CN104820417B - Intelligent space stack puts together machines people's production line - Google Patents
Intelligent space stack puts together machines people's production line Download PDFInfo
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- CN104820417B CN104820417B CN201510267649.4A CN201510267649A CN104820417B CN 104820417 B CN104820417 B CN 104820417B CN 201510267649 A CN201510267649 A CN 201510267649A CN 104820417 B CN104820417 B CN 104820417B
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- elevating mechanism
- belt conveyor
- circulation carrier
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- circulation
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 100
- 230000003028 elevating effect Effects 0.000 claims abstract description 66
- 238000001514 detection method Methods 0.000 claims description 24
- 239000000047 product Substances 0.000 claims description 23
- 239000000835 fiber Substances 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 13
- 238000012360 testing method Methods 0.000 claims description 6
- 239000006227 byproduct Substances 0.000 claims description 3
- 230000001681 protective effect Effects 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 2
- 239000004973 liquid crystal related substance Substances 0.000 abstract description 2
- 101000911390 Homo sapiens Coagulation factor VIII Proteins 0.000 abstract 1
- 102000057593 human F8 Human genes 0.000 abstract 1
- 229940047431 recombinate Drugs 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005034 decoration Methods 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41845—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by system universality, reconfigurability, modularity
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/41875—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by quality surveillance of production
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Quality & Reliability (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
Put together machines people's production line the invention discloses a kind of intelligent space stack, the robotic asssembly unit being arranged in order including several, several robotic asssembly units being arranged in order form assembling line, the head end of the assembling line is externally provided with first circulation carrier elevating mechanism, and the end of the assembling line is externally provided with second circulation carrier elevating mechanism；The intelligent space stack puts together machines people's production line modularized design, can arbitrarily recombinate, and interchangeability is high, can be achieved quickly to remodel；Versatility is wide, and after Product Process change, the change amount of equipment is smaller；It is multiple functional, it is adaptable to a variety of production technologies；Whole line uses bus marco, the production status of sliver can be monitored in master control, each unit has independent liquid crystal touch screen man-machine interface, simple to operate.
Description
Technical field
The present invention relates to a kind of automatic processing, assembly line, a kind of intelligent space stack dress is particularly related to
With robot production line.
Background technology
With the high speed development of science and technology, the production of various products, processing and assembling are progressively automated replacement, various therewith
Automatic production line also arises at the historic moment, but existing automatic production line is difficult to realize the strong linking of multiple processes, or respectively
It is cumbersome that process carries out increase and decrease, it is impossible to adapts to the different demands of multiple product.
The content of the invention
In order to overcome drawbacks described above, put together machines people's production line the invention provides a kind of intelligent space stack, can
According to the demand of product, arbitrarily restructuring, and versatility is wide.
The technical scheme that is used to solve its technical problem of the present invention is：
A kind of intelligent space stack puts together machines people's production line, including several robotic asssembly lists for being arranged in order
Machine, this several robotic asssembly units formation assembling line for being arranged in order, the head end of the assembling line is externally provided with the
One circulation carrier elevating mechanism, the end of the assembling line is externally provided with second circulation carrier elevating mechanism；
The first circulation carrier elevating mechanism includes the first oscilaltion cylinder and the first elevating mechanism belt conveyor, should
First elevating mechanism belt conveyor is provided with circulation carrier, and it is defeated that the circulation carrier is transported to first elevating mechanism from leading portion streamline
Send on belt, the first oscilaltion cylinder drives the circulation carrier and the first elevating mechanism belt conveyor to drop to described
The circulation carrier is simultaneously transported to next by the bottom of one circulation carrier elevating mechanism, the first elevating mechanism belt conveyor upset
Workshop section is on the backflow carrier pipeline of the frame lower of the robotic asssembly unit；
The robotic asssembly unit include charging tray gripping feeding distribution mechanism, robot material fetching mechanism, standard belt pipeline,
CCD is provided with image system and apparatus control system, the image system；The charging tray gripping feeding distribution mechanism is automatic by product charging tray
Loading and unloading, and empty charging tray is reclaimed into stacking；Product is taken out and is moved at CCD detections from charging tray by the robot material fetching mechanism
Adjust automatically and it is fitted into after detection angles and position in the circulation carrier on the standard belt pipeline；The standard skin
The circulation carrier of leading portion in place is delivered to the product place of picking and placeing with pipeline and secondary positioning, opening is carried out, and one can be stored
Circulate on the carrier backflow belt conveyor line below carrier to the frame positioned at the robotic asssembly unit；The equipment control
System includes image control system and PLC control system；
The second circulation carrier elevating mechanism includes the second oscilaltion cylinder and the second elevating mechanism belt conveyor, follows
Ring carrier is transported on the second elevating mechanism belt conveyor from leading portion streamline, and drives circulation carrier by the second oscilaltion cylinder
And second elevating mechanism belt conveyor rise to top, then by the second elevating mechanism belt conveyor upset will circulation carrier be transported to
On the backflow carrier pipeline of next workshop section's frame lower.
