CN103632602B - A kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system - Google Patents
A kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system Download PDFInfo
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Abstract
The present invention relates to a kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system, it is characterized in that: its composition includes setting up the most successively four-degree-of-freedom SCARA robot goes out library unit (1), hydraulic stamping unit (2), hydraulic pressure machining cell (3), computer turn-key system (7) that is parallel with above-mentioned each unit and that arrange from left to right, CCD colour recognition unit (4), automation assembly cells (5), automatically (6) six unit modules of library unit it are classified into, 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.By the way, the present invention can solve the problem that the present situation of robot of colleges and universities of professorship teaching equipment relevant to On Electro-mechanics Integration Major shortage so that trainee is easier to grasp robot and the application and development of electromechanical integration technology and integrated comprehensively.
Description
Technical field
The present invention relates to Flexible Manufacturing System for Teaching technical field, particularly to a kind of for imparting knowledge to students and scientific research
Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system.
Background technology
Along with developing rapidly of science and technology, new product continues to bring out, and the complexity of product is consequently increased,
And the market life shortened of product, update accelerate, in, small lot batch manufacture occupy more and more important
Status.Face this new situation, it is necessary to increase substantially manufacture flexibility and production efficiency, shorten and produce
In the cycle, it is ensured that product quality, reduce energy consumption, thus reduce production cost, to obtain more preferable economic benefit.
Flexible manufacturing system arises at the historic moment the most under these circumstances.
In order to promote have one comprehensively to understand in depth the advanced manufacturing technology such as robot, flexible manufacturing system
And cognition, in conjunction with the demand of field research, have employed the most common industrial FMC, exploitation
Simulate the flexible manufacturing automatic material flow teaching system of the actual application of industry spot completely, and be equipped with corresponding real
Test guiding book.It is easy to for the On Electro-mechanics Integration Major teaching of colleges and universities of each professorship, hands-on and scientific research, secondary
Exploitation.
Summary of the invention
The invention aims to solve defect present in existing technology, it is provided that a kind of Light Electrical gas-liquid
Integrated flexible manufactures system, it is possible to solves the teaching relevant to On Electro-mechanics Integration Major of robot of colleges and universities of professorship and sets
The present situation of standby shortage so that the easier comprehensive grasp robot of trainee opens with the application of electromechanical integration technology
Send out and integrated.
For solving above-mentioned technical problem, the technical solution used in the present invention is: a kind of Light Electrical gas-liquid integral
Flexible manufacturing system, is characterized in that: its composition includes the four-degree-of-freedom SCARA machine set up the most successively
Device people goes out library unit, hydraulic stamping unit, hydraulic pressure machining cell, parallel with above-mentioned each unit and from left to right
The computer turn-key system, CCD colour recognition unit, the automation assembly cells that arrange, automatically it is classified into library unit
Six unit modules, 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；Online mode
Under, this unit, as a node in network, is dispatched by main website.
As further improving, described computer turn-key system comprises master control computer, unit PLC control
System processed, unit robot embedded control system, described each unit PLC control system, unit machine
People's embedded control system is connected and communication by ProfiBus-DP bus with described master control computer.
As further improving, described four-degree-of-freedom SCARA robot goes out library unit and comprises aluminium alloy table
Face, aluminium alloy stock storehouse, workpiece, four-degree-of-freedom SCARA robot, vac sorb instrument, unit use
Based PC 104 bus embedded type motion controller controls, the internally installed two piece of two axle robot motion of controller
Control card；Described four-degree-of-freedom SCARA robot uses economical teaching product, by a set of AC servo
Motor three overlaps step motor drive, a joint and two joint harmonic speed reducer transmissions, three joint ball-screw spiral shells
Female auxiliary driving, four joint planetary reduction gear transmissions, robot end installs vac sorb instrument；Described aluminum
Alloy raw material storehouse is built by aluminium alloy extrusions, plane circular arc layout, altogether station at 12, installs inspection under station
Survey sensor, in order to detect workpiece with or without.
As further improving, described material tests and hydraulic stamping unit comprise aluminium alloy desktop, with
Step belt conveyor, the electric transducer that diffuses, electronic adjustment platform, hydraulic cylinder, unit uses PLC
Control, configurable man machine interface operation and monitoring；Described Timing Belt conveyer step motor drive, synchronizes
Band wheels transmission, linear axis supports with linear bearing, installs photoelectric sensor detection and location, institute in conveyer
The electronic adjustment platform stated on Timing Belt conveyer, adjusts platform stepping by aluminium alloy extrusions framework planer-type
Motor drives, ball-screw nut transmission, and linear axis supports with linear bearing, and traverser passes through connecting plate
Hydraulic cylinder, practical training simulated stamping press are installed.
