouse-in-turnaround systems (18) processing/modular unit (1) and many processing/modular unit (11) are set, single group processing/modular unit (1) and many processing/modular unit (11) fill order's order process operation, or processing/modular unit (1) and the two order process operation training requests of many processing/modular unit (11) execution;

The middle part of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), one side of straight line moving manipulator unit (2) stationary arrangement side by side arranges processing/modular unit (1), many processing/modular unit (11) and loading platform modular unit (5), by stationary positioned hole (38) with bolt respectively processing/modular unit (1), many processing/modular unit (11) and loading platform modular unit (5) are fixed on the combination training on installation platform (12), 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) with the workpiece positioning table (89) of loading platform modular unit (5), 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), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, use modular unit in combination training on installation platform (12) training assembling training, implement the training request of single order/two order processing/outbound/warehouse-in-turnaround system (18) mounting arrangements;

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) extracts and clamps 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 the motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), Y type reclaimer robot (66) is aimed at the loading and unloading station (45) of processing/modular unit (1), start Y type reclaimer robot (66), the workpiece to be processed (36) of Y type reclaimer robot (66) clamping is placed on the loading and unloading station (45) of processing/modular unit (1), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from the loading and unloading station (45) of processing/modular unit (1), by straight line moving manipulator unit (2) workpiece to be processed (36) is transferred the training request of operating from the shelf (87) of tiered warehouse facility modular unit (4) to the loading and unloading station (45) of processing/modular unit (1), implement outbound, the training request of 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) workpiece to be processed (36) on the loading and unloading station (45) is pushed 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) clamps the workpiece to be processed (36) on processing/assembly station (47), start solenoid valve (41) and lift cylinder (51), rising processing/assembly manipulator (54) 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 processed workpiece (36) on processing/assembly station (47), start solenoid valve (41) and lift cylinder (51), 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) processed workpiece (36) is placed back 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 the motor (68) of carrying out lifting, adjust the height of 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 solenoid valve group (67) of carrying out lifting, the Y type reclaimer robot (66) that clamps processed workpiece (36) is removed; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 processed workpiece (36) of Y type reclaimer robot (66) clamping is placed on the goods yard (86); Start rotary cylinder (31), displacement solenoid 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 order and in-stockroom operation;

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 the motor (68) of carrying out lifting, adjust the height of 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) extracts and clamps the workpiece to be processed (36) on the goods yard (86); Start the rotary cylinder (31) of straight line moving manipulator unit (2), carry out the motor (68) of 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 the motor (68) of carrying out lifting, adjust the height of 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), the workpiece to be processed (36) of Y type reclaimer robot (66) clamping is placed on the loading and unloading station (45) of many processing/modular unit (11), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from the loading and unloading station (45) of many processing/modular unit (11), by straight line moving manipulator unit (2) workpiece to be processed (36) is transferred the training request of operating 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 outbound, the training request of material loading operation;

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up one of them loading and unloading station (45) of placing workpiece (36) to be processed rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) workpiece to be processed (36) on the loading and unloading station (45) is pushed 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), processing/assembly manipulator (54) descends, aim at workpiece (36) to be processed, start and clamp cylinder (56), machinery folder (61) clamps workpiece to be processed (36), starts lift cylinder (51), and processing/assembly manipulator (54) clamps 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), processing/assembly manipulator (54) descends, aim at the loading and unloading station (45) of station dial (94), start and clamp 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up 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 the motor (68) of carrying out lifting, adjust the height of 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 solenoid valve group (67) of carrying out lifting, the Y type reclaimer robot (66) that clamps processing back workpiece (36) is removed; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 processed workpiece (36) of Y type reclaimer robot (66) clamping 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 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 order 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 outbound until workpiece (36) completion of processing in the tiered warehouse facility modular unit (4) repeatedly, the training request of two order processing and in-stockroom operation;

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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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, connecting line drag chain (70) is being with connecting line translation together, start the motor (68) of carrying out lifting, adjust the height of 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) 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) wait and entered 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, the training request that single order processing, two order processing, outbound, warehouse-in and the turnover of single order/two order processing/outbound/warehouse-in-turnaround systems (18) are operated is implemented in all outbounds of the processed workpiece (36) of cycling on the goods yard (86) of tiered warehouse facility modular unit (4) repeatedly.

8. a modular combination is made training system, it is characterized in that, part system (19) is processed/gone out to single order/dibit according to claim 1, part system (19) is processed/gone out to this list order/dibit is by 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), combination training on installation platform (12) and master controller (44) are formed, single order/dibit is processed/is gone out processing/modular unit (1) is set in the part system (19), many processing/modular unit (11), at least 2 group solid mechanical fingerprint module units (3), at least 2 group well formula feed modular units (9), 2 groups of solid mechanical fingerprint module units (3) are carried out single order process operation separately 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 feeding separately, detect, the training on operation requirement of processing and letter sorting;