As a further improvement on the present invention, the image system is made up of Liang Zu CCD testing agencies, each group of CCD
Testing agency includes camera, camera lens, light source and CCD, and one of which CCD is used to detect the product on the robot material fetching mechanism
Position, another group of CCD is used to detect the circulation carrier position on the standard belt pipeline, and two groups of CCD are by same industry control
Machine controls and can be exchanged with each other signal.
As a further improvement on the present invention, the robotic asssembly unit is that six-joint robot assembles unit and four axle machines
One of device people assembling unit.Four axle robotic asssembly units can realize angle adjustment and the assembling in XYZ and R directions, arrogate to oneself
It is long to pick and place at a high speed；Six-joint robot assembling unit can realize that special angle product is picked and placeed and assembled, and have than four axle robots
More freedom of action degree.
As a further improvement on the present invention, grasping mechanism is installed on the four axles robotic asssembly unit, the crawl
Automatically move the position that mechanism is given by the control system.So as to take out and be moved at CCD detections product from charging tray
After detection angles and position in adjust automatically and the circulation carrier being fitted on belt conveyor line.
As a further improvement on the present invention, the apparatus control system is provided with operation interface, and the operation interface passes through anti-
17 cun of industrial touch screens being inlayed on shield are operated.
As a further improvement on the present invention, the first elevating mechanism belt conveyor is provided with the first detection light in place
Fibre, the circulation carrier is transported on the first elevating mechanism belt conveyor and by the first detection fiber sense in place from leading portion streamline
Should be after in place, the first oscilaltion cylinder drives the circulation carrier and the first elevating mechanism belt conveyor to drop to described the
The bottom of one circulation carrier elevating mechanism；The second elevating mechanism belt conveyor is described provided with the second detection fiber in place
Circulation carrier is transported on the second elevating mechanism belt conveyor from leading portion streamline and after the second detection fiber sensing in place in place,
Circulation carrier and the second elevating mechanism belt conveyor is driven to rise to top by the second oscilaltion cylinder.
As a further improvement on the present invention, the charging tray of the robotic asssembly unit grips the product feeding of feeding distribution mechanism
Place clamps charging tray provided with secondary detent mechanism.
The beneficial effects of the invention are as follows：
1st, modularized design, can arbitrarily be recombinated, and interchangeability is high, can be achieved quickly to remodel.
2nd, versatility is wide, and after Product Process change, the change amount of equipment is smaller.
3rd, it is multiple functional, it is adaptable to a variety of production technologies.
4th, whole line uses bus marco, and the production status of sliver can be monitored in master control, and each unit has independent
Liquid crystal touch screen man-machine interface, it is simple to operate.
5th, equipment many places are differentiated (deficient purchase, production process bad etc. monitoring in real time differentiate) using CCD, it is ensured that raw
Produce product quality stability.
6th, product material is using truck auto feed, material machine automatic loading/unloading disk, and robot automatic clamping and placing material automates journey
Degree is high, save manpower, and investment repayment is high.
Brief description of the drawings
Fig. 1 is general structure schematic diagram of the present invention；
Fig. 2 is the structural representation of first circulation carrier elevating mechanism of the present invention；
Fig. 3 is the structural representation of second circulation carrier elevating mechanism of the present invention；
Fig. 4 is the structural representation of four axles robotic asssembly unit of the present invention；
Fig. 5 is the structural representation that six-joint robot of the present invention assembles unit；
Fig. 6 is the structural representation that charging tray of the present invention grips feeding distribution mechanism；
Fig. 7 is the structural representation of standard belt pipeline of the present invention；
Fig. 8 is the structural representation of image system of the present invention；
Fig. 9 is the structural representation of apparatus control system of the present invention.
