CN103203630A - Modular flexible manufacturing logistics system - Google Patents
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- CN103203630A CN103203630A CN2013101564558A CN201310156455A CN103203630A CN 103203630 A CN103203630 A CN 103203630A CN 2013101564558 A CN2013101564558 A CN 2013101564558A CN 201310156455 A CN201310156455 A CN 201310156455A CN 103203630 A CN103203630 A CN 103203630A
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Abstract
The invention relates to a modular flexible manufacturing logistics system which comprises an automatic stereoscopic warehouse delivery unit, a material detection and machine vision unit, a robot machining unit, a size detection unit, a waste product sorting unit, an analog spraying unit, a robot assembling unit, a finished product warehouse and stacker unit and a system main control unit, wherein the system main control unit is connected with the automatic stereoscopic warehouse delivery unit, the material detection and machine vision unit, the robot machining unit, the size detection unit, the waste product sorting unit, the analog spraying unit, the robot assembling unit and the finished product warehouse and stacker unit respectively through an industrial Ethernet bus; the system main control unit is used as a system main station for coordinating and controlling respective substation units, namely the automatic stereoscopic warehouse delivery unit, the material detection and machine vision unit, the robot machining unit, the size detection unit, the waste product sorting unit, the analog spraying unit, the robot assembling unit and the finished product warehouse and stacker unit; and the units can be separated from the system and independently work or work in an on-line manner.
Description
Technical field
The present invention relates to manufacturing system, be specifically related to the modularization flexible manufacturing logistics system of a kind of integrated logistics transmission, product manufacturing.
Background technology
Along with developing rapidly of science and technology, new product continues to bring out, and the complexity of product also increases thereupon, and the market life of product shortens day by day, updates to accelerate, in, small lot batch manufacture occupies more and more important position.Face this-new situation, must increase substantially and make flexibility and production efficiency, shorten the production cycle, guarantee product quality, cut down the consumption of energy, thereby reduce production costs, to obtain better economic benefit.Flexible manufacturing system is arisen at the historic moment just under these circumstances.
Flexible manufacturing system FMS is by unified management information system, material storage-transportation system and set of number control process equipment are formed, the automated machine manufacturing system that can adapt to the processing object conversion, the FMS technology is the inevitable structure of Computerized Numerical Control processing technology development, embodied the equipment manufacturing technology level of a country, its will be in the past separate engineering design in the enterprise, processes such as the manufacturing and management, under the support of computer and software thereof, constitute one and cover the complete of whole enterprise and organic system, to realize overall dynamic optimization, overall high benefit, high flexibility, and and then win and compete comprehensive intelligent manufacturing system.Yet China starts late, and is backward relatively on flexible manufacturing system, along with the continuous propelling of domestic industry degree, and industrialization transition, for the demand of automation equipment, and the integrated demand of technology constantly increases.Demand for the modularization flexible manufacturing logistics system that integrated logistics transmits, product is made is more and more higher.
Summary of the invention
In view of this, the present invention aims to provide the modularization flexible manufacturing logistics system of a kind of integrated logistics transmission, product manufacturing.
The objective of the invention is to provide a kind of modularization flexible manufacturing system, adopt Robotics to realize the unmanned control of production process, realize the economical and efficient of system, safe and reliable operation.And this system also can be used as teaching and uses, be reached for the student opening is provided, but novelty and experiment porch property of participation, and the purpose of teaching.
The present invention takes following technical scheme to address the above problem:
A kind of modularization flexible manufacturing logistics system, comprise that automatic stereowarehouse goes out library unit, material tests and machine vision unit, the processing of robots unit, size detecting unit, waste product letter sorting unit, the analog quantity spray unit, the robot assembly unit, warehouse for finished product and piler unit and system's Master Control Unit, described automatic stereowarehouse goes out library unit, material tests and processing of robots unit, machine vision unit, size detecting unit, system's Master Control Unit, waste product letter sorting unit, the analog quantity spray unit, robot assembly unit and warehouse for finished product and piler unit are connected to form the U-shaped arrangement mode successively, described automatic stereowarehouse goes out library unit, material tests and processing of robots unit, machine vision unit, size detecting unit is located along the same line, described waste product letter sorting unit, the analog quantity spray unit, the robot assembly unit, warehouse for finished product and piler unit are located along the same line, described system Master Control Unit and described automatic stereowarehouse go out library unit, material tests and processing of robots unit, machine vision unit, size detecting unit, waste product letter sorting unit, the analog quantity spray unit, the robot assembly unit, warehouse for finished product all is connected by the EPA bus with the piler unit, described system Master Control Unit is coordinated the described automatic stereowarehouse of control as master station of system and is gone out library unit, material tests and processing of robots unit, machine vision unit, size detecting unit, waste product letter sorting unit, the analog quantity spray unit, the robot assembly unit, each substation unit of warehouse for finished product and piler unit, but each substation unit detachment system works alone or on-line working.
