CN106078208B - A kind of intelligent manufacturing system based on industrial robot - Google Patents
A kind of intelligent manufacturing system based on industrial robot Download PDFInfo
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- CN106078208B CN106078208B CN201610605591.4A CN201610605591A CN106078208B CN 106078208 B CN106078208 B CN 106078208B CN 201610605591 A CN201610605591 A CN 201610605591A CN 106078208 B CN106078208 B CN 106078208B
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- welding
- lifting
- feeding device
- upper layer
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P23/00—Machines or arrangements of machines for performing specified combinations of different metal-working operations not covered by a single other subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
Abstract
The present invention relates to a kind of intelligent manufacturing systems based on industrial robot, including welding delivery frame, welding finished product hair pallet, stacking vision manipulator, Palletised carry manipulator and the stacking apparatus for automatically lifting for placing workpiece；Palletised carry manipulator is located at the side of welding delivery frame, corresponding with one end of stacking apparatus for automatically lifting；It is characterized by also including have Palletised carry robot, welding palletizing mechanical arm, multistation welding automatic fixture platform, laser marking machine, AGV automatic remote control pilot trolley device and central control cabinet；Compared with prior art, cost design of the present invention is low, structure is simple, by the way that AGV automatic remote control pilot trolley device is arranged, with material convey in AGV trolley zone of action without being laid with the fixed device such as track, support saddle frame, it is not limited by place, road and space, high degree of automation is easy to operate simple.
Description
Technical field
The invention belongs to robot automation's systems technology fields, and in particular to a kind of intelligence system based on industrial robot
Make system.
Background technique
Higher and higher now with manufacturing industry human cost, the automatization level that all trades and professions promote oneself, which is all carved, not to be allowed
It is slow.In recent years, occur largely passing through manipulator stacking equipment in the market, have by components most common in modern industry
Machine combines, constitute it is a set of from material sorting, carrying, identification, integrated positioning, it is automatic stored to finished product welding, finished product
Holonomic system, improve production efficiency, saved human cost.
Traditional components are carried mainly to be carried out by manpower and transmitting device with welding, raw using manual handling
Inefficiency is produced, high labor cost automates low efficiency；Part carries out feeding, but one using automatic assembly line in the prior art
As production line it is longer, occupied space is larger, and needs that several personnel is arranged to operate or entangle in process of production on production line
Processing, the amount of labour are larger partially；Meanwhile undesirable components are sometimes difficult to distinguish by manpower, Jin Erzhi
Extend the production cycle, influences working efficiency；It, for a long time in such an environment can be straight meanwhile while carrying out components welding
Connect the health for influencing worker.
In view of the above technical problems, it therefore needs to improve.
Summary of the invention
The present invention is to overcome above-mentioned defect in the prior art, and it is simple to provide a kind of structure, easy to use, automation
A kind of good intelligent manufacturing system based on industrial robot of degree.
In order to reach the goals above, the technical scheme adopted by the invention is that: a kind of intelligence system based on industrial robot
System is made, sends out pallet, stacking vision manipulator, Palletised carry including welding delivery frame, the welding finished product for placing workpiece
Manipulator and stacking apparatus for automatically lifting；Palletised carry manipulator is located at the side of welding delivery frame, fills with stacking automatic lifting
The one end set is corresponding；It further include having Palletised carry robot, welding palletizing mechanical arm, multistation welding automatic fixture platform, swashing
Light marking machine, AGV automatic remote control pilot trolley device and central control cabinet；Multistation welding automatic fixture platform and laser marking machine
Positioned at the front and back end of Palletised carry robot, stacking apparatus for automatically lifting is located at the side of Palletised carry robot, welds stacking
Manipulator is located at the side of multistation welding automatic fixture platform；Between multistation welding automatic fixture platform and laser marking machine, institute
Stating AGV automatic remote control pilot trolley device includes AGV trolley, for being laid with track magnetic stripe annular in shape on the ground；AGV trolley
Along track magnetic stripe forward slip, track magnetic stripe and Palletised carry robot, multistation welding automatic fixture platform, laser marking
Machine, welding finished product hair pallet and stacking vision position of manipulator are corresponding.