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), respectively 2 groups of well formula feed modular units (9) are fixed on the combination training on installation platform (12) with bolt by 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), respectively inclined ramp detection module unit (7) and horizontal slideway detection module unit (8) are fixed on the combination training on installation platform (12) with bolt by 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 forward and reverse operation of motor (68), motor (109) drives the forward and reverse running of travelling belt (98) 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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), by stationary positioned hole (38) with bolt respectively processing/modular unit (1), many processing/modular unit (11) and 2 groups of solid mechanical fingerprint module units (3) are fixed on the combination training on installation platform (12), 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) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, use modular unit in combination training on installation platform (12) training assembling training, implement the training request that part system (19) mounting arrangement was processed/gone out to single order/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 the workpiece 1(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6); The motor (68) of starter motor modular unit (10), motor (68) 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 workpiece 1(36 on 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)); Start solenoid valve (41), get the parallel folder of material (83) and clamp 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); Start solenoid valve (41) workpiece 1(36) be 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 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) move to processing/assembly station (47) and blocked workpiece 1(36 by the V-type locating piece (57) on the retention plate (52)) rest 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) clamps 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); Treat workpiece 1(36) processing after, start solenoid valve (41) and lift cylinder (51), processing/assembly manipulator (54) descends, start and clamp cylinder (56), machinery folder (61) is processed workpiece 1(36) be placed 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) processed workpiece 1(36) put back 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 processed workpiece 1(36 on 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), get the parallel folder of material (83) and clamp 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), start solenoid valve (41) processed workpiece 1(36) be placed on the loading and unloading station (45) of travelling belt (98) other end, start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) being got the loading and unloading station (45) that the parallel folder of material (83) is removed travelling belt (98) other end on the pivot arm (81); 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)) the loading and unloading station (45) of from travelling belt (98) other end is transferred to the surveyed area (46) of travelling belt (98), processed workpiece 1(36) through surveyed area when (46) detection probe (34) on the workpiece sensing equipment (97) to processed workpiece 1(36) implement to detect; When detecting processed workpiece 1(36), start the cylinder of selecting materials (100) that is fixed on cylinder support (95), the expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) processed workpiece 1(36) push in the slideway (33) of corresponding inclined ramp modular unit (7), processed workpiece 1(36) enters 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), processed workpiece 1(36) numerical information feed back to master controller (44), master controller (44) is processed workpiece 1(36) digital information transmission give subsequent processing, processed workpiece 1(36) wait enters subsequent processing, single operation that part system (19) was processed/gone out to single order/dibit is implemented in cycling repeatedly, single station processing, detect, sort and go out the training request of part operation;

Master controller (44) sends instruction, start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends 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, 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 workpiece 2(36 on 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)); Start solenoid valve (41), get the parallel folder of material (83) and clamp 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); Start solenoid valve (41) workpiece 2(36) be placed 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 2(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to process; Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 2(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 2(36), start lift cylinder (51), processing/assembly manipulator (54) clamps workpiece 2(36) promote, leave the loading and unloading station (45) of station dial (94); To workpiece 2(36) implement to process, treat workpiece 2(36) processing after, start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, processed workpiece 2(36) be placed 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) go up is placed processed workpiece 2(36) loading and unloading station (45) rotate to the position of aiming at another group solid mechanical fingerprint module unit (3), implement processing work 2(36) training request of operation;

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 processed workpiece 2(36 on 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)); Start solenoid valve (41), get the parallel folder of material (83) and clamp 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), start solenoid valve (41) processed workpiece 2(36) be placed on the loading and unloading station (45) of travelling belt (98) other end, start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) being got the loading and unloading station (45) that the parallel folder of material (83) is removed travelling belt (98) other end on the pivot arm (81); 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) is 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) detection probe (34) during through surveyed area (46) on the workpiece sensing equipment (97) is to processed workpiece 2(36) implement to detect; When detecting processed workpiece 2(36), start the cylinder of selecting materials (100) that is fixed on cylinder support (95), the expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) processed workpiece 2(36) push in the slideway (33) of corresponding horizontal slideway modular unit (8), processed workpiece 2(36) enters 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), processed workpiece 2(36) numerical information feed back to master controller (44), master controller (44) is processed workpiece 2(36) digital information transmission give subsequent processing, processed workpiece 2(36) wait enters subsequent processing, single operation that part system (19) was processed/gone out to single order/dibit is implemented in cycling repeatedly, single station processing, double processing, detect, sort and go out the training request of part operation.

9. a modular combination is made training system, it is characterized in that, check/correction according to claim 1/warehouse-in system (20), this check/correction/warehouse-in system (20) is by 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), combination training on installation platform (12) and master controller (44) are formed, at least 2 group well formula feed modular units (9) are set in the check/correction/warehouse-in system (20), 2 groups of well formula feed modular units (9) are placed 2 kinds of different workpiece respectively, supply with 2 kinds of different workpiece separately, 2 kinds of different workpiece are implemented to detect separately, letter sorting, repair, go into the training on operation requirement of library storage;

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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 at combination training on installation 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), respectively 2 groups of well formula feed modular units (9) are fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal 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) by line cord, carry out the instruction that master controller (44) sends, the motor (68) of starter motor modular unit (10), motor (68) just, the counter-rotating operation, the travelling belt (98) of motor (68) drive travelling belt detection module unit (6) is just, running in the other direction;

The opposite side at the middle part of travelling belt detection module unit (6) fixedly installs inclined ramp modular unit (7), inclined ramp modular unit (7) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the entrance 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 entrance 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) by 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), respectively manipulator unit (3) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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), and 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 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 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), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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 the workpiece 1(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of an end of travelling belt (98) 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, 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) through surveyed area (46), the detection probe (34) on the workpiece sensing equipment (97) is to workpiece 1(36) implement to detect; By the detection probe (34) on the workpiece sensing equipment (97) to workpiece 1(36) detect and need to judge whether to repair, workpiece 1(36) three kinds of situations can appear: defective workpiece, the qualified workpiece of repairing and the defective workpiece that can't repair of needing, implement workpiece 1(36) the training request of single feeding, detection and letter sorting operation;