Preferably, described system Master Control Unit comprises the 9th aluminium alloy desktop, total control computer, first programmable logic controller (PLC), second programmable logic controller (PLC), the 3rd programmable logic controller (PLC), the 4th programmable logic controller (PLC), the 5th programmable logic controller (PLC), first embedded control system, second embedded control system and the 3rd embedded control system, described master control computer installation on described the 9th aluminium alloy desktop, described total control computer by bus respectively with described first programmable logic controller (PLC), second programmable logic controller (PLC), the 3rd programmable logic controller (PLC), the 4th programmable logic controller (PLC), the 5th programmable logic controller (PLC), first embedded control system, second embedded control system is connected with the 3rd embedded control system.
Preferably, described automatic stereowarehouse goes out library unit and comprises the first aluminium alloy desktop, the three-dimensional raw material storage, workpiece, four-degree-of-freedom rectangular co-ordinate robot palletizer and robot end's Pneumatic paw, described three-dimensional raw material storage and four-degree-of-freedom rectangular co-ordinate robot palletizer are arranged on the described first aluminium alloy desktop, described workpiece is placed on described three-dimensional raw material storage, described robot end's Pneumatic paw is arranged on the described four-degree-of-freedom rectangular co-ordinate robot palletizer, described automatic stereowarehouse goes out library unit by controlling by the first programmed logic controller, be connected with described system Master Control Unit bus, coordinated and control by system's Master Control Unit.
Preferably, described material tests and machine vision unit comprise the second aluminium alloy desktop, second belt conveyor, proximity transducer and CCD NI Vision Builder for Automated Inspection, described second belt conveyor, proximity transducer and CCD NI Vision Builder for Automated Inspection are arranged on the described second aluminium alloy desktop, described proximity transducer and CCD NI Vision Builder for Automated Inspection are positioned on described second belt conveyor along the line, described material tests and machine vision unit are controlled by first embedded control system, be connected with described system Master Control Unit bus, coordinated and control by system's Master Control Unit.
Preferably, described processing of robots unit comprises the 3 Al alloy desktop, the 3rd belt conveyor, Pneumatic manipulator, six degree of freedom desktop type parallel robot, electronic main shaft in parallel and cutter and air-actuated jaw in parallel, described the 3rd belt conveyor, Pneumatic manipulator, six degree of freedom desktop type parallel robot, be arranged on the described 3 Al alloy desktop with air-actuated jaw in parallel, the electronic main shaft of described parallel connection and cutter are arranged on the six degree of freedom desktop type parallel robot, described air-actuated jaw in parallel is installed in the below of described electronic main shaft and cutter, described processing of robots unit is controlled by second embedded control system, be connected with described system Master Control Unit bus, coordinated and control by system's Master Control Unit.
Preferably, described size detecting unit comprises the 4th aluminium alloy desktop, the 4th belt conveyor, 90 degree conveying robots, four station checkout gears, hole depth checkout gear and 90 degree transportation manipulators, described the 4th belt conveyor, 90 degree conveying robots, four station checkout gears, hole depth checkout gear and 90 degree transportation manipulators are arranged on described the 4th aluminium alloy desktop, described size detecting unit is by second PLC controls, be connected with described system Master Control Unit bus, coordinated and control by system's Master Control Unit.
Preferably, described waste product letter sorting unit comprises the 5th aluminium alloy desktop, the 5th belt conveyor, 90 degree transportation manipulator, three pneumatic retention devices and three waste product grooves, described the 5th belt conveyor, 90 degree transportation manipulators, three pneumatic retention devices and three waste product grooves are arranged on described the 5th aluminium alloy desktop, described waste product letter sorting unit is by the 3rd PLC controls, be connected with described system Master Control Unit bus, coordinated and control by system's Master Control Unit.
Preferably, described analog quantity spray unit comprises the 6th aluminium alloy desktop, the 6th belt conveyor, vacuum suction handling system, spraying conveyer, color sensor and three spray equipments, described the 6th belt conveyor, vacuum suction handling system, spraying conveyer, color sensor and three spray equipments are arranged on described the 6th aluminium alloy desktop, described analog quantity spray unit is by the 4th PLC controls, be connected with described system Master Control Unit bus, coordinated and control by system's Master Control Unit.
Preferably, described robot assembly unit comprises the 7th aluminium alloy desktop, the 7th belt conveyor, twelve-station rotation material storehouse, sub-workpiece, color sensor, barcode scanner, six degree of freedom desktop type serial machine people, robot end's Pneumatic paw and mounting plate, described the 7th belt conveyor, twelve-station rotation material storehouse, color sensor, barcode scanner, six degree of freedom desktop type serial machine people, robot end's Pneumatic paw and mounting plate are arranged on described the 7th aluminium alloy desktop, described sub-workpiece is placed in the twelve-station rotation material storehouse, described color sensor is installed in the below in described twelve-station rotation material storehouse, described robot end's Pneumatic paw is arranged on described six degree of freedom desktop type serial machine people's end, described robot assembly unit is controlled by the 3rd embedded control system, be connected with described system Master Control Unit bus, coordinated and control by system's Master Control Unit.