As further improving, described hydraulic pressure machining cell comprise aluminium alloy desktop, one-dimensional translation stage,
Conveying robot, air-actuated jaw, C-type steel manually adjust platform, hydraulic cylinder, and unit uses PLC to control, and can join
Put man machine interface operation and monitor, described one-dimensional translation stage aluminium alloy extrusions framework, step motor drive,
Ball-screw nut transmission, line slideway supports, translation stage traverser is fixed conveying robot, described
Conveying robot aluminium alloy extrusions framework, cylindrical coordinates robot pattern, step motor drive, harmonic wave subtracts
Speed device transmission, installs lifting guide pillar cylinder by connecting rod, and end installs Pneumatic paw, described pneumatic clamps
Tool aluminum section bar frame, guide rod cylinder clamps, and configures diffuse electric transducer detection and communication, described C
Shaped steel manually adjusts platform support and is formed by Plate Welding, and manual adjusting device is installed in front, handwheel manually drive
Dynamic, trapezoidal sliding screw transmission, line slideway supports, and traverser installs hydraulic cylinder by connecting plate.
As further improving, described CCD colour recognition unit comprises aluminium alloy desktop, Belt Conveying
Machine, CCD machine vision device, master control computer, unit uses master control computer control；Described belt is defeated
Sending machine aluminium alloy extrusions framework, direct current generator connects worm type of reduction gearing transmission, conveyer is installed unrestrained anti-
Penetrate photoelectric sensor and pneumatic power positioner, described CCD machine vision device aluminum section bar frame, use height
Resolution camera detects, and configures video frequency collection card, is installed in master control computer.
As further improving, described automation assembly cells comprise aluminium alloy desktop, servo translation stage,
Conveying robot, twelve-station rotate material storehouse, sub-workpiece, pneumatic assembling bench, and unit uses PLC
Control, configurable man machine interface operation and monitoring；Described servo translation stage aluminium alloy extrusions framework, exchange
Driven by servomotor, Timing Belt wheels transmission, line slideway supports.Conveying robot is installed in traverser,
Described conveying robot, cylindrical coordinates robot pattern, step motor drive, harmonic speed reducer transmission,
Installing guide rod cylinder by connecting rod, end installs Pneumatic paw, and described twelve-station rotates material storehouse stepping
Motor drives, and direct-connected harmonic speed reducer exports, and described pneumatic assembling bench guide rod cylinder drives elevating movement,
Accept workpiece to be assembled.
As further improving, library unit comprises aluminium alloy desktop, two set aluminum close in described being automatically classified into
Gold warehouse for finished product, planer-type translation stage, Pneumatic manipulator, frequency conversion belt conveyor, unit uses PLC to control
Device controls, configurable man machine interface operation and monitoring；Described aluminium alloy warehouse for finished product aluminium alloy extrusions is built,
It is positioned at frequency conversion belt conveyor both sides, often overlaps station at six, detection sensor is installed, in order to detect in station
Workpiece is with or without, described planer-type translation stage aluminium alloy gantry support, step motor drive, ball-screw spiral shell
Female auxiliary driving, linear axis supports with linear bearing, and traverser installs Pneumatic manipulator, described pneumatic motor
Tool hands is built by connecting plate by lift cylinder, telescopic cylinder, Pneumatic paw, described frequency conversion belt
Conveyer aluminium section bar support, phase asynchronous reducing motor drives, supporting frequency converter timing.
The invention has the beneficial effects as follows: solve the teaching relevant to On Electro-mechanics Integration Major of robot of colleges and universities of professorship and set
The present situation of standby shortage so that the easier comprehensive grasp robot of trainee opens with the application of electromechanical integration technology
Send out and integrated.
Accompanying drawing explanation
The present invention is further illustrated below in conjunction with the accompanying drawings with case study on implementation.
Fig. 1 is present system main assembly and layout schematic diagram.
Fig. 2 is that the four-degree-of-freedom SCARA robot of the present invention goes out library unit composition schematic diagram.
Fig. 3 is the hydraulic stamping unit composition schematic diagram of the present invention.