When detecting the workpiece 1(36 that can't repair), the workpiece 1(36 that detection probe (34) can't be repaired to master controller (44) feedback) numerical information, 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 expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) the workpiece 1(36 that can't repair) push in the slideway (33) of corresponding inclined ramp modular unit (7), the workpiece 1(36 that can't repair) enters in the slideway (33), the detection probe (34) of inclined ramp modular unit (7) detects the workpiece 1(36 that can't repair), the workpiece 1(36 that the detection probe (34) of inclined ramp modular unit (7) can't be repaired to master controller (44) feedback) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, the workpiece 1(36 that can't repair) wait 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 qualified workpiece 1(36 of master controller (44) feedback) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, the travelling belt (98) of travelling belt detection module unit (6) continues operation, qualified workpiece 1(36) be transferred to the loading and unloading station (45) of travelling belt (98) other end; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the workpiece 1(36 that detection probe (34) is repaired to the defective need of master controller (44) feedback) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, the travelling belt (98) of travelling belt detection module unit (6) continues operation, the defective workpiece 1(36 that needs reparation) 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) got on the pivot arm (81) is aimed at the loading and unloading station (45) of travelling belt (98) other end and is gone up the defective workpiece 1(36 that repairs of needing), start solenoid valve (41) and get the parallel folder of material (83) and clamp the defective workpiece 1(36 that repairs of needing); 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) the defective workpiece (36) of reparation that needs of getting the clamping of material parallel folder (83) be placed on the workpiece positioning table (89) of loading platform modular unit (5), to the defective workpiece 1(36 that need repair on the workpiece positioning table (89)) implement to repair and operate; 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 by solid mechanical fingerprint module unit (3) the defective workpiece 1(36 that needs reparation) go up training request from operation to the workpiece positioning table (89) of loading platform modular unit (5) that transfer from the loading and unloading station (45) of travelling belt detection module unit (6);

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), to the defective workpiece 1(36 that needs reparation) implement to repair, workpiece 1(36 after repair to master controller (44) feedback the reparation back) numerical information, 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 workpiece positioning table (89) of getting the parallel folder of material (83) aligning loading platform modular unit (5) on the pivot arm (81) is gone up the workpiece 1(36 after repairing), startup solenoid valve (41) is got the workpiece 1(36 after the parallel folder of material (83) clamps 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) workpiece of getting after the reparation that the parallel folder of material (83) clamps (36) is placed 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 the workpiece 1(36 after repairing by solid mechanical fingerprint module unit (3)) go up training request from operation to the loading and unloading station (45) of travelling belt detection module unit (6) that transfer from the workpiece positioning table (89) of loading platform modular unit (5);

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps the workpiece 1(36 after the reparation on the loading and unloading station (45) of travelling belt (98) other end); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 clamps 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 the workpiece 1(36 after repairing by the Y type reclaimer robot (66) of straight line moving manipulator unit (2)) go up training request from operation to the shelf (87) of tiered warehouse facility modular unit (4) that transfer from the loading and unloading station (45) of travelling belt detection module unit (6), workpiece 1(36 after cycling is filled reparation in reaching tiered warehouse facility modular unit (4) repeatedly), implement check/correction/warehouse-in system (20) and implement single feed, check, letter sorting, the training request of reparation and in-stockroom operation;

Check/correction/warehouse-in system (20) arranges 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) to divide to detect defective workpiece, qualified workpiece and the defective workpiece that can't repair that needs reparation through the detection of travelling belt detection module unit (6) equally; 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) by straight line moving manipulator unit (2) by mechanical arm (71); 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 transferred back on the loading and unloading station (45) of travelling belt detection module unit (6) by solid mechanical fingerprint module unit (3), be transplanted on the goods yard (86) of tiered warehouse facility modular unit (4) by mechanical arm (71) by straight line moving manipulator unit (2) again; 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.

10. a modular combination is made training system, it is characterized in that, multiple spot material loading/processing according to claim 1/assembling/warehouse-in system (21), this multiple spot material loading/processing/assembling/warehouse-in system (21) is 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), well formula feed modular unit (9), motor module unit (10), many processing/modular unit (11), terminal block (28), combination training on installation platform (12) and master controller (44) are formed, in multiple spot material loading/processing/assembling/warehouse-in system (21) processing/modular unit (1) is set, many processing/modular unit (11) and at least 2 group well formula feed modular units (9), 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 combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), one side of (6) one ends, travelling belt detection module unit fixedly installs motor module unit (10), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 (38) of starter motor modular unit (10), motor (68) rotating operation, the travelling belt (98) of motor (68) drive travelling belt detection module unit (6) is just, running in the other direction; The other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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), solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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), and 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 (98) of 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), loading platform modular unit (5) is fixed on the combination training on installation platform (12) with bolt by 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), one group of well formula feed modular unit (9) wherein is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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) by 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), another group well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, to master controller (44) feedback digital information; 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), 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), respectively processing/modular unit (1) and many processing/modular unit (11) are fixed on the combination training on installation platform (12) with bolt by 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); Processing/modular unit (1) is implemented process operation to workpiece (36), and many processing/modular unit (11) are implemented assembly manipulation to workpiece (36);