Preferably, described warehouse for finished product and piler unit comprise the 8th aluminium alloy desktop, three-dimensional warehouse warehouse for finished product, piler, well formula feed bin and single armed feeding device, described three-dimensional warehouse warehouse for finished product, piler, well formula feed bin and single armed feeding device are arranged on described the 8th aluminium alloy desktop, described warehouse for finished product and piler unit are by the 5th PLC controls, be connected with described system Master Control Unit bus, coordinated and control by system's Master Control Unit.
Compared with prior art, the beneficial effect of flexiblesystem of the present invention is:
Modularization flexible manufacturing logistics system of the present invention is core with the Robotics, and the actual automatic production line operating process of industry spot is simulated in the Mechatronic Systems all-round opening fully.
Modularization flexible manufacturing logistics system technology contents of the present invention is abundant, comprises most of industrial control field ABC, is fit to robot and electromechanical integration professional teaching and scientific research.
Modularization flexible manufacturing logistics system of the present invention has the advantage of modularization and high flexibility, can adapt to the manufacturing of different product fast.
Description of drawings
Fig. 1 is the front view of modularization flexible manufacturing logistics system main assembly of the present invention and layout.
Fig. 2 is the vertical view of Fig. 1.
Fig. 3 is the front view that automatic stereowarehouse of the present invention goes out library unit.
Fig. 4 is the vertical view of Fig. 1.
Fig. 5 is the front view of material tests of the present invention and machine vision unit.
Fig. 6 is the vertical view of Fig. 5.
Fig. 7 is the front view of processing of robots of the present invention unit.
Fig. 8 is the vertical view of Fig. 7.
Fig. 9 is the front view of size detecting unit of the present invention.
Figure 10 is the vertical view of Fig. 9.
Figure 11 is the front view of waste product letter sorting of the present invention unit.
Figure 12 is the vertical view of Figure 11.
Figure 13 is the front view of analog quantity spray unit of the present invention.
Figure 14 is the vertical view of Figure 13.
Figure 15 is the left view of Figure 13.
Figure 16 is the front view of robot of the present invention assembly unit.
Figure 17 is the vertical view of Figure 16.
Figure 18 is the figure that sits by and watch of Figure 16.
Figure 19 is the front view of warehouse for finished product of the present invention and piler unit.
Figure 20 is the vertical view of Figure 19.
Figure 21 is the front view of system of the present invention Master Control Unit.
Figure 22 is the vertical view of Figure 21.
Figure 23 is the control chart of modularization flexible manufacturing logistics system of the present invention.
The specific embodiment
In order to make purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the present invention, and be not used in restriction the present invention.
See also Fig. 1-2, the embodiment of the invention provides a kind of modularization flexible manufacturing logistics system, comprises that automatic stereowarehouse goes out library unit 1, material tests and machine vision unit 2, processing of robots unit 3, size detecting unit 4, waste product letter sorting unit 5, analog quantity spray unit 6, robot assembly unit 7, warehouse for finished product and piler unit 8, system's Master Control Unit 9.
Automatic stereowarehouse goes out library unit 1, material tests and machine vision unit 2, processing of robots unit 3, size detecting unit 4, system's Master Control Unit 9, waste product letter sorting unit 5, analog quantity spray unit 6, robot assembly unit 7, warehouse for finished product and piler unit 8 and is connected to form the U-shaped arrangement mode successively.Automatic stereowarehouse goes out library unit 1, material tests and machine vision unit 2, processing of robots unit 3 and size detecting unit 4 and is located along the same line, and waste product letter sorting unit 5, analog quantity spray unit 6, robot assembly unit 7 and warehouse for finished product and piler unit 8 are located along the same line.
System's Master Control Unit 9 goes out library unit 1 with automatic stereowarehouse, material tests is connected by the EPA bus with piler unit 8 with machine vision unit 2, processing of robots unit 3, size detecting unit 4, waste product letter sorting unit 5, analog quantity spray unit 6, robot assembly unit 7, warehouse for finished product.System's Master Control Unit 9 is coordinated the control automatic stereowarehouse as master station and is gone out library unit 1, material tests and machine vision unit 2, processing of robots unit 3, size detecting unit 4, waste product letter sorting unit 5, analog quantity spray unit 6, robot assembly unit 7, warehouse for finished product and 8 each substation unit, piler unit, but each substation unit detachment system works alone or on-line working.
