CN103337216B - A kind of machine photoelectricity gas-liquid integral flexible production comprehensive training system - Google Patents
A kind of machine photoelectricity gas-liquid integral flexible production comprehensive training system Download PDFInfo
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Abstract
A kind of machine photoelectricity gas-liquid integral flexible production comprehensive training system, comprises pipeline delivery unit, rail mounted six degree of freedom loading and unloading serial manipulator unit, Pneumatic charging unit, hydraulic pressure unit, six-freedom parallel machining cell, image detection handling unit, blanking unit, sprays drying unit, graphics processing unit, add a cover assembly unit, wear pin assembly unit, detector unit, bar code recognition unit, sorting unit, promote storage unit, stacking un-heaping unit, manipulator unit of driving a vehicle, Master Control Unit.Above-mentioned each unit possesses unit/online function, in a stand-alone mode, each unit aluminium alloy desktop can detachment system independent operating, this cell operation can be controlled by the control system of this unit；Under online mode, this unit, as a node in network, is dispatched by main website；Four embedded control unit systems all configure graphic interface and show, remaining each unit uses plc to control.
Description
Technical field
The present invention relates to teaching field, specifically the simulated training system of flexible production.
Background technology
Flexible manufacturing system is to be controlled process equipment by unified management information system, material handling system and set of number
Composition, the automated machine adapting to processing object conversion manufactures system, and english abbreviation is FMS；FMS technology is digital control processing skill
The inevitable structure of art development, embodies a national equipment manufacturing technical merit, and it is by work separate in conventional enterprise
The processes such as journey design, the manufacturing and operation and management, under the support of computer and software thereof, constitute one and cover whole enterprise
Complete and organic system, to realize overall situation dynamic optimization, efficient overall benefit, high flexibility, and and then win competition comprehensively
Intelligent manufacturing system.
Along with society is increasingly urgent to demands such as product diversification, low manufacturing cost and short manufacturing cycles, FMS develops rather
Rapidly, but, China starts late, the most backward on flexible manufacturing system, along with the continuous propelling of domestic industry degree,
And industrialization makes the transition, for the demand of automation equipment, and the demand of technician constantly increases, for automated system
Talents reserve, be particularly important for the teaching of automated system is universal.
Summary of the invention
The invention aims to provide a kind of machine photoelectricity gas-liquid integral flexible production comprehensive training system, with robot skill
Art is core, it is achieved the unmanned controls of process such as production and processing detection conveying, uses all kinds of frame for movements of diversification, in conjunction with mould
Massing theory, be reached for student provide one open, novelty and the experiment porch of the property of may participate in, and the mesh of teaching
's.
The present invention adopted the following technical scheme that solution the problems referred to above:
A kind of machine photoelectricity gas-liquid integral flexible production comprehensive training system, including pipeline delivery unit, rail mounted six
Degree of freedom loading and unloading serial manipulator unit, Pneumatic charging unit, hydraulic pressure machining cell, six-freedom parallel machining cell, figure
As detection handling unit, blanking unit, spray drying unit, graphics processing unit, add a cover assembly unit, wear pin assembly unit,
Detector unit, bar code recognition unit, sorting unit, promote storage unit, stacking un-heaping unit, manipulator unit of driving a vehicle, always
Control unit.After system start-up, workpiece arrives pipeline delivery unit, rail mounted six degree of freedom loading and unloading serial manipulator list successively
Unit, hydraulic pressure machining cell, six-freedom parallel machining cell, image detection handling unit, blanking unit, spray drying unit,
Graphics processing unit, adds a cover assembly unit, wears pin assembly unit, detector unit, bar code recognition unit, sorting unit, promotes
Storage unit, stacking un-heaping unit, above each unit is sequentially connected. and native system, with modular, Table top type closed-loop structure, is adopted
With the pipeline of diversification by each sensor feedback and positioner etc. master control dispatch under, according to work tempo, it is achieved
The stopping of each work station and operation, coordinate all types of mechanical hand, and at sensor technology, vision technique flow of information feedback is lower to be realized
To workpiece or the sorting of pallet, assembling, processing, carrying, the action such as warehouse-in.
In terms of control, native system by PROFIBUS-DP fieldbus by all unit PLC control system, embedded
Control system carry out height, the most integrated, each unit use dual system mode of operation: manual mode/online mode.At manual mould
Under formula, can move with independent control unit.Under online mode, this center, as a node on fieldbus, is adjusted by main website
Degree.
Compared with prior art, teaching system of the present invention provides the benefit that: native system uses diversification structure technology, machine
Light electric gas/liquid pressure is integrated, and is configured as platform with modular desktop, and robotics is core, builds a flexible production comprehensive
Experience system.
As a example by pipeline, referring to accompanying drawing 2, native system contains belt conveyor, cylinder corner conveyer, round belt corner
The conventional conveyers such as conveyer, pneumatic corner round belt machine, Timing Belt conveyer.
As a example by machine driving, native system has mixed Chain conveyer, Timing Belt, and gear includes again roller gear, bevel gear, no
Gear, all kinds of conventional kind of drive such as Geneva mechanism, ball-screw completely.
As a example by robot, native system contains the conventional serial manipulator of industry, parallel robot and according to production
Line and possess the Multi-freedom-degreemanipulator manipulator of specific function, mechanical or pneumatic or mechanical-pneumatic combining form.
As a example by motor and decelerator, native system contains all kinds of conventional motors such as servo, stepping, direct current, worm and gear
Decelerator, gear reduction unit, harmonic speed reducer etc..
Than that described above, also include using various kinds of sensors device, multidisciplinary technology application etc..
By this system, make student can by experiment understand automated production control teaching training system basic composition and
Ultimate principle, for student provide one open, novelty and the experiment porch of the property of may participate in, allow student grasp machine comprehensively
The application and development of electrical integrated technology and logistlcs technology and integrated technology, help student to go recognition system each from system entirety angle
Ingredient, thus grasp the composition of Mechatronic control system, function and control principle.Can promote that student is at Machine Design, electricity
Gas automatization, automatically control, robotics, computer technology, sensor technology, Numeric Control Technology, the aspect such as logistics management
Study, and motor drives and controls design and application, computer network communication technology and the scene of technology, PLC control system
The technical ability such as bussing technique, advanced language programming obtains the training of reality, motivates students' interest in learning, makes student electric at machine light
The aspects such as the design of liquid integrated system, assembling, debugging capability all can comprehensively be improved.