As a preferred solution of the present invention, the welding palletizing mechanical arm side is provided with welding gas bottle, welding
There are two safety guard net, two safety guard nets are located at the two sides of welding palletizing mechanical arm for the two sides setting of gas bottle.
As a preferred solution of the present invention, the side of the safety guard net is provided with for controlling stacking carrying implement
The six axis control cabinets of device people and welding palletizing mechanical arm.
As a preferred solution of the present invention, the stacking apparatus for automatically lifting includes rack, is fixedly arranged in rack
Upper layer feeding device and lower layer's feeding device；Upper layer feeding device is arranged in parallel with lower layer feeding device and conveying direction phase
Instead；The end of the upper layer feeding device and the end of lower layer's feeding device are provided with material lifting device, set in the rack
It is equipped with the detection device detected one by one to the material on the upper layer feeding device；Detection device and upper layer feeding device phase
It is corresponding；The detection device includes the sensing chip and receiver board being fixedly arranged in rack；It is defeated that sensing chip with receiver board is laid in upper layer
Expect the left and right sides of device, and sensing chip is corresponding with Board position is received；The material lifting device include four vertical columns,
The dynamical element that lifting cylinder, driving lifting cylinder are run up and down；It is connected between adjacent vertical columns by connecting plate, lifting air
Cylinder is fixedly arranged on connecting plate, is equipped with cylinder attachment base at the top of lifting cylinder, is installed on cylinder attachment base and is placed putting for material
It sets plate lifting cylinder and drives placement plate to slide on connecting plate by cylinder attachment base；The placement plate and upper layer feeding device with
The end of lower layer's feeding device is adapted, and the two sides of the placement plate are laid with symmetrical baffle；It is risen in lifting cylinder
When extreme higher position, the top of the baffle and frame top are in same horizontal line, the upper layer feeding device and lower layer's conveying
Device is conveyer belt transmission；The for driving that upper layer feeding device and lower layer's feeding device rotate is laid in the rack
One driving device and the second driving device；First driving device is located at upper layer feeding device bottom, under the second driving device is located at
Layer feeding device bottom.
As a preferred solution of the present invention, the laser marking machine includes workbench, the liter being laid on workbench
Falling unit and laser mark printing device, the laser mark printing device are arranged on lifting device, and the laser mark printing device end is set
It is equipped with downwardly directed laser marking mechanism, mark station, laser marking mechanism and mark station are provided on workbench
Position it is corresponding；The workbench rear end is installed with mounting plate, and slideway is provided on mounting plate, and lifting device sliding is laid in
On slideway, lifting device is moved left and right by slideway, is provided with control device on the workbench, which is located at installation
The right side of plate；For controlling laser marking mechanism moving up and down on lifting device, the laser marking mechanism includes sliding
The guide cylinder being connected on lifting device is socketed with the sliding bar slid back and forth in guide cylinder in guide cylinder, slides boom end
It is connected with laser marking mechanism；The laser marking mechanism includes labelling head, the connecting plate for being set to sliding boom end；Connecting plate
On be installed with fixed block and lower fixed block；It is installed with CCD device on upper fixed block, lighting source company is installed on lower fixed block
Block is connect, lighting source link block is located at CCD device lower end, and lighting source link block is corresponding with CCD setting position；It is described
CCD device is high resolution CCD video camera, and CCD camera camera lens direction is corresponding with mark station, and CCD camera is logical
It crosses data line and is connected to control device；The control device includes circuit board, display, operation panel, control button and connection
The electric wire of circuit board；Warning device is equipped in the control device, the warning device is the sound module equipped with prompt tone；
Several anchor points are provided on the mark station, anchor point is equidistantly laid on mark station；The laser marking dress
It installs and is equipped with sensing device, the sensing device is optoelectronic switch inductor.