Particularly, see also Figure 21-23, system's Master Control Unit 9 is used for the operation of control module flexible manufacturing logistics system.System's Master Control Unit 9 comprises the 9th aluminium alloy desktop 90, total control computer 91, first programmable logic controller (PLC) (Programmable Logic Controller, be PLC) 93, second programmable logic controller (PLC) 94, the 3rd programmable logic controller (PLC) 95, the 4th programmable logic controller (PLC) 96, the 5th programmable logic controller (PLC) 97, first embedded control system 98, second embedded control system 99 and the 3rd embedded control system 100, total control computer 91 is arranged on described the 9th aluminium alloy desktop 90
Also be provided with first belt conveyor, 101, the first belt conveyors 101 on the 9th aluminium alloy desktop 90 and be connected between size detecting unit 4 and the waste product letter sorting unit 5, be used for workpiece is sent to waste product letter sorting unit 5 from size detecting unit 4.
See also Fig. 3-4, automatic stereowarehouse goes out library unit 1 and comprises the first aluminium alloy desktop 10, three-dimensional raw material storage 11, workpiece 12, four-degree-of-freedom rectangular co-ordinate robot palletizer 13 and robot end's Pneumatic paw 14.Three-dimensional raw material storage 11 and four-degree-of-freedom rectangular co-ordinate robot palletizer 13 are arranged on the first aluminium alloy desktop 10, and workpiece 12 is placed on three-dimensional raw material storage 11, and robot end's Pneumatic paw 14 is arranged on the four-degree-of-freedom rectangular co-ordinate robot palletizer 13.Wherein, three-dimensional raw material storage 11 is four row, six row, adopts aluminium alloy extrusions to build, and installation and measuring sensor in the storehouse lattice of three-dimensional raw material storage 11 has or not workpiece 12 in order to detect in the lattice of storehouse.Four-degree-of-freedom rectangular co-ordinate robot palletizer 13 comprises three cover electric linear platforms and a cover electric rotary table, builds by connecting plate.Three cover electric linear platforms all drive by stepper motor, the ball guide screw nat transmission, and line slideway supports.Electric rotary table drives by stepper motor, and worm and gear slows down and exports.Certainly, stepper motor is also replaceable to be AC servo motor, but any combination.Automatic stereowarehouse goes out library unit 1 by the control of first programmable logic controller (PLC) 93, is connected with system Master Control Unit 9 buses, is subjected to system's Master Control Unit 9 to coordinate and control.Replacedly, it is also replaceable for to be connected with embedded control system that automatic stereowarehouse goes out library unit 1, and automatic stereowarehouse goes out library unit 1 configurable man-machine interface operation and monitoring.
See also Fig. 5-6, material tests and machine vision unit 2 comprise the second aluminium alloy desktop 20, second belt conveyor 21, proximity transducer 22 and CCD NI Vision Builder for Automated Inspection 23.Second belt conveyor 21, proximity transducer 22 and CCD NI Vision Builder for Automated Inspection 23 are arranged on the second aluminium alloy desktop 20.Proximity transducer 22 and CCD NI Vision Builder for Automated Inspection 23 are positioned on second belt conveyor 21 along the line.Second belt conveyor, 21 aluminium alloy type profile frameworks are built, and adopt direct current generator to connect the worm type of reduction gearing transmission, on second belt conveyor 21 diffuse electric transducer and pneumatic power positioner are installed.Proximity transducer 22 adopts inductance type transducer, can detect metal and non-metallic material.CCD NI Vision Builder for Automated Inspection 23 adopts aluminium alloy post to support, and is positioned at a side of second belt conveyor 21.CCD NI Vision Builder for Automated Inspection 23 comprises video frequency collection card.Material tests and machine vision unit 2 be by the control of first embedded control system 98, is connected with system Master Control Unit 9 buses, is subjected to system's Master Control Unit 9 to coordinate and control.First embedded control system 98 adopts Windows series operating system, and first embedded control system 98 is the embedded control system based on the PC104 bus.The video frequency collection card of CCD NI Vision Builder for Automated Inspection 23 is installed in this first embedded control system 98.
See also Fig. 7-8, processing of robots unit 3 comprises 3 Al alloy desktop 30, the 3rd belt conveyor 31, Pneumatic manipulator 32, six degree of freedom desktop type parallel robot 33, electronic main shaft in parallel and cutter 34 and air-actuated jaw in parallel 35.The 3rd belt conveyor 31, Pneumatic manipulator 32, six degree of freedom desktop type parallel robot 33, air-actuated jaw in parallel 35 are arranged on the 3 Al alloy desktop 30.Electronic main shaft in parallel and cutter 34 arrange on the six degree of freedom desktop type parallel robot 33.Build at the 3rd belt conveyor 31 aluminium alloy type profile frameworks, adopt direct current generator to connect the worm type of reduction gearing transmission, on the 3rd belt conveyor 31 diffuse electric transducer and pneumatic power positioner are installed.Pneumatic manipulator 32 comprises that one overlaps the cylinder of setting a table, two cover Rodless cylinder and terminal Pneumatic paws, and Pneumatic manipulator 32 is built into the cylindrical coordinates robot pattern, and magnetic sensor all is installed on the cylinder.Six degree of freedom desktop parallel robot 33 adopts full AC servo motor or full stepper motor to drive, and six degree of freedom desktop parallel robot 33 is PSS slide block type parallel institution, adopts the ball guide screw nat transmission, and drivening rod connects movable platform.Electronic main shaft in parallel and cutter 34 are installed on the movable platform, adopt the direct current deceleration, but electronic main shaft and cutter 34 smear metals.Air-actuated jaw 35 in parallel is installed in the below of electronic main shaft and cutter 34.Processing of robots unit 3 is by the control of second embedded control system 99, is connected with system Master Control Unit 9 buses, is subjected to system's Master Control Unit 9 to coordinate and control.Second embedded control system 99 adopts Windows series operating system, and second embedded control system 99 is the embedded control system based on the PC104 bus.