Accompanying drawing explanation
Fig. 1 is present system overall structural arrangement figure；
Fig. 2 a-d is all kinds of conveyor construction schematic diagrams；
Fig. 2 a is belt conveyor schematic diagram；
Fig. 2 b is pneumatic corner round belt machine schematic diagram；
Fig. 2 c is grounded angle corners conveyer schematic diagram；
Fig. 2 d is belt conveyor schematic diagram；
Fig. 3 a is Pneumatic charging cellular construction front view；
Fig. 3 b is Pneumatic charging cellular construction top view；
Fig. 4 is rail mounted six degree of freedom loading and unloading serial manipulator unit and capping unit station layout thereof；
Fig. 5 a is blanking cellular construction front view；
Fig. 5 b is blanking cellular construction top view；
Fig. 6 a is for adding a cover cellular construction front view；
Fig. 6 b is for adding a cover cellular construction side view；
Fig. 7 a is for wearing pin cellular construction front view；
Fig. 7 b is for wearing pin cellular construction top view；
Fig. 8 is detector unit structural representation；
Fig. 9 is bar code recognition unit structural representation；
Figure 10 is sorting unit structural representation；
Figure 11 a is for promoting landing account meta structure front view；
Figure 11 b is for promoting landing account meta structure top view；
Figure 12 is stacking un-heaping cellular construction schematic diagram；
Figure 13 is driving manipulator unit structural representation；
1--pipeline delivery unit, 2--rail mounted six degree of freedom loading and unloading serial manipulator unit, 3--Pneumatic charging list
Unit, 4--belt conveyor, 5--hydraulic pressure machining cell, 6--six-freedom parallel machining cell, 7--image detection handling unit,
8--detects handling unit conveying robot, 9--blanking unit, and 10--sprays drying unit, 11 cylinder corner conveyers,
12--graphics processing unit, 13--adds a cover assembly unit, and 14--wears pin assembly unit, 15 round belt corner conveyers, and 16--examines
Surveying unit, 17--bar code recognition unit, 18--sorting unit, 19--promotes storage unit, and 20 go out to put conveying robot in storage,
21--stacking un-heaping unit, 22 right-angle steering corner round belt conveyers, 23 Timing Belt conveyers, 24 driving mechanical hand lists
Unit, 25 Master Control Units
Detailed description of the invention
Below in conjunction with the accompanying drawings, the detailed description of the invention of invention is described in further detail:
Described pipeline delivery unit 1 includes belt conveyor 4, cylinder corner conveyer 11, round belt corner conveyer
15, pneumatic corner round belt machine 22 is part or all of, is distributed in each desktop, and input and output are to each work station；With driving
Mechanical hand 24 constitutes work conveying closed loop, and cylinder corner conveyer 11 uses bevel gear wheel to engage multiple bevel pinion structures, rolling
Cylinder conveyer also includes chain drive structure.
Cylinder corner conveyer 11 is by vertical with conveyor surface and be arranged at DC speed-reducing 2-3 inside corner and drive big
Bevel gear 2-1 rotates, and then drives the multiple bevel pinion 2-2 engaged with bevel gear wheel to rotate, and bevel pinion 2-2 rotates drive
On pipeline, the live-roller of corner rotates, it is achieved the transmission of corner, and these transmission two ends, corner connect chain drive structure,
Chain drive structure is driven each live-roller to rotate by chain drive 2-4, is provided with spacing in chain drive structure conveyor surface both sides simultaneously
Device 2-5, is provided with photoelectric sensor 2-6 in chain drive structure frame, is used for detecting whether conveyor surface has workpiece.
Pneumatic corner round belt machine 22, is driven section bar support 2-7 to be that 90 degree of reciprocal horizontal rotate by rotary cylinder 2-8, section bar
It is provided with DC speed-reducing 2-3 on support 2-7, drives the round belt transmission 2-9 on conveyor surface to transport by toothed belt transmission 2-10
Dynamic, aluminium section bar support 2-7 is provided with photoelectric sensor 2-6 for judging whether have workpiece on conveyor surface.
Round belt corner conveyer 15, is driven round belt 2-12 to move by round belt wheel 2-11 and carries motion, and conveying entrance sets
It is equipped with stopping means 2-5, support is provided with swelling device 2-14 tensioner round belt 2-12, corner are provided with round belt transmission
Wheel 2-13, round belt drive 2-13 circumference overlaps with outside round belt fillet, has been used for the workpiece corner at conveyor surface.
Belt conveyor 4, by DC speed-reducing 2-3 arranged on aluminium section bar support 2-7 by toothed belt transmission 2-15
Drive Timing Belt 2-17 to realize workpiece conveying on conveyor surface, belt conveyor is provided with photoelectric sensor 2-6, stopping means 2-
5, inductive proximity sensor 2-16.
Described rail mounted six degree of freedom loading and unloading serial manipulator unit 2 uses Timing Belt and guide rail fit form, and six
Degree of freedom serial manipulator is fixed on guide rail slide block by connecting plate, realizes the movement of each station according to photoelectric sensor location
Location, unit uses Based PC 104 bus embedded type motion controller to control, and this unit is across 4 desktops, and station includes following
Pneumatic charging unit 3 output station, hydraulic pressure machining cell 5 work station, six-freedom parallel machining cell 6 work station with
And one of them station of four station turnplates in image detection handling unit 7.
Rail mounted six degree of freedom loading and unloading serial manipulator unit 2 is arranged on Pneumatic charging unit 3, pipeline delivery unit
1, on the aluminium alloy desktop of image detection handling unit 7 composition, six degree of freedom serial manipulator 4-1 forms with guide rail at Timing Belt
Track 4-2 on move, rail mounted six degree of freedom loading and unloading serial manipulator unit 2 opposite side be provided with hydraulic pressure machining cell 5,
Six-freedom parallel machining cell 6.
Described Pneumatic charging unit 3 is by base, well formula feed mechanism, pusher, belt transmission mechanism, guide dress
Put, electrically-controlled valve, mounting bracket etc. form, and pusher is positioned at well formula feed mechanism side, and belt transmission mechanism is installed on pusher
Mechanism's offside, and install by material guide device on transmission mechanism.
Described Pneumatic charging unit is connected with belt conveyor 3-4 by arranging base 3-7 on aluminium section bar support, base 3-
It is provided with well formula feed mechanism 3-1 on 7, the lower end base of well formula feed mechanism is provided with opposite type sensor 3-6, passes through pusher
The pushing block 3-3 of cylinder 3-2 and promotion thereof, the workpiece of supply in well formula feed mechanism can be pushed to belt conveyor by pushing block
On, belt conveyor is provided with material guide device 3-5 and opposite type sensor 3-6.
Workpiece situation in place in opposite type sensor detection feed bin in described Pneumatic charging unit, pusher cylinder action is by work
Part is pushed into belt haulage station, belt conveyor delay voltage, and to another, workpiece transport is transported station, Belt Conveying
On machine, opposite type sensor detection workpiece arrives transport station, and Pneumatic charging unit break-off waits next beat order of master control.
Described hydraulic pressure machining cell 5 is by hydraulic direct-acting cylinder, clamping positioning mechanism, intervalometer and machinery adjusting lever mechanism, C
Formed steel constructions etc. form.Machinery adjusting lever mechanism is ball-screw and track combination, adjusts manually.Clamping positioning mechanism is adopted
Be combined with sensor feedback by pneumatic pinch.Serial manipulator clamping workpiece is through the corresponding work of orbit transports to hydraulic pressure machining cell 5
Position, workpiece is passed through end pneumatic chuck and places the automated exchanged cutter station in hydraulic pressure machining cell 5 by six degree of freedom serial manipulator,
Judge that workpiece is in place through diffuse-reflectance sensor, Pneumatic clamping positioning mechanism action clamping and positioning workpiece, hydraulic direct-acting cylinder action, punching
After pressure processing, Pneumatic clamping positioning mechanism cylinder return.