With reference to accompanying drawing, make the following instructions：
1 --- first circulation carrier elevating mechanism
2 --- robotic asssembly unit
3 --- second circulation carrier elevating mechanism
4 --- circulation carrier
11 --- the first oscilaltion cylinder
12 --- the first elevating mechanism belt conveyor
13 --- the first detection fiber in place
21 --- charging tray grips feeding distribution mechanism
22 --- robot material fetching mechanism
23 --- standard belt pipeline
24 --- image system
25 --- apparatus control system
31 --- the second oscilaltion cylinder
32 --- the second elevating mechanism belt conveyor
33 --- the second detection fiber in place
241 --- camera
242 --- camera lens
243 --- light source
244——CCD
251 --- touch display screen
Embodiment
Below in conjunction with accompanying drawing, a preferred embodiment to the present invention elaborates.But protection scope of the present invention is not
It is limited to following embodiments, i.e., the simple equivalence changes made in every case with scope of the present invention patent and description are with repairing
Decorations, all still belong within patent covering scope of the present invention.
Refer to Fig. 1-9, a kind of intelligent space stack puts together machines people's production line, including several machines for being arranged in order
Device people assembles unit 2, and several robotic asssembly units being arranged in order form assembling line, the head of the assembling line
End is externally provided with first circulation carrier elevating mechanism 1, and the end of the assembling line is externally provided with second circulation carrier elevating mechanism 3.
The first circulation carrier elevating mechanism includes the first oscilaltion cylinder 11 and the first elevating mechanism belt conveyor
12, the first elevating mechanism belt conveyor is transported to first lifting provided with circulation carrier 4, the circulation carrier from leading portion streamline
On mechanism belt conveyor, the first oscilaltion cylinder drives the circulation carrier and the first elevating mechanism belt conveyor to drop to
The bottom of the first circulation carrier elevating mechanism, the first elevating mechanism belt conveyor upset simultaneously conveys the circulation carrier
It is on the backflow carrier pipeline of frame lower of the robotic asssembly unit to next workshop section；
It is defeated that the robotic asssembly unit includes charging tray gripping feeding distribution mechanism 21, robot material fetching mechanism 22, standard belt
CCD is provided with line sending 23, image system 24 and apparatus control system 25, the image system；The charging tray gripping feeding distribution mechanism will
Product charging tray automatic loading/unloading, and empty charging tray is reclaimed into stacking；Product is taken out and moved from charging tray by the robot material fetching mechanism
Move at CCD detections adjust automatically and the circulation carrier loaded on the standard belt pipeline after detection angles and position
In；The circulation carrier of leading portion in place is delivered to the product place of picking and placeing and carries out secondary positioning, opening by the standard belt pipeline,
And can store on the carrier backflow belt conveyor line below a circulation carrier to the frame positioned at the robotic asssembly unit；
The apparatus control system includes image control system and PLC control system；
The second circulation carrier elevating mechanism includes the second oscilaltion cylinder 31 and the second elevating mechanism belt conveyor
32, circulation carrier is transported on the second elevating mechanism belt conveyor from leading portion streamline, and is followed by the drive of the second oscilaltion cylinder
Ring carrier and the second elevating mechanism belt conveyor rise to top, then will circulate carrier by the upset of the second elevating mechanism belt conveyor
It is transported on the backflow carrier pipeline of next workshop section's frame lower.
Using flexible connection between robotic asssembly unit, and it can be increased and decreased according to the demand of actual product, so as to
Adapt to the demand of different product.
The image system is made up of Liang Zu CCD testing agencies, and each group of CCD testing agency includes camera 241, camera lens
242nd, light source 243 and CCD244, one of which CCD are used to detect the product space on the robot material fetching mechanism, another group
CCD is used to detect the circulation carrier position on the standard belt pipeline, and two groups of CCD are by the control of same industrial computer and energy phase
Interchangeable signal.
The robotic asssembly unit is that six-joint robot assembles unit or four axle robotic asssembly units.Four axle robots
Assembling unit can realize angle adjustment and the assembling in XYZ and R directions, be good at and pick and place at a high speed；Six-joint robot assembling unit can
Pick and place and assemble with the angle product for realizing special, there are more freedom of action degree than four axle robots.