See also Fig. 9-10, size detecting unit 4 comprises the 4th aluminium alloy desktop 40, the 4th belt conveyor 41,90 degree conveying robots 42, four station checkout gears 43, hole depth checkout gear 44 and 90 degree transportation manipulators 45.The 4th belt conveyor 41,90 degree conveying robots 42, four station checkout gears 43, hole depth checkout gear 44 and 90 degree transportation manipulators 45 are arranged on the 4th aluminium alloy desktop 40.The 4th belt conveyor 41 aluminium alloy type profile frameworks are built, and adopt direct current generator to connect the worm type of reduction gearing transmission, on the 4th belt conveyor 41 diffuse electric transducer and pneumatic power positioner are installed.90 degree conveying robots 42 adopt stepper motor to drive, and by connecting the output of harmonic speed reducer and Bevel Gear Transmission, the end of 90 degree conveying robots 42 is installed lifting guide pillar cylinder and Pneumatic paw instrument.Four station checkout gears 43 adopt stepper motor to drive, and by direct-connected harmonic speed reducer output, the station below of four station checkout gears 43 is equipped with for detection of the sensor that has or not workpiece 12.Hole depth checkout gear 44 is for detection of the hole depth of workpiece 12.90 degree transportation manipulators 45 adopt stepper motor to drive, and by connecting harmonic speed reducer output, the end of 90 degree transportation manipulators 45 is installed lifting guide pillar cylinder and Pneumatic paw instrument.Size detecting unit 4 is by the control of second programmable logic controller (PLC) 94, is connected with system Master Control Unit 9 buses, is subjected to system's Master Control Unit 9 to coordinate and control.Size detecting unit 4 configurable man-machine interface operations and monitoring.
See also Figure 11-12, waste product letter sorting unit 5 comprises the 5th aluminium alloy desktop 50, the 5th belt conveyor 51,90 degree transportation manipulator 52, three pneumatic retention devices 53 and three waste product grooves 54.The 5th belt conveyor 51,90 degree transportation manipulators 52, three pneumatic retention devices 53 and three waste product grooves 54 are arranged on the 5th aluminium alloy desktop 50.The 5th belt conveyor 51 aluminium alloy type profile frameworks are built, and adopt direct current generator to connect the worm type of reduction gearing transmission, on the 5th belt conveyor 51 diffuse electric transducer and pneumatic power positioner are installed.90 degree transportation manipulators 52 adopt stepper motor to drive, and by connecting harmonic speed reducer output, the end of 90 degree transportation manipulators 52 is installed lifting guide pillar cylinder and Pneumatic paw instrument.Waste product letter sorting unit 5 is by 95 controls of the 3rd programmable logic controller (PLC), is connected with system Master Control Unit 9 buses, is subjected to system's Master Control Unit 9 to coordinate and control.The 5 configurable man-machine interface operations and monitoring of waste product letter sorting unit.
See also Figure 13-15, analog quantity spray unit 6 comprises the 6th aluminium alloy desktop 60, the 6th belt conveyor 61, vacuum suction handling system 62, spraying conveyer 63, color sensor 64 and three spray equipments 65.The 6th belt conveyor 61, vacuum suction handling system 62, spraying conveyer 63, color sensor 64 and three spray equipments 65 are arranged on the 6th aluminium alloy desktop 60.The 6th belt conveyor 61 aluminium alloy type profile frameworks are built, and adopt direct current generator to connect the worm type of reduction gearing transmission, on the 6th belt conveyor 61 diffuse electric transducer and pneumatic power positioner are installed.The main body of vacuum suction handling system 63 is the electric linear platform, adopts stepper motor to drive, and by the ball guide screw nat transmission, linear axis supports, and the output movable platform of vacuum suction handling system 63 is installed lifting guide pillar cylinder and terminal vacuum cup.Spraying conveyer 63 adopts stepper motor to drive, and drives the movable platform operation by synchronous band transmission.Spraying conveyer 63 adopts linear axis to support, and utilizes photoelectric sensor to limit three places operation station.Color sensor 64 is for detection of the color of workpiece 12.Three place's spray equipments 65 adopt pneumatic spray gun pattern, can realize spraying operation.Analog quantity spray unit 6 is by the control of the 4th programmable logic controller (PLC) 96, is connected with system Master Control Unit 9 buses, is subjected to system's Master Control Unit 9 to coordinate and control.The 6 configurable man-machine interface operations and monitoring of analog quantity spray unit.