Described six-freedom parallel machining cell 6 is main by parallel robot machining center, clamping cylinder, photoelectric sensing
Device, electronic machining spindle, control relay module, mounting bracket etc. form.Parallel robot machining center is modular construction,
The driving of each shaft step motor, ball-screw and line slideway fit structure, be connected to end output by connecting rod and Hooke's hinge flat
Platform, output stage is provided with electro spindle, and clamping cylinder realizes its automatization's Set and Positioning by sensor feedback.
Workpiece is captured from above-mentioned station by six degree of freedom serial manipulator, right to machining cell 6 in parallel through orbit transports
Answering station, workpiece is placed the Pneumatic clamping in machining cell 6 in parallel by end pneumatic chuck by six degree of freedom serial manipulator
Through photoelectric sensor, platform, judges that workpiece is in place, Pneumatic clamping platform action, it is achieved clamp the location of workpiece, six degree of freedom
Parallel Machining Center is started working under system control, and electric main shaft is fixed on six-degree-of-freedom parallel robot end, it is achieved right
The boring of workpiece and Milling Process.After completion of processing, parallel robot resets, Pneumatic clamping platform return, and six degree of freedom is connected
Robot passes through end pneumatic chuck to workpiece grabbing.
Described image detection handling unit 7 mainly includes four station turnplates, displacement sensor component, ccd image collection
Assembly, Manipulator Transportation assembly and lower floor's belt conveyor line etc..Displacement sensor component and ccd image acquisition component are positioned at four works
Above the rotating disk of position, whole four station turnplates are installed on the aluminium alloy desktop above belt conveyor line, and Manipulator Transportation assembly
It is positioned at Belt Conveying line side.Its function has been the inspection to former procedures, image acquisition and carrying function, lower floor's pipeline
Being mainly used in the circulation transport of pallet, the effect of four station turnplates is serial manipulator to be transported the workpiece come be transferred to successively
Displacement transducer, vision CCD and handling machinery hand position.
Described conveying robot uses pneumoelectric mixing to control, and Z axis is step motor drive, and ball-screw coordinates knot with guide rail
Structure, slide block is fixed rotary cylinder and carries out 180 rotations about the z axis, and rotary cylinder outfan is fixed with slim guide rod cylinder and completes hands
The X-axis feeding of pawl, equipment end is provided with Pneumatic paw and realizes carrying action.
Described blanking unit 9 is by Geneva mechanism 5-1, bevel gear transmission 5-5, synchronous belt pulley transmission, pusher rotating disk
5-3, blanking platform 5-2, photoelectric sensor 5-4, Fibre Optical Sensor 5-8, DC speed-reducing 5-6, slot type photoswitch 5-7,
Mounting brackets etc. form.By Geneva mechanism and all kinds of machine driving, it is achieved intermittent movement, particularly as follows: it is electric to be slowed down by direct current
Machine 5-6 drives Geneva mechanism 5-1 to realize intermittent movement, then is conducted extremely by bevel gear transmission 5-5 by intermittent movement
The pusher rotating disk of blanking platform 5-2, blanking platform is layered structure, and pusher rotating disk rotates relative to blanking platform, goes to blanking
Workpiece is realized from last process blanking to belt line top tray station at Kou.Put down when pusher turntable rotation makes workpiece be pushed into blanking
During platform blanking port, workpiece falls to pallet, and diffuse-reflectance sensor detection workpiece is in tray position.Residing for pallet, pipeline is at list
Start under unit's control system, proceed to next unit.
Described spraying drying unit 10 is by spray booth, heater, temperature sensor, simulation shower nozzle, cooling fan, friendship
Stream voltage regulating module, intelligent temperature display instrument, touch screen, add heat indicator, photoelectric sensor, inductance sensor, stop cylinder, straight
The compositions such as stream reducing motor, it is achieved workpiece is first sprayed post-heating baking and curing and cooling procedure, real by each sensor feedback
Time control each process flow.
Described graphics processing unit 12, by light source, camera lens, CCD camera, image process controller, operates keyboard, aobvious
Show the compositions such as device, complete the absorption of the image to workpiece by vision sensor and compare rear output detections knot with standard form
Structure, input is to subsequent cell.
Described add a cover assembly unit 13 by slide way type work rest 6-1, worm type of reduction gearing 6-5, turning arm 6-10, with
Step wheel belt 6-4, DC speed-reducing 6-6, backgauge cylinder, telescopic cylinder 6-3, vacuum cup 6-2, photoelectric sensor 6-9, electric capacity
Sensor 6-7, inductance sensor, mechanical limit switch, electrically-controlled valve 6-8, mounting bracket etc. constitute two assemblies, discharge component and
Vac sorb machinery hands assembling assembly, wherein discharge component is positioned on slide way type work rest by workpiece, when bottom workpieces quilt
Mechanical hand captures after leaving, and workpiece realizes it and automatically fills under gravity.Vac sorb machinery hand getting direct current generator with
Worm type of reduction gearing coordinates output to control rocking arm through Timing Belt to rotate, and end rotary output is fixed with telescopic cylinder and true
Suction dish, and ensure that vacuum cup remains vertically downward, it is achieved the carrying assembling action between two stations.
When pallet and exemplar are transported to when adding cap unit (referring to accompanying drawing 6) by belt conveyor, and photoelectric sensor senses
Exemplar, is limited in exemplar in normal place by backgauge cylinder, the sample on inductive proximity sensor sensing slide way type work rest
Part lid, DC speed-reducing and worm-gear speed reducer drive full wind-up rotary oscillation to the top of exemplar lid, and Timing Belt passes
The dynamic vertical state realizing vacuum cup and telescopic cylinder, captures exemplar lid by telescopic cylinder and vacuum cup, then passes through
Exemplar lid is moved to the top of exemplar and places exemplar lid by the rotary oscillation of full wind-up, completes the assembling adding a cover exemplar
Work.Pallet delivery assembling workpiece is delivered to next unit.
Described wears pin assembly unit 14 by hopper 7-4, grooved cutting agency, drive mechanism of non circular gear 7-2, direct current
Reducing motor 7-1, backgauge cylinder 7-6, blanking cylinder 7-5, ejector pin cylinder 7-8, photoelectric sensor 7-14, Fibre Optical Sensor 7-
13, the composition such as inductance type transducer 7-9, electrically-controlled valve 7-10, mounting bracket 7-7.DC speed-reducing and partial gear transmission
Mechanism's cooperation makes grooved cutting agency intermittent rotary, and in hopper, bearing pin is filled the most automatically to grooved cutting agency
At blanking floral disc groove, and rotate next station of arrival, released by cylinder and worn pin action.When belt conveyor is by pallet
And workpiece, workpiece lid transport to when wearing pin unit (referring to accompanying drawing 7), photoelectric sensor senses workpiece, by backgauge cylinder by work
Part is limited in normal place, and DC speed-reducing drives partial gear to rotate, by transmission and the cone tooth of partial gear
Wheel 7-12 turns to, and transmits motion on blanking floral disc 7-3, on placement bearing pin to standard station, simultaneously by blanking cylinder
Bearing pin in hopper is pushed on blanking floral disc, then by ejector pin cylinder, bearing pin is pushed the hole, location of workpiece and workpiece lid
In.
Described detector unit 16 is by touch screen, backgauge cylinder, detection cylinder, photoelectric sensor, Fibre Optical Sensor, colour code
Sensor, inductance sensor, electrically-controlled valve, mounting bracket etc. form, and enter follow-up list by each sensor feedback information to master control
Unit.