The opposite side of straight line moving manipulator unit (2) fixedly installs tiered warehouse facility modular unit (4), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12), by stationary positioned hole (38) with bolt master controller (44) be fixed on the combination training on installation platform (12) below, master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training modular unit, implement the training request of multiple spot material loading/processing/assembling/warehouse-in system (21) mounting arrangement, carry out the multiple spot material loading of multiple spot material loading/processing/assembling/warehouse-in system (21), processing work, the training request of assembling workpiece and in-stockroom operation;

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 the workpiece 1(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the workpiece positioning table (89) of 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, workpiece 1(36 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)), start solenoid valve (41), get the parallel folder of material (83) and clamp 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 solenoid valve (41) workpiece 1(36) be placed on the loading and unloading station (45) of an end of travelling belt (98) of travelling belt detection module unit (6), start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) 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 in the process of transmission) surveyed area (46) of process travelling belt detection module unit (6), the workpiece sensing equipment (97) of detection module unit (6) is to workpiece 1(36) implement to detect, workpiece sensing equipment (97) is to master controller (44) feedback workpiece 1(36) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, carry out mobile motor (68) and drive 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 motor (68) of carrying out lifting, adjust the height of 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) clamps 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 travelling belt (98) other end of travelling belt detection module unit (6);

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the workpiece 1(36 that is clamped on the Y type reclaimer robot (66)) be placed 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 workpiece 1(36) feeding and detect the training request of operation;

Start getting of processing/modular unit (1) and anticipate a cylinder (53), get anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) move to processing/assembly station (47) and blocked workpiece 1(36 by the V-type locating piece (57) on the retention plate (52)) rest 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) clamps 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); Treat workpiece 1(36) implement processing after, start solenoid valve (41) and lift cylinder (51), processing/assembly manipulator (54) descends, start and clamp cylinder (56), machinery folder (61) is processed workpiece 1(36) be placed 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) processed workpiece 1(36) places back on the loading and unloading station (45), enforcement is to workpiece 1(36) the training request of process operation;

Master controller (44) sends instruction, start the pusher cylinder (106) of another group well formula feed modular unit (9), pusher cylinder (106) is the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6); 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)) be transferred to the loading and unloading station (45) of travelling belt (98) other end from the loading and unloading station (45) of travelling belt (98) one ends; Workpiece 2(36 in the process of transmission) surveyed area (46) of process travelling belt detection module unit (6), the workpiece sensing equipment (97) of detection module unit (6) is to workpiece 2(36) implement to detect, workpiece sensing equipment (97) is to master controller (44) feedback workpiece 2(36) numerical information, master controller (44) receives numerical information and sends instruction through after the digital processing, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps workpiece 2(36); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 2(36 that is clamped on the Y type reclaimer robot (66)) be placed 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 workpiece 2(36) feeding and the training request that detects operation;

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 2(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to process; Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 2(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 2(36), start lift cylinder (51), processing/assembly manipulator (54) clamps workpiece 2(36) promote, 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 processed workpiece 1(36); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), start the gripper cylinder (76) on the mechanical arm (71), the workpiece 1(36 that is clamped on the Y type reclaimer robot (66)) be placed 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 1(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 1(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 1(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 1(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble;

Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, processed workpiece 2(36) put into workpiece 1(36), finish assembly manipulation, workpiece 1(36) and workpiece 2(36) be 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, the loading and unloading station (45) of station dial (94) go up being placed the workpiece (36) after the assembling rotates to the position of aiming at straight line walking machine fingerprint module unit (2), implements workpiece 1(36) and workpiece 2(36) the training request of assembly manipulation;

Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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);

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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, carries out multiple spot material loading/processing/assembling/warehouse-in system (21) the training request of different workpiece by multiple spot material loading, processing work, assembling workpiece and warehouse-in.

11. a modular combination is made training system, it is characterized in that, batching/outbound according to claim 1/categorizing system (22), this batching/outbound/categorizing system (22) is 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), horizontal slideway detection module unit (8), motor module unit (10), combination training on installation platform (12) and master controller (44) are formed, and batching is implemented at least 2 group inclined ramp detection module unit (7) in the batching/outbound/categorizing system (22), outbound, the training on operation requirement of classification;

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the side of (6) one ends, travelling belt detection module unit fixedly installs motor module unit (10), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal 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) by line cord, carry out the instruction that master controller (44) sends, the motor (68) of starter motor modular unit (10), motor (68) just, the counter-rotating operation, the travelling belt (98) of motor (68) drive travelling belt detection module unit (6) is just, running in the other direction; 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), respectively horizontal slideway detection module unit (8) and 2 groups of inclined ramp detection module unit (7) are fixed on the combination training on installation platform (12) with bolt by 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) by 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), respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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), go up the workpiece sensing equipment (97) that arranges by travelling belt detection module unit (6) and from the workpiece (36) that mixes, detect, distinguish and sort out workpiece 1(36) and workpiece 2(36); Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts and clamps 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, connecting line drag chain (70) is being with connecting line translation together, start the motor (68) of carrying out lifting, adjust the height of 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 clamps on the loading and unloading station (45) of the other end of travelling belt detection module unit (6), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, remove Y type reclaimer robot (66) from loading and unloading station (45), implement the workpiece (36) that mixes is gone up training request from operation to the loading and unloading station (45) of travelling belt detection module unit (6) that transfer from the shelf (87) of tiered warehouse facility modular unit (4) by 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 master controller (44) feedback workpiece 1(36) numerical 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 expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) workpiece 1(36) push 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), the detection probe (34) of inclined ramp modular unit (7) is to master controller (44) feedback workpiece 1(36) numerical information, after master controller (44) receives numerical information, through sending instruction, workpiece 1(36 after the digital processing) wait for and enter subsequent processing;