Grasping mechanism is installed on the four axles robotic asssembly unit, the grasping mechanism is given by the control system
Position move automatically.It is automatic so as to take out and be moved at CCD detections after detection angles and position from charging tray by product
Adjust and be fitted into the circulation carrier on belt conveyor line.
The apparatus control system is provided with operation interface, and the operation interface is touched by the 17 cun of industry inlayed on protective cover
Display screen 251 is operated.Electricity, gas respectively have independent inlet point.
The first elevating mechanism belt conveyor is provided with the first detection fiber 13 in place, and the circulation carrier is from leading portion stream
Line is transported on the first elevating mechanism belt conveyor and by first after detection fiber 13 senses in place in place, and described about first
Lift cylinder drives the circulation carrier and the first elevating mechanism belt conveyor to drop to the first circulation carrier elevating mechanism
Bottom；The second elevating mechanism belt conveyor is provided with the second detection fiber 33 in place, and the circulation carrier is from leading portion streamline
It is transported on the second elevating mechanism belt conveyor and by second after detection fiber 33 senses in place in place, by the second oscilaltion gas
Cylinder drives circulation carrier and the second elevating mechanism belt conveyor to rise to top.
It will expect provided with secondary detent mechanism at the product feeding of the charging tray gripping feeding distribution mechanism of the robotic asssembly unit
Chuck clamping.
Claims (7)
- People's production line 1. a kind of intelligent space stack puts together machines, it is characterised in that：The machine being arranged in order including several People's assembling unit (2), several robotic asssembly units being arranged in order form assembling line, the head of the assembling line End is externally provided with first circulation carrier elevating mechanism (1), and the end of the assembling line is externally provided with second circulation carrier elevating mechanism (3)；The first circulation carrier elevating mechanism includes the first oscilaltion cylinder (11) and the first elevating mechanism belt conveyor (12), the first elevating mechanism belt conveyor provided with circulation carrier (4), the circulation carrier from leading portion streamline be transported to this first On elevating mechanism belt conveyor, the first oscilaltion cylinder is driven under the circulation carrier and the first elevating mechanism belt conveyor The bottom of the first circulation carrier elevating mechanism is down to, the first elevating mechanism belt conveyor upset and by the circulation carrier On the backflow carrier pipeline for being transported to the frame lower of the i.e. described robotic asssembly unit of next workshop section；It is defeated that the robotic asssembly unit includes charging tray gripping feeding distribution mechanism (21), robot material fetching mechanism (22), standard belt CCD is provided with line sending (23), image system (24) and apparatus control system (25), the image system；The charging tray grips sub-material Mechanism reclaims stacking by product charging tray automatic loading/unloading, and by empty charging tray；The robot material fetching mechanism takes product from charging tray Go out and be moved at CCD detections after detection angles and position adjust automatically and load following on the standard belt pipeline In ring carrier；The standard belt pipeline by the circulation carrier of leading portion in place be delivered to the product place of picking and placeing and carry out it is secondary fixed Position, opening, and a circulation carrier can be stored to the carrier backflow belt below the frame of the robotic asssembly unit On pipeline；The apparatus control system includes image control system and PLC control system；The second circulation carrier elevating mechanism includes the second oscilaltion cylinder (31) and the second elevating mechanism belt conveyor (32), circulation carrier is transported on the second elevating mechanism belt conveyor from leading portion streamline, and is driven by the second oscilaltion cylinder Circulation carrier and the second elevating mechanism belt conveyor rise to top, then are carried circulation by the upset of the second elevating mechanism belt conveyor Tool is transported on the backflow carrier pipeline of next workshop section's frame lower.
- People's production line 2. intelligent space stack according to claim 1 puts together machines, it is characterised in that：The image system System is made up of Liang Zu CCD testing agencies, and each group of CCD testing agency includes camera (241), camera lens (242), light source (243) With CCD (244).
- People's production line 3. intelligent space stack according to claim 1 puts together machines, it is characterised in that：The robot It is that six-joint robot assembles one of unit and four axle robotic asssembly units to assemble unit.
- People's production line 4. intelligent space stack according to claim 3 puts together machines, it is characterised in that：The four axles machine Grasping mechanism is installed on device people assembling unit, the position that the grasping mechanism is given by the PLC control system is moved automatically.