Described bar code recognition unit 17 by backgauge cylinder, inductance sensor, photoelectric sensor 9-4, labelling machine 9-3 and
Processing in Barcode Recognizing Systems etc. form, by assembly labeling bar code identification are carried out warehouse-in information pre-treatment.Labelling machine 9-4 passes through
Labelling machine support 9-1 is arranged in frame, and the scanner of bar code identification system is arranged on scanner fixed station 9-2, workpiece
Transmitted by belt conveyor 9-5.
When workpiece runs to bar code recognition unit (referring to accompanying drawing 9) with conveyer, the electric inductor that diffuses senses
To workpiece, stopping that cylinder blocks location workpiece, conveyer belt stops, and labelling machine carries out labelled work to workpiece, will after completing
Bar code, at barcode scanner station, is identified reading and inputting warehouse management system by workpiece transport.
Described sorting unit 18 is by compositions such as sorting manipulator and equipment of conveyer, waste material recovery devices.Wherein sort
Mechanical hand is two degrees of freedom cylinder conveying robot, and Rodless cylinder connects guide rod cylinder and presss from both sides with end scale tone, single according to detection
Unit 16 testing result judges to realize the carrying at two stations, waste product sorting.
Described lifting storage unit 19 is by stereo garage frame and goes out to put mechanical hand in storage and forms.
Four layer of three row of stereo garage frame, every layer is provided with a belt conveyor 11-8, and belt conveyor 11-8 is slowed down by direct current
Motor 11-2 drives operating by Timing Belt 11-3, judges that workpiece is the most in place according to diffuse-reflectance sensor 11-1, adjusts unrestrained anti-
Penetrate sensor and can adjust every layer of storage bit quantity according to practical situation in right amount.
Going out to put mechanical hand in storage and have four-degree-of-freedom, first is translation pair, uses ball-screw 11-14 to join with guide rail 11-13
Close structure, drive ball-screw 11-14 to realize it by servomotor 11-16 and move back and forth, ball screw two ends frame sets
It is equipped with slot type photoswitch 11-15 and controls two ends extreme position, move between each row's station, Y-direction；Second for degree of freedom is
Translation pair, is used Chain conveyer 11-5 and rail engaging structure, attached counter weight device, motor 11-9 is controlled by reductor 10
It moves between each layer station, frame is provided with slot type photoswitch 11-17 and controls two ends extreme position, Z-direction；3rd
Degree of freedom is translation pair, and ball-screw realizes with rail engaging structure or by straight line Rodless cylinder 11-6, goes out warehouse-in switching flat
Move, X to；4th degree of freedom is revolute, rotary cylinder 11-11 and Pneumatic paw 11-12, rotates about the z axis, it is achieved end work
Make pose conversion and clamping.
When arriving out warehouse-in conveying robot carrying station, positioning cylinder work stretches out location, according to sensor feedback originally
Desktop conveyer is out of service, goes out to put mechanical hand in storage and starts working, and before this, stereo garage frame is respectively arranged, each layer, each sensor
Determine whether there is workpiece in place, under system control, control warehouse-in mechanical hand through end Pneumatic paw 11-12 clamping assembling
Workpiece handling is placed on position to a belt conveyor 11-8 on stereo garage frame, and belt conveyor operates subsequently, conveying assembling workpiece
To position in storehouse, position in storehouse determines position by diffuse-reflectance sensor 11-1 feedback.Mechanical hand resets, and pallet continues to flow into stacking un-heaping list
Unit.
Described stacking un-heaping unit 21 is mainly made up of stacking un-heaping mechanical hand and pallet temporary library, wherein stacking un-heaping
Two degree of freedom of mechanical hand, are translation pair, and one degree of freedom uses Timing Belt 12-7 and guide rail 12-4 fit structure, along skin
Belt conveyor direction；Second degree of freedom uses ball-screw 12-2 and rail engaging structure, and entirety is located at upright supports 12-3
On, controlling ball-screw by motor 12-1, arrange along being perpendicular to horizontal plane Z-direction, Pneumatic paw 12-9 is installed on two axles
End, aluminium alloy pedestal makes mechanical hand be installed on Timing Belt conveyer.On this Timing Belt conveyer, torr is installed simultaneously
Dish temp store, is installed on below mechanical hand.Under this unit controls so that mechanical hand completes the crawl to pallet and placement
Action.
Stacking un-heaping unit (referring to accompanying drawing 12) is started working according under work tempo control in master control, and in unit, pallet is temporary
Warehousing detects pallet situation in place by the electric transducer 12-5 that diffuses, and stacking un-heaping mechanical hand is by pallet temporary library 12-6
Pallet is captured and is placed into belt conveyor station.Judge that palletized transport station is in place by inductance type transducer 12-8, skin
Pallet is conveyed through pneumatic corner conveyer 22 (referring to accompanying drawing 1), round belt conveyer 23 by the operating of band machine, arrives driving mechanical hand
24 (referring to accompanying drawing 13) carrying station, judges situation in place cylinder location through sensor, and this desktop belt conveyor stops
Operating,
Driving mechanical hand 24 action, gas gripper takes pallet and places next station along guide rail.Judge that pallet is in place through sensor,
This station belt feeder operates, the round belt corner conveyer (referring to accompanying drawing 1) below Pneumatic charging unit, and at mark 4
Belt conveyor reaches up to the transfer station in blanking unit 9 (referring to accompanying drawing 5) immediately below blanking platform blanking port, by sensing
Device judges in place and positioning cylinder work, and this desktop conveyer quits work.
Stacking un-heaping unit realizes temporary stacking and the un-heaping output action of pallet, is the most being described in detail, and this is one
Work tempo cycle period is embodied as flow process.
Described driving mechanical hand 24, driving mechanical hand is gantry bridge architecture, by an output station pop-up on pipeline
Dish is carried to an input station on pipeline, constitutes structure closed loop with pipeline.Driving mechanical hand has two degree of freedom, is flat
Moving pair, one degree of freedom is Timing Belt 13-5 and guide rail 13-4 fit structure, and two station straight lines move；Second degree of freedom
For guide rod cylinder 13-3, end is provided with Pneumatic paw 13-2, it is achieved crawl and the placement to pallet, and frame is that planer-type aluminum closes
Gold support 13-1.
Each unit control is carried out the most integrated by profibus bus by described Master Control Unit, passes through
Profibus-dp substation card and each unit carry out communication.
After system start-up, workpiece arrives pipeline delivery unit (1), rail mounted six degree of freedom loading and unloading serial machine successively
People's unit (2), hydraulic pressure machining cell (5), six-freedom parallel machining cell (6), image detection handling unit (7), blanking list
Unit (9), spraying drying unit (10), graphics processing unit (12), add a cover assembly unit (13), wear pin assembly unit (14), inspection
Survey unit (16), bar code recognition unit (17), sorting unit (18), lifting storage unit (19), stacking un-heaping unit (21),
Above each unit is sequentially connected.
As shown in Figure 1: system electrification also starts, and pipeline delivery unit starts according to work tempo under master control control
Operating, workpiece situation in place in opposite type sensor detection feed bin in Pneumatic charging unit (referring to accompanying drawing 3), pusher cylinder action will
Workpiece is pushed into belt haulage station, belt conveyor delay voltage, and to another, workpiece transport is transported station, and belt is defeated
Sending opposite type sensor detection workpiece on machine to arrive transport station, Pneumatic charging unit break-off waits next beat of master control life
Order.