Fig. 4 is the hydraulic pressure machining cell composition schematic diagram of the present invention.
Fig. 5 is the CCD colour recognition unit composition schematic diagram of the present invention.
Fig. 6 is the automation assembly cells unit composition schematic diagram of the present invention.
Fig. 7 is that the library unit that is automatically classified into of the present invention forms schematic diagram.
In Fig. 1-Fig. 7,1, four-degree-of-freedom SCARA robot go out library unit, 2, hydraulic stamping unit, 3,
Hydraulic pressure machining cell, 4, CCD colour recognition unit, 5, automation assembly cells, 6, automatically classify storage bill
Unit, 7, computer turn-key system, 8, aluminium alloy desktop, 9, aluminium alloy stock storehouse, 10, workpiece, 11,
Four-degree-of-freedom SCARA robot, 12, vac sorb instrument, 13, aluminium alloy desktop, 14, Timing Belt defeated
Send machine, 15, diffuse electric transducer, 16, electronic adjustment platform, 17, hydraulic cylinder, 18, aluminium alloy table
Face, 19, one-dimensional translation stage, 20, conveying robot, 21, air-actuated jaw, 22, C-type steel manually adjust platform,
23, hydraulic cylinder, 24, aluminium alloy desktop, 25, belt conveyor, 26, CCD machine vision device, 27,
Master control computer, 28, aluminium alloy desktop, 29, servo translation stage, 30, conveying robot, 31,12
Station rotary material storehouse, 32, sub-workpiece, 33, pneumatic assembling bench, 34, aluminium alloy desktop, 35, two set aluminum
Alloy finished product storehouse, 36, planer-type translation stage, 37, Pneumatic manipulator, 38, frequency conversion belt conveyor.
Detailed description of the invention
By making the architectural feature to the present invention and effect of being reached have a better understanding and awareness, in order to
Preferred embodiment and accompanying drawing coordinate detailed description, are described as follows:
Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system as described in Figure 1 is gone out by four-degree-of-freedom SCARA robot
Library unit 1, hydraulic stamping unit 2, hydraulic pressure machining cell 3, CCD colour recognition unit 4, automatically assemble list
Unit 5, automatically it is classified into library unit 6 and computer turn-key system 7, pneumatic system composition, system configuration master control
Computer, unit possesses unit/online function.Each unit aluminium alloy desktop can detachment system independent operating, again
By industry ProfiBus-DP bus, all stand-alone device in system can be carried out height, the most integrated.
Six groups of unit are distributed in independent aluminium alloy laboratory table respectively, and a complete set of equipment floor space is 3.6X2.0 rice.
Unit aluminium alloy laboratory table uses fine aluminum section bar to build, and base plate installs leg roller, can easily move
With integrated.Unit control system is installed and below aluminium section bar, open layout.Laboratory table front dispensing unit
Control guidance panel, button and display lamp are installed.
Four-degree-of-freedom SCARA robot as described in Figure 2 goes out library unit 1 and comprises aluminium alloy desktop 8, aluminium alloy
Raw material storage 9, workpiece 10, four-degree-of-freedom SCARA robot 11, vac sorb instrument 12, unit use base
Control in PC104 bus embedded type motion controller, controller internally installed two piece of two axle robot motion control
Fabrication.Described four-degree-of-freedom SCARA robot 11 uses economical teaching product, circular cylindrical coordinate mechanism,
Step motor drive is overlapped by a set of AC servo motor three, a joint and two joint harmonic speed reducer transmissions, three
Joint ball guide screw nat transmission, four joint planetary reduction gear transmissions, robot end installs vac sorb
Instrument 12.Described aluminium alloy stock storehouse 9 is built by aluminium alloy extrusions, plane circular arc layout, altogether at 12
Station, under station install detection sensor, in order to detect workpiece with or without.
Material tests as described in Figure 3 and hydraulic stamping unit 2 comprise aluminium alloy desktop 13, Timing Belt conveying
Machine 14, the electric transducer 15 that diffuses, electronic adjustment platform 16, hydraulic cylinder 17, unit uses PLC to control
Device controls, configurable man machine interface operation and monitoring.Described Timing Belt conveyer 14 step motor drive,
Timing Belt wheels transmission, linear axis supports with linear bearing.Photoelectric sensor detection and location are installed in conveyer.