- People's production line 5. intelligent space stack according to claim 1 puts together machines, it is characterised in that：The equipment control System processed is provided with operation interface, and the operation interface is operated by the 17 cun of industrial touch screens (251) inlayed on protective cover.
- People's production line 6. intelligent space stack according to claim 1 puts together machines, it is characterised in that：Described first liter Descending mechanism belt conveyor is transported to this first liter provided with the first detection fiber (13) in place, the circulation carrier from leading portion streamline On descending mechanism belt conveyor and after the first detection fiber (13) sensing in place in place, the first oscilaltion cylinder drives should Circulation carrier and the first elevating mechanism belt conveyor drop to the bottom of the first circulation carrier elevating mechanism；Described second liter Descending mechanism belt conveyor is transported to the second lifting provided with the second detection fiber (33) in place, the circulation carrier from leading portion streamline On mechanism belt conveyor and after the second detection fiber (33) sensing in place in place, circulation is driven to carry by the second oscilaltion cylinder Tool and the second elevating mechanism belt conveyor rise to top.
- People's production line 7. intelligent space stack according to claim 1 puts together machines, it is characterised in that：The robot Charging tray is clamped provided with secondary detent mechanism at the product feeding of the charging tray gripping feeding distribution mechanism of assembling unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510267649.4A CN104820417B (en) | 2015-05-22 | 2015-05-22 | Intelligent space stack puts together machines people's production line |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510267649.4A CN104820417B (en) | 2015-05-22 | 2015-05-22 | Intelligent space stack puts together machines people's production line |
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| Publication Number | Publication Date |
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| CN104820417A CN104820417A (en) | 2015-08-05 |
| CN104820417B true CN104820417B (en) | 2017-08-01 |
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| CN201510267649.4A Active CN104820417B (en) | 2015-05-22 | 2015-05-22 | Intelligent space stack puts together machines people's production line |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105537897B (en) * | 2016-01-15 | 2018-11-30 | 苏州富强科技有限公司 | Mobile phone center assembled machine table |
| CN107659075A (en) * | 2016-07-26 | 2018-02-02 | 苏州亿控机械装备有限公司 | A kind of Intelligent motor enters axle, locking special plane |
| CN107901042A (en) * | 2017-12-15 | 2018-04-13 | 广州泰行智能科技有限公司 | Cage intelligence producing line is inserted in a kind of position of seeking for handset touch panel |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1932630A1 (en) * | 2006-12-11 | 2008-06-18 | Abb As | Wrist of an industrial robot |
| CN203606018U (en) * | 2013-12-19 | 2014-05-21 | 深圳雷柏科技股份有限公司 | Kitchen electronic scale assembling production line adopting robot |
| CN104117869A (en) * | 2014-06-04 | 2014-10-29 | 伟本机电（上海）有限公司 | Automatic feeding and discharging line for workpiece machining |
| CN204631601U (en) * | 2015-05-22 | 2015-09-09 | 昆山市佰奥自动化设备科技有限公司 | Intelligent space stack assembly robot production line |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8010234B2 (en) * | 2005-12-21 | 2011-08-30 | Abb As | Control system and teach pendant for an industrial robot |
-
2015
- 2015-05-22 CN CN201510267649.4A patent/CN104820417B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1932630A1 (en) * | 2006-12-11 | 2008-06-18 | Abb As | Wrist of an industrial robot |
| CN203606018U (en) * | 2013-12-19 | 2014-05-21 | 深圳雷柏科技股份有限公司 | Kitchen electronic scale assembling production line adopting robot |
| CN104117869A (en) * | 2014-06-04 | 2014-10-29 | 伟本机电（上海）有限公司 | Automatic feeding and discharging line for workpiece machining |
| CN204631601U (en) * | 2015-05-22 | 2015-09-09 | 昆山市佰奥自动化设备科技有限公司 | Intelligent space stack assembly robot production line |
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| CN104820417A (en) | 2015-08-05 |
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Address after: Suzhou City, Jiangsu Province, Yushan Town, Kunshan City, 215300 Yuan Feng Road No. 232, room 8 Applicant after: KUNSHAN KSTOPA INTELLIGENT EQUIPMENT CO., LTD. Address before: The Palestinian town of Dongrong road Kunshan city 215300 Suzhou city of Jiangsu Province Applicant before: Kunshan Baiao Automation Equipment Technology Co., Ltd. |
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