While Pneumatic charging cell operation, stacking un-heaping unit (referring to accompanying drawing 12) in master control according to work tempo control
Starting working under system, in unit, pallet temporary library is by the electric transducer detection pallet situation in place that diffuses, stacking unstacking machine
Pallet in pallet temporary library is captured and is placed into belt conveyor station by tool hands.Palletized transport is judged by inductance type transducer
Station is in place, and pallet is conveyed through pneumatic corner conveyer 22 (referring to accompanying drawing 1), round belt conveyer 23 by belt feeder operating, arrives
Reach driving mechanical hand 24 (referring to accompanying drawing 13) carrying station, judge situation in place cylinder location, this desktop skin through sensor
Belt conveyor shuts down, and mechanical hand 24 action of driving a vehicle, gas gripper takes pallet and places next station along guide rail.Judge through sensor
Pallet is in place, and this station belt conveyor operates, and the round belt corner conveyer below Pneumatic charging unit (refers to accompanying drawing
1) belt conveyor, and at mark 4 reaches up in blanking unit 9 (referring to accompanying drawing 5) immediately below blanking platform blanking port
Transfer station, is judged in place and positioning cylinder work by sensor, and this desktop conveyer quits work.
According to work tempo, at pallet during stacking un-heaping unit is delivered to above-mentioned transfer station, Pneumatic charging list
When unit's workpiece arrives belt haulage station, rail mounted six degree of freedom loading and unloading serial manipulator unit 2 (referring to accompanying drawing 4)
Starting working, robot is through station corresponding to orbit transports to Pneumatic charging unit, and six degree of freedom serial manipulator works, by gas
Workpiece on dynamic feeding unit material belt haulage station is captured by end pneumatic chuck, robot through orbit transports to liquid
The corresponding station of pressure machining cell 5, workpiece is placed hydraulic pressure machining cell 5 by end pneumatic chuck by six degree of freedom serial manipulator
In automated exchanged cutter station, judge that workpiece is in place through diffuse-reflectance sensor, Pneumatic clamping positioning mechanism action clamping and positioning workpiece,
Hydraulic direct-acting cylinder action, after punch process, Pneumatic clamping positioning mechanism cylinder return, six degree of freedom serial manipulator by workpiece from
Capturing in above-mentioned station, robot is through orbit transports to the corresponding station of machining cell 6 in parallel, and six degree of freedom serial manipulator is by work
Part places the Pneumatic clamping platform in machining cell 6 in parallel by end pneumatic chuck, judges that workpiece is in place through photoelectric sensor,
Pneumatic clamping platform action, it is achieved clamping the location of workpiece, six-freedom parallel machining center starts work under system control
Making, electric main shaft is fixed on six-degree-of-freedom parallel robot end, it is achieved boring and the Milling Process to workpiece.Completion of processing
After, parallel robot resets, and Pneumatic clamping platform return, workpiece is grabbed by six degree of freedom serial manipulator by end pneumatic chuck
Take, through orbit transports to the image corresponding station of detection handling unit 7, workpiece is placed into four works in image detection handling unit 7
Station placed by position rotating disk.Realize four station rotaries by photoswitch to position.Four station turnplates are sensed by diffuse-reflectance
Device judge workpiece place station situation in place, four station turnplates operating, sequentially pass through displacement transducer detection station depth size,
CCD vision-based detection station shape color detects, and relevant information is sent to master control, and flow of information enters lower unit, four station turnplate fortune
Turn and workpiece is stopped to this unit mechanical hand (referring to accompanying drawing 4) corresponding carrying station.This unit machinery hand getting pneumoelectric mixing control
System, is positioned with magnetic sensor by mechanical switch, it is achieved by four works of the workpiece handling of above-mentioned carrying station to blanking unit
Station (referring to accompanying drawing 5) is placed on the pusher rotating disk of position.Now, pallet by conveyer be delivered to blanking platform blanking port just under
The transfer station of side, sensor feedback signal pallet is in place, and it is in place that station workpiece placed by four station pusher rotating disks, in blanking unit
DC speed-reducing is turned to four station pushers by Geneva mechanism, column gear transmission, Bevel Gear Transmission, toothed belt transmission output
Dish, when pusher turntable rotation makes workpiece be pushed into blanking platform blanking port, workpiece falls to pallet, and diffuse-reflectance sensor detects
Workpiece is in tray position.Pipeline residing for pallet starts under unit control system, proceeds to next unit.
When workpiece is with belt conveyance to spraying drying unit, the electric transducer that diffuses senses workpiece, stops gas
Cylinder blocks location tray and workpiece, and it is out of service that electromagnetic valve controls conveyer, and 1# spray gun carries out spray coating operations, spraying rule to workpiece
After fixing time, release and stop cylinder, run conveyer belt and workpiece is delivered to 2# spray gun, repeat previous step, by 2# spray gun to work
Part is timed spraying, after spraying, at conveyer belt transport workpiece to drying station, stops a period of time, by adding heat pipe
Workpiece is carried out heating, drying process, and is monitored the state of temperature of workpiece by intelligent temperature display instrument, touch screen.After completing
Workpiece is delivered to next unit.
Passage in transit cylinder corner conveyer (referring to accompanying drawing 2), straight line portion roller conveyor is passed with chain by reductor
Dynamic, corner is that DC speed-reducing drives bevel gear wheel dish and four bevel pinion engaged transmission, it is achieved angle turning function.
When workpiece runs to graphics processing unit with conveyer, the electric inductor that diffuses senses workpiece, stops gas
Cylinder blocks location workpiece, and conveyer belt stops, and CCD camera carries out image procossing and is shown on liquid crystal display workpiece, logical
Cross vision sensor complete the absorption of the image to workpiece and compare rear output detections result with standard form, it is provided that to follow-up list
Unit uses.
When pallet and exemplar are transported to when adding cap unit (referring to accompanying drawing 6) by belt conveyor, and photoelectric sensor senses
Exemplar, is positioned at exemplar in normal place by backgauge cylinder, the sample on inductive proximity sensor sensing slide way type work rest
Part lid, DC speed-reducing and worm-gear speed reducer drive full wind-up rotary oscillation to the top of exemplar lid, and Timing Belt passes
The dynamic vertical state realizing vacuum cup and telescopic cylinder, captures exemplar lid by telescopic cylinder and vacuum cup, then passes through
Exemplar lid is moved to the top of exemplar and places exemplar lid by the rotary oscillation of full wind-up, completes the assembling adding a cover exemplar
Work.Pallet delivery assembling workpiece is delivered to next unit.
When belt conveyor by pallet and exemplar, the transport of exemplar lid to when wearing pin unit (referring to accompanying drawing 7), photoelectric sensor
Sensing exemplar, backgauge cylinder be positioned in normal place by exemplar, DC speed-reducing drives partial gear to rotate, logical
Crossing the transmission of partial gear and turning to of bevel gear, transmit motion on blanking floral disc, placement positioning pin is to standard station
On, by blanking cylinder, the alignment pin in hopper is pushed on blanking floral disc, then by ejector pin cylinder by alignment pin simultaneously
Push in the hole, location of exemplar and exemplar lid.Pallet delivery assembling workpiece is delivered to next unit.