See also Figure 16-18, robot assembly unit 7 comprises the 7th aluminium alloy desktop 70, the 7th belt conveyor 71, twelve-station rotation material storehouse 72, sub-workpiece 73, color sensor 74, barcode scanner 75, six degree of freedom desktop type serial machine people 76, robot end's Pneumatic paw 77 and mounting plate 78.The 7th belt conveyor 71, twelve-station rotation material storehouse 72, color sensor 74, barcode scanner 75, six degree of freedom desktop type serial machine people 76, robot end's Pneumatic paw 77 and mounting plate 78 are arranged on the 7th aluminium alloy desktop 70.Sub-workpiece 73 is placed in the twelve-station rotation material storehouse 72.The 7th belt conveyor 71 aluminium alloy type profile frameworks are built, and adopt direct current generator to connect the worm type of reduction gearing transmission, on the 7th belt conveyor 71 diffuse electric transducer and pneumatic power positioner are installed.Twelve-station rotation material storehouse 72 adopts stepper motor to drive, by direct-connected harmonic speed reducer output.Color sensor 74 is installed in the below in twelve-station rotation material storehouse 72, for detection of the colouring information state of the sub-workpiece 73 of assembling.Six degree of freedom desktop type serial machine people 76 adopts the step-servo motor combination drive, is articulated type serial machine people.Robot end's Pneumatic paw 77 is arranged on six degree of freedom desktop type serial machine people 76 end.Robot assembly unit 7 is by the control of the 3rd embedded control system 100, is connected with system Master Control Unit 9 buses, is subjected to system's Master Control Unit 9 to coordinate and control.The 3rd embedded control system 100 adopts Windows series operating system, and the 3rd embedded control system 100 is the embedded control system based on the PC104 bus.
See also Figure 19-20, warehouse for finished product and piler unit 8 comprise the 8th aluminium alloy desktop 80, three-dimensional warehouse warehouse for finished product 81, piler 82, well formula feed bin 83 and single armed feeding device 84.Three-dimensional warehouse warehouse for finished product 81, piler 82, well formula feed bin 83 and single armed feeding device 84 are arranged on the 8th aluminium alloy desktop 80.Three-dimensional warehouse warehouse for finished product 81 is four row, six row, adopts aluminium alloy extrusions to build, and installation and measuring sensor in the storehouse lattice of three-dimensional warehouse warehouse for finished product 81 has or not workpiece 12 in order to detect in the lattice of storehouse.Well formula feed bin 83 is placed the sub-workpiece of assembling, and well formula feed bin 83 adopts the stainless steel tube cylinder to release the sub-workpiece of assembling successively.Single armed feeding device 84 adopts stepper motor to drive, by the harmonic speed reducer transmission, and rocker structure, terminal vacuum suction system carries out material loading.Described piler 82 adopts the aluminium alloy type profile framework, is respectively ball guide screw nat and band transmission synchronously by two cover stepper drive electric linear platforms, adopts line slideway to support.The end of single armed feeding device 84 is installed guide rod cylinder and Pneumatic paw instrument.Warehouse for finished product and piler unit 8 be by the control of the 5th programmable logic controller (PLC) 97, is connected with system Master Control Unit 9 buses, is subjected to system's Master Control Unit 9 to coordinate and control.Warehouse for finished product and the 8 configurable man-machine interface operations and monitoring of piler unit.
Modularization flexible manufacturing logistics system of the present invention has following characteristics:
1, modularization flexible manufacturing logistics system is core with the Robotics, multiple industrial machine in normal service people patterns such as integrated series robot, parallel robot, Cartesian robot, pneumatic robot, pneumoelectric hybrid machine people.
2, modularization flexible manufacturing logistics system comprises the control of robot cell's embedded system, windows operating system.System compact is small and exquisite, and real-time and multitask are had very strong tenability, can finish multitask and short interrupt response time is arranged.And have the very strong memory block defencive function of function, be convenient to hands-on and system maintainability.
3, each unit in the modularization flexible manufacturing logistics system has " online/unit " two kinds of operator schemes.The software and hardware of all units all can the detachment system independent operation, and available stand-alone device is platform, carries out the research and development of single technology, easily expansion.
4, modularization flexible manufacturing logistics system is carried out height integrated by network communications technology with all the unit module devices in the system by industry standard design, and is identical with the industry spot form.
5, soft, the hardware components of modularization flexible manufacturing logistics system is reserved extending space, open interface, and the user side can increase EM equipment module in my company's system-based, and can easily be integrated in the system, for very advantage has been created in secondary development and expansion.
6, modularization flexible manufacturing logistics system integrated information management, by each cell sensor communication, the state of each link in the system is presented on the operation interface, makes the operator pass through computer and understand the operating mode of each link of system, state, service data at any time, grasp system running state.