When from the workpiece (36) that mixes, detecting workpiece 2(36), workpiece sensing equipment (97) is to master controller (44) feedback workpiece 2(36) numerical 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 expansion link of cylinder (100) of selecting materials passes pusher window (96) on the locating support (99) workpiece 2(36) push 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) is to master controller (44) feedback workpiece 2(36) numerical information, after master controller (44) receives numerical information, send instruction through after the digital processing, workpiece 2(36) wait enters subsequent processing, cycling mixes workpiece (36) all outbound enforcement detection and letter sorting in tiered warehouse facility modular unit (4) repeatedly, carries out the batching of batching/outbound/categorizing system (22), outbound, detect and sort the training request of operation.

12. a modular combination is made training system, it is characterized in that, according to claim 1 pair of material loading/pair assembling/detection/warehouse-in system (23), this pair material loading/pair assembling/detection/warehouse-in/outbound system (23) is 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), combination training on installation platform (12) and master controller (44) are formed, and in two material loadings/pair assembling/detection/warehouse-in/outbound system (23) processing/modular unit (1) are set, many processing/modular unit (11) and at least 2 group well formula feed modular units (9); 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/pair assembling/detection/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 combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), use bolt straight line moving manipulator unit (2) by stationary positioned hole (38), be fixed on the combination training on installation platform (12), the other end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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 at combination training on installation platform (12);

One side of (2) one ends, straight line moving manipulator unit fixedly installs tiered warehouse facility modular unit (4), tiered warehouse facility modular unit (4) is fixed on the combination training on installation platform (12) with bolt by 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), by stationary positioned hole (38) with bolt respectively loading platform modular unit (5), one group of well formula feed modular unit (9) wherein, processing/modular unit (1) and many processing/modular unit (11) are fixed on the combination training on installation 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by 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 combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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) are respectively solid mechanical fingerprint module unit (3), inclined ramp detection module unit (7), well formula feed modular unit (9) and motor module unit (10) are fixed on the combination training on installation platform (12);

One end of travelling belt detection module unit (6) arranges wherein another group well formula feed modular unit (9) of 2 groups of well formula feed modular units (9), another group well formula feed modular unit (9) wherein is fixed in combination training on installation platform (12) with bolt by stationary positioned hole (38), 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) the workpiece 1(36 that goes out in the feed bin (107)) shift onto on the loading and unloading station (45) of travelling belt detection module unit (6); Wherein the operation circuit of the solenoid valve (41) of another group well formula feed modular unit (9) is connected with the output signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, to master controller (44) feedback digital information; The other end of travelling belt detection module unit (6) arranges motor module unit (10), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal 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) by 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) drive 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), inclined ramp detection module unit (7) is fixed on the combination training on installation platform (12) with bolt by 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) by 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), solid mechanical fingerprint module unit (3) is fixed on the combination training on installation platform (12) with bolt by 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) the just extraction of the loading and unloading station (45) from many processing/modular unit (11) or place work piece (36) in many processing/modular unit (11);

Below the combination training on installation platform (12) master controller (44) is set, master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training modular unit, implement the training request of two material loadings/pair assembling/detection/warehouse-in system (23) mounting arrangement, carry out the dibit material loading of two material loadings/pair assembling/detection/warehouse-in system (23), the training request of dibit assembling workpiece and in-stockroom operation;

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 the workpiece 1(36 in the well formula feed storehouse (103)) shift an end loading and unloading station (45) of travelling belt detection module unit (6) onto 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 clamp 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 solenoid valve (41) workpiece 1(36) be placed 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), the parallel folder of material (83) of getting by solid mechanical fingerprint module unit (3) is transferred to 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 1(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 1(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 1(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 1(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to process; Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, alignment pieces 1(36), start and clamp cylinder (56), machinery folder (61) clamps workpiece 1(36), start lift cylinder (51), processing/assembly manipulator (54) clamps workpiece 1(36) promote, leave the loading and unloading station (45) of station dial (94), to workpiece 1(36) implement processing and etc. to be assembled;

Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the workpiece positioning table (89) of loading platform modular unit (5); The detection probe (34) of loading platform modular unit (5) is to master controller (44) feedback workpiece 2(36) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, actuating 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 the motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps 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), start solenoid valve (41) workpiece 2(36) be placed 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, and station dial (94) is gone up one of them place work piece 2(36) loading and unloading station (45) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the workpiece 2(36 on the loading and unloading station (45)) push V-type locating piece (57) to along station dial (94), workpiece 2(36) move to by the V-type locating piece (57) on the station dial (94) block workpiece 2(36) rest on the position of aiming at processing/assembly manipulator (54) and implement to assemble; Start the lift cylinder (51) on the lifting column (60), processing/assembly manipulator (54) descends, the workpiece 1(36 of processing/assembly manipulator (54) clamping) put into the workpiece 2(36 on the loading and unloading station (45)), with workpiece 1(36) and workpiece 2(36) be assembled into and assemble workpiece (36), start lift cylinder (51), processing/assembly manipulator (54) clamps workpiece 1(36) promote, leave the loading and unloading station (45) of station dial (94); The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, the loading and unloading station (45) that station dial (94) go up is placed the workpiece (36) after the assembling rotates to the position of secured in alignment manipulator unit (3), implements many processing/modular unit (11) to workpiece 1(36) and workpiece 2(36) processing 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, assembling workpiece (36) on 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), start solenoid valve (41), get the parallel folder of material (83) and clamp 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), the rotation of support column (82) and pivot arm (81) being got the loading and unloading station (45) that the parallel folder of material (83) is removed the other end 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, 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 after testing the zone when (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), 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 entered 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 clamp 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), the rotation of support column (82) and pivot arm (81) 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 motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), Y type reclaimer robot (66) clamps 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 the motor (68) of carrying out lifting, adjust the height of 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), 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 the workpiece 1(36 in the well formula feed storehouse (103)) shift an end loading and unloading station (45) of travelling belt detection module unit (6) onto 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 clamp 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 solenoid valve (41) workpiece 1(36) be placed on the loading and unloading station (45) of many processing/modular unit (11), start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) 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 motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps 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), start solenoid valve (41) workpiece 1(36) be placed 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); Workpiece 1 is transplanted on the loading and unloading station (45) of processing/modular unit (1) by solid mechanical fingerprint module unit (3) and straight line moving manipulator unit (2), implements the training request of workpiece 1 material loading operation;

Start getting of processing/modular unit (1) and anticipate a cylinder (53), get anticipate a cylinder (53) drive get material locating piece (58) the workpiece 1(36 on the loading and unloading station (45)) push processing/assembly station (47) to along retention plate (52), workpiece 1(36) move to processing/assembly station (47) and blocked workpiece 1(36 by the V-type locating piece (57) on the retention plate (52)) rest 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) clamps 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) the enforcement process operation;

Start the wherein pusher cylinder (106) of one group of well formula feed modular unit (9), pusher cylinder (106) is the workpiece 2(36 in the well formula feed storehouse (103)) shift onto from the discharging opening that goes out feed bin (107) on the workpiece positioning table (89) of loading platform modular unit (5); The detection probe (34) of loading platform modular unit (5) is to master controller (44) feedback workpiece 2(36) numerical information, master controller (44) sends instruction after receiving numerical information after treatment, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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)), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) clamps 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), start solenoid valve (41) workpiece 2(36) be placed 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 anticipate a cylinder (53) drive get material locating piece (58) the workpiece 2(36 on the loading and unloading station (45)) push processing/assembly station (47) to, workpiece 2(36) move to processing/assembly station (47) along retention plate (52) and blocked workpiece 2(36 by the V-type locating piece (57) on the retention plate (52)) rest 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 the workpiece 1(36 that clamps) be placed into the workpiece 2(36 on processing/assembly station (47)) in, start solenoid valve (41) and lift cylinder (51) and promote processing/assembly manipulator (54), processing/assembly manipulator (54) leaves processing/assembly station (47), workpiece 1(36) and workpiece 2(36) be assembled into the assembling workpiece (36), start to get and anticipate a cylinder (53), drive is got material locating piece (58) assembling workpiece (36) is revert to loading and unloading station (45), implements the training request of processing/modular unit (1) assembling workpiece 1 and workpiece 2 operations;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps 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 the motor (68) of carrying out lifting, adjust the height of 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 the gripper cylinder (76) on the mechanical arm (71), 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, assembling workpiece (36) on 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), start solenoid valve (41), get the parallel folder of material (83) and clamp 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 an 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), the rotation of support column (82) and pivot arm (81) being got the loading and unloading station (45) that the parallel folder of material (83) is removed an end 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, 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 after testing the zone when (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), 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 entered 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 clamp 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), the rotation of support column (82) and pivot arm (81) 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 motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), Y type reclaimer robot (66) clamps 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 the motor (68) of carrying out lifting, adjust the height of 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), 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 the different workpiece (36) of many processing/modular unit (11) each self-assembly of difference, 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, and two material loadings/pair assembling/detection/warehouse-in/outbound system (23) carries out the double feed, the training request of double assembling and in-stockroom operation.

13. a modular combination is made training system, it is characterized in that, thick finishing according to claim 1/detection/except useless/warehouse-in/outbound system (24), this thick finishing/detection/except useless/warehouse-in/outbound system (24) is 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), combination training on installation platform (12) and master controller (44) are formed, thick finishing/detection/except in useless/warehouse-in/outbound system (24) processing/modular unit (1) being set, many processing/modular unit (11), at least 2 group inclined ramp detection module unit (7), processing/modular unit (1) and many processing/modular unit (11) are implemented roughing and accurately machined operation separately, thick finishing/detection/except useless/warehouse-in/outbound system (24) enforcement roughing, finishing detects, waste product is proposed, go into the training on operation purpose of library storage and outbound;

One end of combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the other end of combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38); One side of one end of travelling belt detection module unit (6) fixedly installs well formula feed modular unit (9), well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, to master controller (44) feedback digital information; Start the pusher cylinder (106) of well formula feed modular unit (9), the workpiece (36) in the well formula feed storehouse (103) is shifted 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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), motor module unit (10) is fixedly installed on the combination training on installation 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 signal 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) by 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) 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), respectively 2 groups of inclined ramp modular units (7) are fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the entrance 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 entrance 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) by 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), respectively solid mechanical fingerprint module unit (3) and processing/modular unit (1) are fixed on the combination training on installation platform (12) with bolt by 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), many processing/modular unit (11) are fixed on the combination training on installation platform (12) with bolt by 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), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), travelling belt detection module unit (6) and straight line moving manipulator unit (2) are T-shaped at combination training on installation platform (12), and 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), respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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 combination training on installation platform (12) fixedly installs master controller (44), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, in the training of combination training on installation platform (12) assembling training with modular unit, carry out thick finishing/detections/remove to give up/training request of the mounting arrangement of warehouse-in/outbound system (24);