Passage in transit round belt corner conveyer (referring to accompanying drawing 2), uses round belt tensioning from loop circuit, drives corner rotating disk
Rotating, pallet realizes its angle turning function through out-of-date with rotating disk rotation 90 °.
When workpiece is delivered to detector unit (referring to accompanying drawing 8), photoelectric sensor sense workpiece, stop that cylinder is by work
Part is positioned on standard station, and conveyer is out of service, and detection cylinder drives color mark sensor, Fibre Optical Sensor to run to workpiece
Near, by the alignment pin on Fibre Optical Sensor detection workpiece, the color of color mark sensor detection workpiece, whether detection assembly closes
Lattice.Next unit is entered after detection.
When workpiece runs to bar code recognition unit (referring to accompanying drawing 9) with conveyer, the electric inductor that diffuses senses
To workpiece, stopping that cylinder blocks workpiece, conveyer stops, and labelling machine carries out labelled work to workpiece, by workpiece after completing
Transport to barcode scanner station, be identified bar code reading and inputting warehouse management system.
Then, workpiece runs to sorting unit (referring to accompanying drawing 10) with conveyer, carries out according to detector unit testing result
Sorting work.Testing result is defective, then separated with pallet by workpiece by two-dimentional machinery hands Pneumatic paw in sorting unit, and will
Through sensor, workpiece handling, to this unit belt conveyor feed station, judges that workpiece is in place, belt feeder operates, through pneumatic stop
Guider, by workpiece transport and accurately slip into waste recovery device.Pallet then transports to stacking un-heaping unit along with conveyer.
Testing result is qualified, flows directly into next unit.About above-mentioned two-dimentional machinery hands, action element used by two-dimentional machinery hands is all
Cylinder, it mainly completes the carrying action of exemplar.X-axis uses Rodless cylinder to realize the carrying of exemplar, and Y-axis uses guide rod gas
Cylinder realizes, and what the clamping of exemplar was used is that scale tone folder realizes, when workpiece is delivered to station under sensor effect
Stopping that cylinder action is located, and transmit signal to guide rod cylinder descending, after putting in place, magnetic switch transmits signal to
Scale tone folder by exemplar clamping and on carry, under magnetic switch detects signal passed to after putting in place Rodless cylinder and slides to the left,
The gas pawl after time delay of passing through under back-guiding rod cylinder of putting in place opens, and then repeats above-mentioned action playback.Realize its grasp handling function.
Qualified products with pallet, flow into and promote storage unit (referring to accompanying drawing 11), arrive out warehouse-in under conveyer carries
During Manipulator Transportation station, location is stretched out in positioning cylinder work, out of service according to sensor feedback this desktop conveyer, comes in and goes out
Storehouse mechanical hand is started working, and before this, it is in place that each layer of stereo garage frame, each sensor determine whether there is workpiece, in system control
Under system, control warehouse-in mechanical hand and be carried to a belt feeder placement on stereo garage frame through end Pneumatic paw clamping assembling workpiece
On position, belt feeder operates subsequently, and conveying assembling workpiece determines position to position in storehouse, position in storehouse by diffuse-reflectance sensor feedback.Machinery
Hands resets, and pallet continues to flow into stacking un-heaping unit (referring to accompanying drawing 12).
Stacking un-heaping unit realizes temporary stacking and the un-heaping output action of pallet, is the most being described in detail, and this is one
Work tempo cycle period is embodied as flow process.
Logistics system feature of the present invention: comprise piler equipment, Automatic Store equipment, Automatic Conveying in system traditional thread binding
Put, robot device, visual detection equipment, industry labeling identification system and corresponding auxiliary device, and various kinds of sensors, industry
All kinds of technology such as bus system, PLC technology, vision technique, robot, it is achieved it is unmanned automatic that production and processing assembling detection is put in storage
Chemical industry is made, and efficient high yield simulates industry spot completely, and uses the structure of diversification, and control etc. makes light, mechanical, electrical, air-liquid
All kinds of technology are rubbed and are integrated.
1. all unit plc control systems, embedded control system are entered by native system by PROFIBUS-DP fieldbus
Line height, the most integrated, it is achieved network scheduling and control, identical with industry spot form, through master control control, it is achieved logistics
The automatic transportation of system, process and assemble, detect, sort, every operation such as warehouse-in, by every sensor and identify system pair
Every operation is monitored in real time and updates.
2. all kinds of robots of native system outfit are to realize automatization, such as six degree of freedom serial manipulator, six-freedom parallel
Robot, all kinds of conveying robots needed according to real work, or pneumatic, or machinery, or mechanical-pneumatic combining form, fully
Robotics is utilized to coordinate diversification Automatic Conveying line to realize the various actions such as unmanned assembling processing conveying.
2. controlling software aspects employing windows operating system, there is good interactive graphicsization operation interface, directly
Connect, efficiently, real-time and multitask are had the strongest tenability, multitask can be completed and have shorter terminal response time.
And there is the memory block defencive function that function is the strongest, it is simple to student's hands-on and system maintainability.
3. the unit in system has " online/unit " two kinds of operator schemes.The software and hardware of all of unit
All independently can operate with detachment system, available stand-alone device is platform, carries out the research and development of single technology, easily extends.
4. system soft and hardware part reserves extending space, and user side can increase EM equipment module on the basis of original system, and
Can be easily integrated in system, create extremely advantageous condition for user side's secondary development and extension teaching.
5. system integration information management software, by computer with the communication of each unit and sensor with integrated, by system
In the state of each link show on operation interface, make operator pass through computer and understand the operating mode of each link of system, shape at any time
State, service data, grasp system running state.Each plc unit is equipped with touch screen and controls in real time, remaining four embedded Control system
System unit is equipped with display and mouse etc., swift and convenient to operate.
7. System Computer power technology all-round opening, is equipped with perfect guide book of experiment, can easily develop oneself motion or
Control function, excite learning interest.
Claims (4)
1. a machine photoelectricity gas-liquid integral flexible production comprehensive training system, comprises: pipeline delivery unit (1), rail mounted
Six degree of freedom loading and unloading serial manipulator unit (2), Pneumatic charging unit (3), hydraulic pressure machining cell (5), six-freedom parallel
Machining cell (6), image detection handling unit (7), blanking unit (9), spraying drying unit (10), graphics processing unit
(12), adding a cover assembly unit (13), wear pin assembly unit (14), detector unit (16), bar code recognition unit (17), sorting is single
Unit (18), promotes storage unit (19), stacking un-heaping unit (21), driving manipulator unit (24), Master Control Unit (25), and it is special
Levy and be: after system start-up, workpiece arrives pipeline delivery unit (1), rail mounted six degree of freedom loading and unloading serial manipulator list successively
Unit (2), hydraulic pressure machining cell (5), six-freedom parallel machining cell (6), image detection handling unit (7), blanking unit
(9), spraying drying unit (10), graphics processing unit (12), add a cover assembly unit (13), wear pin assembly unit (14), detection
Unit (16), bar code recognition unit (17), sorting unit (18), lifting storage unit (19), stacking un-heaping unit (21), with
Upper each unit is sequentially connected, wherein rail mounted six degree of freedom loading and unloading serial manipulator unit (2), six-freedom parallel work sheet
Unit (6), image detection handling unit (7), graphics processing unit (12) are embedded control unit, and in native system, each unit possesses
Unit/online function, in a stand-alone mode, each unit can detachment system independent operating, controlled by the control system of this unit
This cell operation；Under online mode, each unit, as a node in network, is dispatched by main website；Except four embedded Control
Unit remaining each unit outer uses plc to control.