7, oneself motion or control function can be easily developed in the mechanical ﹠ electrical technology all-round opening of modularization flexible manufacturing logistics system.And modularization flexible manufacturing logistics system is applied widely, and the teaching equipment that also can be used as electro-mechanical system uses, and motivates students' interest in learning.
The above only is preferred embodiment of the present invention, not in order to limiting the present invention, all any modifications of doing within the spirit and principles in the present invention, is equal to and replaces and improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. modularization flexible manufacturing logistics system, it is characterized in that: comprise that automatic stereowarehouse goes out library unit (1), material tests and machine vision unit (2), processing of robots unit (3), size detecting unit (4), waste product letter sorting unit (5), analog quantity spray unit (6), robot assembly unit (7), warehouse for finished product and piler unit (8) and system's Master Control Unit (9), described automatic stereowarehouse goes out library unit (1), material tests and processing of robots unit, machine vision unit (2) (3), size detecting unit (4), system's Master Control Unit (9), waste product letter sorting unit (5), analog quantity spray unit (6), robot assembly unit (7) and warehouse for finished product and piler unit (8) are connected to form the U-shaped arrangement mode successively, described automatic stereowarehouse goes out library unit (1), material tests and processing of robots unit, machine vision unit (2) (3), size detecting unit (4) is located along the same line, described waste product letter sorting unit (5), analog quantity spray unit (6), robot assembly unit (7), warehouse for finished product and piler unit (8) are located along the same line, described system Master Control Unit (9) goes out library unit (1) with described automatic stereowarehouse, material tests and processing of robots unit, machine vision unit (2) (3), size detecting unit (4), waste product letter sorting unit (5), analog quantity spray unit (6), robot assembly unit (7), warehouse for finished product all is connected by the EPA bus with piler unit (8), described system Master Control Unit (9) is coordinated the described automatic stereowarehouse of control as master station of system and is gone out library unit (1), material tests and processing of robots unit, machine vision unit (2) (3), size detecting unit (4), waste product letter sorting unit (5), analog quantity spray unit (6), robot assembly unit (7), warehouse for finished product and piler unit (8) each substation unit, but each substation unit detachment system works alone or on-line working.
2. modularization flexible manufacturing logistics system according to claim 1, it is characterized in that: described system Master Control Unit (9) comprises the 9th aluminium alloy desktop (90), total control computer (91), first programmable logic controller (PLC) (93), second programmable logic controller (PLC) (94), the 3rd programmable logic controller (PLC) (95), the 4th programmable logic controller (PLC) (96), the 5th programmable logic controller (PLC) (97), first embedded control system (98), second embedded control system (99) and the 3rd embedded control system (100), described total control computer (91) is arranged on described the 9th aluminium alloy desktop (90), described total control computer (91) by bus respectively with described first programmable logic controller (PLC) (93), second programmable logic controller (PLC) (94), the 3rd programmable logic controller (PLC) (95), the 4th programmable logic controller (PLC) (96), the 5th programmable logic controller (PLC) (97), first embedded control system (98), second embedded control system (99) is connected with the 3rd embedded control system (100).
3. modularization flexible manufacturing logistics system according to claim 2, it is characterized in that: described automatic stereowarehouse goes out library unit (1) and comprises the first aluminium alloy desktop (10), three-dimensional raw material storage (11), workpiece (12), four-degree-of-freedom rectangular co-ordinate robot palletizer (13) and robot end's Pneumatic paw (14), described three-dimensional raw material storage (11) and four-degree-of-freedom rectangular co-ordinate robot palletizer (13) are arranged on the described first aluminium alloy desktop (10), described workpiece (12) is placed on described three-dimensional raw material storage (11), described robot end's Pneumatic paw (14) is arranged on the described four-degree-of-freedom rectangular co-ordinate robot palletizer (13), described automatic stereowarehouse goes out library unit (1) and is controlled by first programmable logic controller (PLC) (93), be connected with described system Master Control Unit (9) bus, coordinated and control by system's Master Control Unit (9).
4. modularization flexible manufacturing logistics system according to claim 2, it is characterized in that: described material tests and machine vision unit (2) comprise the second aluminium alloy desktop (20), second belt conveyor (21), proximity transducer (22) and CCD NI Vision Builder for Automated Inspection (23), described second belt conveyor (21), proximity transducer (22) and CCD NI Vision Builder for Automated Inspection (23) are arranged on the described second aluminium alloy desktop (20), described proximity transducer (22) and CCD NI Vision Builder for Automated Inspection (23) are positioned on described second belt conveyor (21) along the line, described material tests and machine vision unit (2) are controlled by first embedded control system (98), be connected with described system Master Control Unit (9) bus, coordinated and control by system's Master Control Unit (9).