Described electronic adjustment platform 16, is adjusted by aluminium alloy extrusions framework planer-type on Timing Belt conveyer 14
Whole step motor drive, ball-screw nut transmission, linear axis supports with linear bearing, and traverser is led to
Cross connecting plate and hydraulic cylinder 17, practical training simulated stamping press are installed.
Hydraulic pressure machining cell 3 as described in Figure 4 comprises aluminium alloy desktop 18, one-dimensional translation stage 19, carrying implement
Tool hands 20, air-actuated jaw 21, C-type steel manually adjust platform 22, hydraulic cylinder 23, and unit uses PLC to control,
Configurable man machine interface operation and monitoring.Described one-dimensional translation stage 19 aluminium alloy extrusions framework, motor
Driving, ball-screw nut transmission, line slideway supports, and translation stage traverser fixes conveying robot
20.Described conveying robot 20 aluminium alloy extrusions framework, cylindrical coordinates robot pattern, motor drives
Dynamic, harmonic speed reducer transmission, by connecting rod, lifting guide pillar cylinder is installed, end installs Pneumatic paw.Institute
Air-actuated jaw 21 aluminum section bar frame stated.Guide rod cylinder clamps, and configuration diffuses electric transducer detection with logical
News.Described C-type steel manually adjusts platform 22 support and is formed by Plate Welding, and manual adjusting device is installed in front,
By handwheel manual actuation, trapezoidal sliding screw transmission, line slideway supports, and traverser is pacified by connecting plate
Dress hydraulic cylinder 23.
CCD colour recognition unit 4 as described in Figure 5 comprises aluminium alloy desktop 24, belt conveyor 25, CCD
Machine vision device 26, master control computer 27, unit is used master control computer 27 and is controlled.Described belt
Conveyer 25 aluminium alloy extrusions framework, direct current generator connects worm type of reduction gearing transmission, and conveyer is installed
Diffuse electric transducer and pneumatic power positioner.Described CCD machine vision device 26 aluminum section bar frame,
Employing high resolution camera detects, and configures video frequency collection card, is installed in master control computer.
Automation assembly cells 5 as described in Figure 6 comprises aluminium alloy desktop 28, servo translation stage 29, carrying implement
Tool hands 30, twelve-station rotate material storehouse 31, sub-workpiece 32, pneumatic assembling bench 33, and unit uses PLC control
Device processed controls, configurable man machine interface operation and monitoring.Described servo translation stage 29 aluminium alloy extrusions framework,
AC servo machinery driving, Timing Belt wheels transmission, line slideway supports.Carrying implement is installed in traverser
Tool hands 30.Described conveying robot 30, cylindrical coordinates robot pattern, step motor drive, harmonic wave subtracts
Speed device transmission, installs guide rod cylinder by connecting rod, and end installs Pneumatic paw.Described twelve-station rotation
Turning material storehouse 31 step motor drive, direct-connected harmonic speed reducer exports.Described pneumatic assembling bench 33 guide rod gas
Cylinder drives elevating movement, accepts workpiece to be assembled.
The library unit 6 that is automatically classified into as described in Figure 7 comprises aluminium alloy desktop 34, two set aluminium alloy warehouse for finished product
35, planer-type translation stage 36, Pneumatic manipulator 37, frequency conversion belt conveyor 38, unit uses PLC to control
Device controls, configurable man machine interface operation and monitoring.Described aluminium alloy warehouse for finished product 35 aluminium alloy extrusions is built,
It is positioned at frequency conversion belt conveyor 38 both sides, often overlaps station at six, detection sensor is installed, in order to examine in station
Survey workpiece with or without.Described planer-type translation stage 36 aluminium alloy gantry support, step motor drive, ball wire
Thick stick pair of nut transmission, linear axis supports with linear bearing.Traverser installs Pneumatic manipulator 37.Described
Pneumatic manipulator 37 is built by connecting plate by lift cylinder, telescopic cylinder, Pneumatic paw.Described
Frequency conversion belt conveyor 38 aluminium section bar support, phase asynchronous reducing motor drives, supporting frequency converter timing.
Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system feature:
1, system is with robotics as core, and integrated SCARA robot, pneumatic robot, pneumoelectric mix
Multiple industry machine in normal service people's pattern such as robot.And systems technology is comprehensive, integrated pneumatic power, hydraulic pressure, optics
The industry common technique such as sensor, electromechanical integration technology and control mode.