Machine photoelectricity gas-liquid integral flexible production comprehensive training system the most according to claim 1, is characterized in that: described
Rail mounted six degree of freedom loading and unloading serial manipulator unit (2) uses Timing Belt and guide rail fit form, six degree of freedom cascade machine
Device people is fixed on guide rail slide block by connecting plate, realizes the running fix of each station, rail mounted according to photoelectric sensor location
Six degree of freedom loading and unloading serial manipulator unit uses Based PC 104 bus embedded type motion controller to control, and rail mounted six is certainly
By degree loading and unloading serial manipulator unit across 4 desktops, station includes following Pneumatic charging unit (3) output station, liquid
Pressure machining cell (5) work station, six-freedom parallel machining cell (6) work station and image detection handling unit (7)
In one of them station of four station turnplates；Described Pneumatic charging unit (3) is by base, well formula feed mechanism, pusher, skin
Band transmission mechanism, material guide device, electrically-controlled valve, mounting bracket form, and pusher is positioned at well formula feed mechanism side, belt transport
Mechanism is installed on pusher offside, and is provided with material guide device on belt transmission mechanism；
Described hydraulic pressure machining cell (5) is by hydraulic direct-acting cylinder, clamping positioning mechanism, intervalometer and machinery adjusting lever mechanism, c-type
Steel construction forms, and machinery adjusting lever mechanism is ball-screw and track combination, and clamping positioning mechanism uses pneumatic pinch and sensing
Device feedback combines；
Described six-freedom parallel machining cell (6) is by parallel robot machining center, clamping cylinder, photoelectric sensor, control
Relay module processed, mounting bracket form, and parallel robot machining center is modular construction, parallel robot machining center
The driving of each shaft step motor, ball-screw and line slideway fit structure, Hooke's hinge is connected to end output stage, output stage
On electro spindle is installed, clamping cylinder realizes its automatization's Set and Positioning by sensor feedback；
Described image detection handling unit (7) includes four station turnplates, displacement sensor component, ccd image acquisition component, machine
Tool hands carrying assembly and lower floor's belt conveyor line, displacement sensor component and ccd image acquisition component are positioned on four station turnplates
Side, whole four station turnplates are installed on the aluminium alloy desktop above belt conveyor line, and Manipulator Transportation assembly is positioned at belt
Conveying line side；Conveying robot uses pneumoelectric mixing to control, and the Z axis of conveying robot is step motor drive, conveying robot
Ball-screw and guide rail are fit structure, slide block is fixed rotary cylinder and carries out 180 degree of rotations, rotary cylinder outfan about the z axis
It is fixed with slim guide rod cylinder and completes the X-direction feeding of paw；
Described blanking unit (9) passes through Geneva mechanism transmission, it is achieved intermittent movement；
Described spraying drying unit (10) is by spray booth, heater, temperature sensor, simulation shower nozzle, cooling fan, exchange
Voltage regulating module, intelligent temperature display instrument, touch screen, add heat indicator, photoelectric sensor, inductance sensor, stop cylinder, direct current
Reducing motor forms, it is achieved workpiece first sprays post-heating baking and curing and cooling procedure, is controlled in real time by each sensor feedback
Make each process flow；
Described graphics processing unit (12) is by light source, camera lens, CCD camera, image process controller, operation keyboard, display
Device forms, and completes the absorption of the image to workpiece by vision sensor and compares rear output detections result with standard form, defeated
Enter to subsequent cell；
Described assembly unit (13) of adding a cover comprises discharge component and vac sorb machinery hands two assemblies of assembling, wherein discharging group
Part is positioned on slide way type work rest by workpiece, and after bottom workpieces is left by mechanical hand crawl, workpiece is under gravity
Realizing it automatically to fill, vac sorb machinery hand getting DC speed-reducing drives worm type of reduction gearing to export through Timing Belt
Controlling the structure that rocking arm rotates, the end rotary output of vac sorb machinery hands is fixed with telescopic cylinder and vacuum cup, and
Ensure that telescopic cylinder remains vertically downward, it is achieved the carrying assembling action between two stations；
Described pin assembly unit (14) of wearing is driven drive mechanism of non circular gear to make grooved blanking machine by DC speed-reducing
Structure intermittent rotary, in hopper, bearing pin is filled the most automatically to grooved cutting agency blanking floral disc groove, and rotates
Arrive next station, released by cylinder and worn pin action；
Described detector unit (16) is passed by touch screen, backgauge cylinder, detection cylinder, photoelectric sensor, Fibre Optical Sensor, colour code
Sensor, inductance sensor, electrically-controlled valve, mounting bracket form, and enter follow-up list by each sensor feedback information to Master Control Unit
Unit；
Described bar code recognition unit (17) is by carrying out warehouse-in information pre-treatment to assembly labeling bar code identification；Described
Sorting unit (18) by two-dimentional machinery hands and travelling belt conveyer, waste material recovery device forms, according to detector unit (16)
Testing result judges to realize carrying, waste product sorting；
Described lifting storage unit (19) is by stereo garage frame and goes out to put mechanical hand in storage and forms；
Described stacking un-heaping unit (21) is made up of stacking un-heaping mechanical hand and pallet temporary library, wherein stacking un-heaping mechanical hand
Two degree of freedom, are translation pair, are provided with pallet temp store simultaneously, are installed under mechanical hand on Timing Belt conveyer
Side, under stacking un-heaping unit controls so that mechanical hand completes the crawl to pallet and placement action.
Machine photoelectricity gas-liquid integral flexible production comprehensive training system the most according to claim 1, is characterized in that: described
Each unit control system is carried out the most integrated by profibus bus by Master Control Unit (25), passes through profibus-dp
Substation card and each unit carry out communication.