5. modularization flexible manufacturing logistics system according to claim 2, it is characterized in that: described processing of robots unit (3) comprises 3 Al alloy desktop (30), the 3rd belt conveyor (31), Pneumatic manipulator (32), six degree of freedom desktop type parallel robot (33), electronic main shaft in parallel and cutter (34) and air-actuated jaw in parallel (35), described the 3rd belt conveyor (31), Pneumatic manipulator (32), six degree of freedom desktop type parallel robot (33), air-actuated jaw in parallel (35) is arranged on the described 3 Al alloy desktop (30), the electronic main shaft of described parallel connection and cutter (34) are arranged on the six degree of freedom desktop type parallel robot (33), described air-actuated jaw in parallel (35) is installed in the below of described electronic main shaft and cutter (34), described processing of robots unit (3) is controlled by second embedded control system (99), be connected with described system Master Control Unit (9) bus, coordinated and control by system's Master Control Unit (9).
6. modularization flexible manufacturing logistics system according to claim 2, it is characterized in that: described size detecting unit (4) comprises the 4th aluminium alloy desktop (40), the 4th belt conveyor (41), 90 degree conveying robots (42), four station checkout gears (43), hole depth checkout gear (44) and 90 degree transportation manipulators (45), described the 4th belt conveyor (41), 90 degree conveying robots (42), four station checkout gears (43), hole depth checkout gear (44) and 90 degree transportation manipulators (45) are arranged on described the 4th aluminium alloy desktop (40), described size detecting unit (4) is controlled by second programmable logic controller (PLC) (94), be connected with described system Master Control Unit (9) bus, coordinated and control by system's Master Control Unit (9).
7. modularization flexible manufacturing logistics system according to claim 2, it is characterized in that: described waste product letter sorting unit (5) comprises the 5th aluminium alloy desktop (50), the 5th belt conveyor (51), 90 degree transportation manipulators (52), three pneumatic retention devices (53) and three waste product grooves (54), described the 5th belt conveyor (51), 90 degree transportation manipulators (52), three pneumatic retention devices (53) and three waste product grooves (54) are arranged on described the 5th aluminium alloy desktop (50), described waste product letter sorting unit (5) is controlled by the 3rd programmable logic controller (PLC) (95), be connected with described system Master Control Unit (9) bus, coordinated and control by system's Master Control Unit (9).
8. modularization flexible manufacturing logistics system according to claim 2, it is characterized in that: described analog quantity spray unit (6) comprises the 6th aluminium alloy desktop (60), the 6th belt conveyor (61), vacuum suction handling system (62), spraying conveyer (63), color sensor (64) and three spray equipments (65), described the 6th belt conveyor (61), vacuum suction handling system (62), spraying conveyer (63), color sensor (64) and three spray equipments (65) are arranged on described the 6th aluminium alloy desktop (60), described analog quantity spray unit (6) is controlled by the 4th programmable logic controller (PLC) (96), be connected with described system Master Control Unit (9) bus, coordinated and control by system's Master Control Unit (9).
9. modularization flexible manufacturing logistics system according to claim 2, it is characterized in that: described robot assembly unit (7) comprises the 7th aluminium alloy desktop (70), the 7th belt conveyor (71), twelve-station rotation material storehouse (72), sub-workpiece (73), color sensor (74), barcode scanner (75), six degree of freedom desktop type serial machine people (76), robot end's Pneumatic paw (77) and mounting plate (78), described the 7th belt conveyor (71), twelve-station rotation material storehouse (72), color sensor (74), barcode scanner (75), six degree of freedom desktop type serial machine people (76), robot end's Pneumatic paw (77) and mounting plate (78) are arranged on described the 7th aluminium alloy desktop (70), described sub-workpiece (73) is placed in the twelve-station rotation material storehouse (72), described color sensor (74) is installed in the below in described twelve-station rotation material storehouse (72), described robot end's Pneumatic paw (77) is arranged on described six degree of freedom desktop type serial machine people's (76) end, described robot assembly unit (7) is controlled by the 3rd embedded control system (100), be connected with described system Master Control Unit (9) bus, coordinated and control by system's Master Control Unit (9).
10. modularization flexible manufacturing logistics system according to claim 2, it is characterized in that: described warehouse for finished product and piler unit (8) comprise the 8th aluminium alloy desktop (80), three-dimensional warehouse warehouse for finished product (81), piler (82), well formula feed bin (83) and single armed feeding device (84), described three-dimensional warehouse warehouse for finished product (81), piler (82), well formula feed bin (83) and single armed feeding device (84) are arranged on described the 8th aluminium alloy desktop (80), described warehouse for finished product and piler unit (8) are controlled by the 5th programmable logic controller (PLC) (97), be connected with described system Master Control Unit (9) bus, coordinated and control by system's Master Control Unit (9).
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Address after: 215121 No. 128, Fang Zhou road, Suzhou Industrial Park, Jiangsu, China Patentee after: JIANGSU HUIBO ROBOTICS TECHNOLOGY CO., LTD. Address before: 215121, Jiangsu, Suzhou Industrial Park, Jinji Lake Road, 99, Northwest District, Suzhou City, 09 Patentee before: Suzhou BoShi Robotics Technology Co., Ltd. |