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 clamped 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) clamps is placed on the loading and unloading station (45) of group 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), the parallel folder of material (83) of getting by solid mechanical fingerprint module unit (3) arrives workpiece transfer on the loading and unloading station (45) of processing/modular unit (1), implements the training request of workpiece 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) workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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 and clamp cylinder (56), machinery folder (61) is placed on the workpiece (36) of processing on processing/assembly station (47), start to get and anticipate a cylinder (53), material locating piece (58) playback is got in drive, gets material locating piece (58) processed workpiece (36) is placed back on the loading and unloading station (45);

Master controller (44) sends instruction after handling through data, 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 the rough machined workpiece (36) on solenoid valve (41) the extraction 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 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), start 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), 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 detection module unit (6), by 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 the transmission of the loading and unloading station (45) 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); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), start the gripper cylinder (76) on the mechanical arm (71), Y type reclaimer robot (66) extracts and clamps 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) by 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 the motor (68) of carrying out lifting, adjust the height of 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), the rough machined workpiece (36) of Y type reclaimer robot (66) clamping is placed 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 solenoid valve group (67) of carrying out lifting, 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 enters finishing operations;

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up one of them loading and unloading station (45) of placing rough machined workpiece (36) rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the rough machined workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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) clamps 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 rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up the loading and unloading station (45) of placing accurately machined workpiece (36) rotate to the position of aiming at straight line walking machine fingerprint module unit (2), implement the training request of finishing operations;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of Y type reclaimer robot (66), 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 clamps 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, 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); By the detection probe (34) on the workpiece sensing equipment (97) to accurately machined workpiece (36) detect judge whether qualified, there will be two kinds of situations for accurately machined workpiece (36): underproof waste product and certified products, implement the training request to 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) enters 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, 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, qualified workpiece (36) is transferred to the loading and unloading station (45) of travelling belt (98) other end from surveyed area (46); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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; Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) the finishing of clamping after qualified workpiece (36) be placed on the goods yard (86) of tiered warehouse facility modular unit (4), start the motor (68) of carrying out displacement, rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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); Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 thick finishing/detection/arrange the training request of operating in order except workpiece in roughing, finishing, detection, letter sorting, removal waste product, warehouse-in and the adjustment outbound of useless/warehouse-in/outbound system (24).

14. a modular combination is made training system, it is characterized in that, material loading according to claim 1/maintenance/waste product/warehouse-in system (25), this material loading/maintenance/waste product/warehouse-in system (25) is by 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), combination training on installation platform (12) and master controller (44) are formed, 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 by processing/modular unit (1) and many processing/modular unit (11);

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

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 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) just extracts or place work piece (36) from the loading and unloading station (45) of travelling belt detection module unit (6) one ends;

Fixedly install 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 processing/modular unit (1);

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), motor module unit (10) are fixed on the combination training on installation platform (12) with bolt by 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 signal 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) by 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) 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 horizontal slideway modular unit (8), horizontal slideway modular unit (8) is fixed on the combination training on installation platform (12) with bolt by stationary positioned hole (38), the entrance 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 entrance 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) by 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), well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, to master controller (44) feedback digital information, start the pusher cylinder (106) of well formula feed modular unit (9), the workpiece (36) in the well formula feed storehouse (103) is shifted onto on the loading and unloading station (45) of the other end of travelling belt detection module unit (6);

The bottom of combination training on installation platform (12) fixedly installs master controller (44), master controller (44) passes cable-through hole (110) entry-line by 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, in the training of combination training on installation platform (12) assembling training with modular unit, carry out the training request of the mounting arrangement of material loading/maintenance/waste product/warehouse-in system (25);

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, workpiece (36) on the loading and unloading station (45) of getting the parallel folder of material (83) aligning travelling belt (98) one ends on the pivot arm (81), startup solenoid valve (41) is got the parallel folder of material (83) and is clamped 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) clamps 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 qualified workpiece (36) is gone up training request from operation to the loading and unloading station (45) of processing/modular unit (1) that transfer from the loading and unloading station (45) of travelling belt (98) one ends of travelling belt detection module unit (6) by 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) workpiece (36) on the loading and unloading station (45) is pushed 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) clamps 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), processing/assembly manipulator (54) descends, start and clamp cylinder (56), 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) workpiece after the roughing (36) is placed back 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 the motor (68) of carrying out lifting, adjust the height of 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 clamps 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 the motor (68) of carrying out lifting, adjust the height of 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 rough machined workpiece (36) is gone up training request from operation to the loading and unloading station (45) of many processing/modular unit (11) that transfer from the loading and unloading station (45) of processing/modular unit (1) by straight line moving manipulator unit (2);