Machine photoelectricity gas-liquid integral flexible production comprehensive training system the most according to claim 1, is characterized in that: described
Pipeline delivery unit (1) includes belt conveyor (4), cylinder corner conveyer (11), round belt corner conveyer (15), pneumatic
Corner round belt machine (22)；
Described cylinder corner conveyer (11) uses bevel gear wheel to engage multiple bevel pinion structures, and cylinder corner conveyer is also
Including chain drive structure；By vertical with conveyor surface and be arranged at DC speed-reducing (2-3) inside corner and drive bevel gear wheel
(2-1) rotating, and then drive the multiple bevel pinions (2-2) engaged with bevel gear wheel to rotate, bevel pinion (2-2) rotates and drives
On pipeline, the live-roller of corner rotates, it is achieved the transmission of corner, and these transmission two ends, corner connect chain drive structure, chain
Drive mechanism is driven each live-roller to rotate by chain drive (2-4), is provided with spacing in chain drive structure conveyor surface both sides simultaneously
Device (2-5), is provided with photoelectric sensor (2-6) in chain drive structure frame, is used for detecting whether conveyor surface has workpiece；
Described pneumatic corner round belt machine (22), is driven aluminium section bar support (2-7) in 90 degree of reciprocal horizontal by rotary cylinder (2-8)
Rotate, aluminium section bar support (2-7) is provided with DC speed-reducing (2-3), drive conveyor surface by toothed belt transmission (2-10)
On round belt transmission (2-9) motion, aluminium section bar support (2-7) is provided with photoelectric sensor (2-6) and is used for judging conveyor surface
On whether have workpiece；
Described round belt corner conveyer (15), is driven round belt (2-12) to move by round belt wheel (2-11) and carries motion, defeated
Send into mouth and be provided with stopping means (2-5), support is provided with swelling device (2-14) and is used for tensioner round belt (2-12), corner
Being provided with round belt drive (2-13), round belt drive (2-13) circumference overlaps with outside round belt fillet, has been used for workpiece and has existed
The corner of conveyor surface；
Described belt conveyor (4), is passed through Timing Belt by the upper DC speed-reducing (2-3) arranged of aluminium section bar support (2-7)
Transmission (2-15) drives Timing Belt (2-17) to realize workpiece conveying on conveyor surface, and belt conveyor is provided with photoelectric sensor
(2-6), stopping means (2-5), inductive proximity sensor (2-16)；
Described rail mounted six degree of freedom loading and unloading serial manipulator unit (2) is arranged on Pneumatic charging unit (3), pipeline fortune
On the aluminium alloy table top that defeated unit (1), image detection handling unit (7) form, six degree of freedom serial manipulator (4-1) is synchronizing
Band is upper motion with the track (4-2) of guide rail composition, and rail mounted six degree of freedom loading and unloading serial manipulator unit (2) opposite side is arranged
There are hydraulic pressure machining cell (5), six-freedom parallel machining cell (6)；
Described Pneumatic charging unit (3), arranges base (3-7) on aluminium section bar support and is connected with belt conveyor, base (3-
7) it is provided with well formula feed mechanism (3-1) on, the lower end base of well formula feed mechanism is provided with opposite type sensor (3-6), logical
Crossing the effect of the pushing block (3-3) of pusher cylinder (3-2) and promotion thereof, the workpiece of supply in well formula feed mechanism can be pushed away by pushing block
Deliver on belt conveyor, belt conveyor is provided with material guide device (3-5) and opposite type sensor (3-6)；
Described blanking unit (9) is turned by Geneva mechanism (5-1), bevel gear transmission (5-5), synchronous belt pulley transmission, pusher
Dish (5-3), blanking platform (5-2), photoelectric sensor (5-4), Fibre Optical Sensor (5-8), DC speed-reducing (5-6), slot type
Photoswitch (5-7), mounting bracket form；Realize intermittent movement by Geneva mechanism, driven by DC speed-reducing (5-6)
Geneva mechanism (5-1) realizes intermittent movement, then is put down to blanking by bevel gear transmission (5-5) conduction by intermittent movement
The pusher rotating disk of platform (5-2), blanking platform is layered structure, and pusher rotating disk rotates relative to blanking platform, goes at blanking port
Realize workpiece from last process blanking to belt line top tray station；
Described assembly unit (13) of adding a cover comprises by slide way type work rest (6-1), worm type of reduction gearing (6-5), turning arm
(6-10), synchronize wheel belt (6-4), DC speed-reducing (6-6), backgauge cylinder, telescopic cylinder (6-3), vacuum cup (6-2),
Photoelectric sensor (6-9), capacitance sensor (6-7), inductance sensor, mechanical limit switch, electrically-controlled valve (6-8), mounting bracket
The discharge component constituted and vac sorb machinery hands two assemblies of assembling；
Described pin assembly unit (14) of wearing is by hopper (7-4), grooved cutting agency, drive mechanism of non circular gear (7-2), straight
Stream reducing motor (7-1), backgauge cylinder (7-6), blanking cylinder (7-5), ejector pin cylinder (7-8), photoelectric sensor (7-14), light
Fiber sensor (7-13), inductance type transducer (7-9), electrically-controlled valve (7-10), mounting bracket (7-7) form；
Described bar code recognition unit (17) is by backgauge cylinder, inductance sensor, photoelectric sensor (9-4), labelling machine (9-3)
And Processing in Barcode Recognizing System composition, by assembly labeling bar code identification are carried out warehouse-in information pre-treatment；Labelling machine (9-4) leads to
Crossing labelling machine support (9-1) to be arranged in frame, the scanner of bar code identification system is arranged on scanner fixed station (9-2)
On, workpiece is transmitted by belt conveyor；Sorting unit (18), will by two-dimentional machinery hands (10-2) Pneumatic paw in sorting unit
Workpiece separates with pallet, and by workpiece handling to stacking un-heaping unit belt conveyor feed station, sentences through sensor (10-4)
Determining workpiece in place, belt conveyor operates, through pneumatic stop guider (10-6), by workpiece transport and accurately slip into waste product and return
Receiving apparatus (10-5)；Sorting unit configuration touch screen (10-7) operation controls；
The described stereo garage frame promoting storage unit (19), is four layer of three row, and every layer is provided with a belt conveyor, Belt Conveying
Machine is driven operating by DC speed-reducing (11-2) by Timing Belt (11-3), judges workpiece according to diffuse-reflectance sensor (11-1)
The most in place, adjust diffuse-reflectance sensor and can adjust every layer of storage bit quantity according to practical situation in right amount；
Described promoting going out to put mechanical hand in storage and having four-degree-of-freedom of storage unit (19), one degree of freedom is translation pair, uses rolling
Ballscrew (11-14) and guide rail (11-13) fit structure, drive ball-screw (11-14) to realize by servomotor (11-16)
Move back and forth, ball screw two ends frame is provided with slot type photoswitch (11-15) and controls two ends extreme position in each row's work
Move between Wei, Y-direction；Second degree of freedom is translation pair, uses Chain conveyer (11-5) and rail engaging structure, and attached counterweight fills
Put, motor (11-9) control warehouse-in mechanical hand by reductor (11-10) and move between each layer station, promote storehouse
It is provided with slot type photoswitch (11-17) in storage unit (19) frame and controls two ends extreme position, Z-direction；Three degree of freedom is
Translation pair, ball-screw and rail engaging structure or realized out warehouse-in switching translation by straight line Rodless cylinder (11-6), X to；
4th degree of freedom is revolute, and rotary cylinder (11-11) rotates about the z axis with Pneumatic paw (11-12), it is achieved end working position
Appearance conversion and clamping；
The stacking un-heaping mechanical hand of described stacking un-heaping unit (21), stacking un-heaping mechanical hand one degree of freedom uses Timing Belt
(12-7) with guide rail (12-4) fit structure；Second degree of freedom of stacking un-heaping mechanical hand uses ball-screw (12-2) and guide rail
Fit structure, entirety is located in upright supports (12-3), controls ball-screw by motor (12-1), and aluminium alloy pedestal makes
Obtain mechanical hand to be installed on Timing Belt conveyer；
Described driving manipulator unit (24), driving mechanical hand is gantry bridge architecture, by an output station on pipeline
Pallet carrying, to an input station on pipeline, constitutes structure closed loop with pipeline；Driving mechanical hand has two degree of freedom, is
Translation pair, one degree of freedom is Timing Belt (13-5) and guide rail (13-4) fit structure；Second degree of freedom is guide rod cylinder
(13-3)。
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