2, system controls containing robot cell's embedded system, windows2000 operating system.System compact
Small and exquisite, real-time and multitask there are is the strongest tenability, multitask can be completed and have shorter interruption to ring
Between Ying Shi.And there is the memory block defencive function that function is the strongest, it is simple to student's hands-on and system can be safeguarded
Property.
3, the unit tables mask in system has " online/unit " two kinds of operator schemes.All of unit
Software and hardware all independently can operate with detachment system, available stand-alone device is platform, carries out grinding of single technology
Send out, easily extend.
4, by industry standard design, by industrial bus mechanics of communication by all unit module devices in system
Carry out the integrated of height, identical with industry spot form.
5, system soft and hardware part reserves extending space, open interface, and user side can be at my Corporation system base
Increase EM equipment module on plinth, and can be easily integrated in system, create pole for secondary development and extension subject
For advantage.
6, system integration information management, by each unit sensor communication, shows the state of link each in system
Show on operation interface, make operator pass through computer and understand the operating mode of each link of system, state, fortune at any time
Row data, grasp system running state.
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.
The Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system scope of application: as electro-mechanical system teaching equipment
It is applied to colleges and universities of professorship.
Compared with prior art, the invention have the advantage that and can solve the problem that robot of colleges and universities of professorship and electromechanical
Change the present situation of specialty relevant teaching equipment shortage so that trainee is easier to grasp robot and dynamo-electric comprehensively
The application and development of body technology and integrated.
In sum, only presently preferred embodiments of the present invention, not it is used for limiting the model that the present invention implements
Enclose, all impartial changes done according to the shape described in scope of the invention as claimed, structure, feature and spirit
With modification, all should be included in scope of the presently claimed invention.
Claims (7)
1. a Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system, is characterized in that: its composition includes from right to left
The four-degree-of-freedom SCARA robot set up successively goes out library unit (1), hydraulic stamping unit (2), hydraulic pressure add
Work order unit (3), parallel with above-mentioned each unit and arrange from left to right computer turn-key system (7), CCD face
Colour discrimination unit (4), automation assembly cells (5), automatically it is classified into (6) four unit modules of library unit,
Each unit possesses unit/online function, and in a stand-alone mode, each unit aluminium alloy desktop can detachment system independence
Run, control this cell operation by the control system of this unit；Under online mode, this unit is as network
In a node, dispatched by main website；
Described four-degree-of-freedom SCARA robot goes out library unit (1) and comprises aluminium alloy desktop (8), aluminium alloy
Raw material storage (9), workpiece (10), four-degree-of-freedom SCARA robot (11), vac sorb instrument (12),
Unit uses Based PC 104 bus embedded type motion controller to control, the internally installed two piece of two axle machine of controller
Device people's motion control card；Described four-degree-of-freedom SCARA robot (11) uses economical teaching product,
Step motor drive is overlapped by a set of AC servo motor three, a joint and two joint harmonic speed reducer transmissions, three
Joint ball guide screw nat transmission, four joint planetary reduction gear transmissions, robot end installs vac sorb
Instrument (12)；Described aluminium alloy stock storehouse (9) is built by aluminium alloy extrusions, plane circular arc layout, altogether
Count station at 12, under station install detection sensor, in order to detect workpiece with or without.
A kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system the most according to claim 1, is characterized in that:
Described computer turn-key system (7) comprises master control computer, unit PLC control system, unit robot
Embedded control system, unit PLC control system, unit robot embedded control system calculate with master control
Machine is connected and communication by ProfiBus-DP bus.
A kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system the most according to claim 1, is characterized in that:
Described hydraulic stamping unit (2) comprises aluminium alloy desktop (13), Timing Belt conveyer (14), diffuses
Electric transducer (15), electronic adjustment platform (16), hydraulic cylinder (17), unit uses PLC to control,
Configurable man machine interface operation and monitoring；Described Timing Belt conveyer (14) step motor drive, synchronizes
Band wheels transmission, linear axis supports with linear bearing, installs photoelectric sensor detection and location, institute in conveyer
The electronic adjustment platform (16) stated by aluminium alloy extrusions framework planer-type on Timing Belt conveyer (14),
Adjusting platform step motor drive, ball-screw nut transmission, linear axis supports with linear bearing, traverser
By connecting plate, hydraulic cylinder (17), practical training simulated stamping press are installed.
A kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system the most according to claim 1, is characterized in that:
Described hydraulic pressure machining cell (3) comprises aluminium alloy desktop (18), one-dimensional translation stage (19), handling machinery
Hands (20), air-actuated jaw (21), C-type steel manually adjust platform (22), hydraulic cylinder (23), and unit uses
PLC controls, configurable man machine interface operation and monitoring, described one-dimensional translation stage (19) aluminium alloy extrusions frame
Frame, step motor drive, ball-screw nut transmission, line slideway supports, solid in translation stage traverser
Determine conveying robot (20), described conveying robot (20) aluminium alloy extrusions framework, circular cylindrical coordinate machine
People's pattern, step motor drive, harmonic speed reducer transmission, by connecting rod, lifting guide pillar cylinder, end are installed
End installs Pneumatic paw, described air-actuated jaw (21) aluminum section bar frame, and guide rod cylinder clamps, and configuration is unrestrained
Retroreflective photoelectric sensor detection and communication, described C-type steel manually adjusts platform (22) support by Plate Welding
Forming, manual adjusting device is installed in front, and by handwheel manual actuation, trapezoidal sliding screw transmission, straight line is led
Rail supports, and traverser installs hydraulic cylinder (23) by connecting plate.
A kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system the most according to claim 1, is characterized in that:
Described CCD colour recognition unit (4) comprises aluminium alloy desktop (24), belt conveyor (25), CCD
Machine vision device (26), master control computer (27), unit is used master control computer (27) and is controlled；Institute
Belt conveyor (25) the aluminium alloy extrusions framework stated, direct current generator connects worm type of reduction gearing transmission,
Diffuse electric transducer and pneumatic power positioner, described CCD machine vision device (26) are installed on conveyer
Aluminum section bar frame, uses high resolution camera detection, configures video frequency collection card, be installed in master control computer.
A kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system the most according to claim 1, is characterized in that:
Described automation assembly cells (5) comprises aluminium alloy desktop (28), servo translation stage (29), handling machinery
Hands (30), twelve-station rotate material storehouse (31), sub-workpiece (32), pneumatic assembling bench (33), and unit is adopted
Use PLC control, configurable man machine interface operation and monitoring；Described servo translation stage (29) aluminum
Alloy profile framework, AC servo machinery driving, Timing Belt wheels transmission, line slideway supports, movable flat
Installation conveying robot (30) on platform, described conveying robot (30), cylindrical coordinates robot pattern,
Step motor drive, harmonic speed reducer transmission, by connecting rod, guide rod cylinder is installed, end installs pneumatic hands
Pawl, described twelve-station rotates material storehouse (31) step motor drive, and direct-connected harmonic speed reducer exports, institute
Pneumatic assembling bench (33) guide rod cylinder stated drives elevating movement, accepts workpiece to be assembled.
A kind of Photo-electro-mechangas-liquid gas-liquid integration flexible manufacturing system the most according to claim 1, is characterized in that:
Described be automatically classified into library unit (6) comprise aluminium alloy desktop (34), two sets aluminium alloy warehouse for finished product (35),
Planer-type translation stage (36), Pneumatic manipulator (37), frequency conversion belt conveyor (38), unit uses PLC
Controller controls, configurable man machine interface operation and monitoring, described aluminium alloy warehouse for finished product (35) aluminium alloy
Section bar is built, and is positioned at frequency conversion belt conveyor (38) both sides, often overlaps station at six, installs detection in station
Sensor, in order to detect workpiece with or without, described planer-type translation stage (36) aluminium alloy gantry support, step
Entering motor to drive, ball guide screw nat transmission, linear axis supports with linear bearing, and traverser installs gas
Dynamic mechanical hand (37), described Pneumatic manipulator (37) is led to by lift cylinder, telescopic cylinder, Pneumatic paw
Cross connecting plate to build, described frequency conversion belt conveyor (38) aluminium section bar support, phase asynchronous deceleration
Motor drives, supporting frequency converter timing.
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| CN106530881A (en) * | 2016-09-13 | 2017-03-22 | 广东工业大学 | Multi-robot teaching and real training platform |
| CN106680286B (en) * | 2016-12-20 | 2019-08-30 | 深圳信息职业技术学院 | A kind of laser-processing system and method based on machine vision |
| CN108363373A (en) * | 2018-03-05 | 2018-08-03 | 菲尼克斯(南京)智能制造技术工程有限公司 | Flexible manufacturing system and its corresponding demo system |
| CN109719724A (en) * | 2018-12-29 | 2019-05-07 | 广东机电职业技术学院 | A kind of industrial robot multi-machine interaction control system and control method |
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