The rotation positioning motor (91) that starts many processing/modular unit (11) drives station dial (94) rotation, station dial (94) is gone up one of them loading and unloading station (45) of placing the workpiece (36) after roughing rotate to the position of aiming at processing/assembly manipulator (54); Start positioning clamping cylinder (104), positioning clamping cylinder (104) drives positioning clamp holder (111) the rough machined workpiece (36) on the loading and unloading station (45) is pushed 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), processing/assembly manipulator (54) descends, aim at rough machined workpiece (36), start and clamp cylinder (56), machinery folder (61) clamps rough machined workpiece (36), starts lift cylinder (51), and processing/assembly manipulator (54) clamps 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), processing/assembly manipulator (54) descends, aim at the loading and unloading station (45) of station dial (94), start and clamp 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 rotation positioning 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;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), Y type reclaimer robot (66) extracts and clamps 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 motor (68) and the mechanical arm solenoid valve group (67) of lifting, the Y type reclaimer robot (66) that clamps the workpiece (36) after the finishing is removed;

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), start the gripper cylinder (76) on the mechanical arm (71), 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, surveyed area (46) through 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), by 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 back to the numerical information of 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 by circuit, master controller (44) sends instruction after handling through data, 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) enters 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), 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 by circuit, master controller (44) sends instruction after handling through data, 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, qualified workpiece (36) is transferred to 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), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps qualified workpiece (36);

Start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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), the qualified accurately machined workpiece (36) of Y type reclaimer robot (66) clamping 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 goods yard (86), qualified accurately machined workpiece (36) is filled in cycling in tiered warehouse facility modular unit (4) repeatedly, implement to transfer to from the loading and unloading station of travelling belt detection module unit (6) on the shelf (87) of tiered warehouse facility modular unit (4) detecting qualified accurately machined workpiece by the Y type reclaimer robot (66) of straight line moving manipulator unit (2), carry out the material loading of material loading/maintenance/waste product/warehouse-in system (25), check, remove defective workpiece, roughing, the training request of the operation of finishing and warehouse-in.

15. a modular combination is made training system, it is characterized in that, messy arrangement/ordering system according to claim 1 (26), this 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), combination training on installation 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 combination training on installation platform (12) fixedly installs straight line moving manipulator unit (2), straight line moving manipulator unit (2) is fixed on the combination training on installation platform (12) with bolt by 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), respectively tiered warehouse facility modular unit (4) and loading platform modular unit (5) are fixed on the combination training on installation platform (12) with bolt by 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 the combination training on installation platform (12) below, master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, use modular unit in combination training on installation platform (12) training assembling training, 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 by straight line moving manipulator unit (2) and loading platform modular unit (5); Master controller (44) sends instruction, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) extracts and clamps 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 the motor (68) of carrying out lifting, adjust the height of 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) 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) by 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 solenoid valve group (67) of carrying out lifting, 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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, start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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) clamps the workpiece (36) on the workpiece positioning table (89) of loading platform modular unit (5), start the motor (68) of the execution displacement of straight line moving manipulator unit (2), rotary cylinder (31), carry out motor (68) and the mechanical arm solenoid valve group (67) of lifting, 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 motor (68) of carrying out lifting, adjust the height of 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 solenoid valve group (67) of carrying out lifting, remove Y type reclaimer robot (66) from the goods yard (86) of tiered warehouse facility modular unit (4), messy arrangement/ordering system (26) is carried out the training request to the workpiece arranging order operation of messy arrangement on the shelf of tiered warehouse facility modular unit.

16. a modular combination is made training system, it is characterized in that, travelling belt ordering system according to claim 1 (27), this 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), combination training on installation 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 combination training on installation platform (12) fixedly installs travelling belt detection module unit (6), travelling belt detection module unit (6) is fixed on the combination training on installation platform (12) with bolt by 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), by stationary positioned hole (38) with bolt respectively motor module unit (10), solid mechanical fingerprint module unit (3) and loading platform modular unit (5) are fixed on the combination training on installation 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 signal 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) by line cord, carry out the instruction that master controller (44) sends, the motor (68) of starter motor modular unit (10), motor (68) just, the counter-rotating operation, the travelling belt (98) of motor (68) drive travelling belt detection module unit (6) is just, running in the other direction;

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), well formula feed modular unit (9) is fixed on the combination training on installation platform (12) with bolt by 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 signal interface (113) of terminal block (28), the cable interface (114) of terminal block (28) is connected with master controller (44) by 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) by line cord, 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 combination training on installation platform (12) fixedly installs master controller (44), master controller (44) passes cable-through hole (110) by line cord and enters circuit connection groove (37) and be connected with modular unit with each group training, master controller (44) sends instruction and receiving feedback information, at combination training on installation platform (12) training assembling training 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 (68) of starter motor modular unit (10), motor (68) is just being transported row, and motor (68) 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) is surveyed area (46) transmission of the workpiece (36) on the travelling belt (98) from the loading and unloading station (45) of the other end of travelling belt (98) to 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, through sending instruction 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) clamps 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) clamps 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) clamps lack of alignment, start rotary cylinder (31), rotary cylinder (31) driven rotary platform (85), the rotation of support column (82) and pivot arm (81) 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, through sending instruction 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) clamps 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) clamps 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 position on the travelling belt (98) getting workpiece (36) that the parallel folder of material (83) clamps 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, the parallel folder of material (83) got on the pivot arm (81) is removed the travelling belt (98) of travelling belt detection module unit (6), the workpiece of cycling on travelling belt reaches and arranges in order repeatedly, and the workpiece arrangement on the travelling belt of execution travelling belt ordering system (27) is the training request of operation in order.

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