As a preferred solution of the present invention, the multistation welding automatic fixture platform includes workbench body and installation
Decelerating motor in workbench body bottom；Rounded welding disk is provided in workbench body, welding is tried to get to the heart of a matter
Portion is installed with connecting column, and the upper end that connecting column passes through workbench body is connected with decelerating motor；Connection column end, which is provided with, to be turned
Moving gear, it is corresponding, drive sprocket compatible with rotate gear is provided on the decelerating motor；The Welder
Make to be laid with several positioning seats for being used to place workpiece on disk, multiple positioning seats are distributed in is with the central axis of welding disk
On the circumference at center；The baffle of the position for dividing different positioning seats is provided on the welding disk, the baffle is fixed
In on welding disk, it is integrally formed；The baffle plate setting has 2 pieces, and 2 baffles are centered on the central axis of welding disk
Positioning seat is divided into four by vertical runs；The baffle is in isosceles trapezoid shape, the length of baffle and the outer diameter of welding disk
It is consistent；Photoelectric sensor is provided among the positioning seat.
The beneficial effects of the present invention are: compared with prior art, cost design of the present invention is low, structure is simple, pass through setting
AGV automatic remote control pilot trolley device, with material convey in AGV trolley zone of action without being laid with track, support saddle frame etc.
Fixed device, is not limited by place, road and space；In automatic Material Handling System, its automaticity most can be fully embodied
And flexibility, realize efficient, economic, flexible manless production；The apparatus structure is compact, high degree of automation, easy to operate letter
It is single.
Detailed description of the invention
Fig. 1 is structural schematic diagram of the embodiment of the present invention.
Fig. 2 is stacking apparatus for automatically lifting structural schematic diagram of the embodiment of the present invention.
Fig. 3 is multistation welding automatic fixture platform structural schematic diagram of the embodiment of the present invention.
Fig. 4 is multistation welding automatic fixture platform cross-sectional view of the embodiment of the present invention.
Fig. 5 is laser marking machine structural schematic diagram of the embodiment of the present invention.
Fig. 6 is the laser mark printing device structural schematic diagram of laser marking machine of the embodiment of the present invention.
Appended drawing reference in figure: welding delivery frame 1, stacking apparatus for automatically lifting 2, rack 2-1, upper layer feeding device 2-2, under
Layer feeding device 2-3, sensing chip 2-4, receiver board 2-5, vertical columns 2-6, lifting cylinder 2-7, dynamical element 2-8, connecting plate
2-9, cylinder attachment base 2-10, placement plate 2-11, baffle 2-12, first driving device 2-13, the second driving device 2-14, installation
Plate 2-15, Palletised carry robot 3 weld palletizing mechanical arm 4, AGV trolley 5, multistation welding automatic fixture platform 6, workbench
Ontology 6-1, welding disk 6-2, connecting column 6-3, decelerating motor 6-4, rotate gear 6-5, drive sprocket 6-6, positioning seat 6-
7, baffle 6-8, photoelectric sensor 6-9；Laser marking machine 7, workbench 7-1, lifting device 7-2, laser mark printing device 7-3 swash
Light marking mechanism 7-4, mark station 7-5, mounting plate 7-6, slideway 7-7, guide cylinder 7-8, sliding bar 7-9, connecting plate 7-10,
Upper fixed block 7-11, lower fixed block 7-12, CCD device 7-13, lighting source link block 7-14, display 7-15, operation panel
7-16, control button 7-17, anchor point 7-18, labelling head 7-19, Palletised carry manipulator 8, welding finished product send out pallet 9, code
Pile vision manipulator 10, six axis control cabinets 11, welding gas bottle 12, safety guard net 13, central control cabinet 14, track magnetic stripe
15。
Specific embodiment
It elaborates with reference to the accompanying drawing to the embodiment of the present invention.
As shown in Figure 1, a kind of intelligent manufacturing system based on industrial robot is a robot and industrial automation neck
One real training workshop in domain, it is intended to by an actual field form, comprising various common automation elements, with illustrative
Design and layout, are concentrated and intuitively teach automation foundation knowledge to the student of institution of higher learning, and obtain sense of reality.
This system contains Palletised carry robot 3 and welding palletizing mechanical arm 4, is equipped with NI Vision Builder for Automated Inspection, robot
By co-ordination, the carrying of components and the most common utilization of welding aspect are completed.Contain Palletised carry robot 3, welding
Palletizing mechanical arm 4 and bar code are identified as the automated warehouse of core, and automatic transmission belt and AGV trolley 5 constituted from animal
Streaming system, with automatic input function automated warehouse with using the Remote Control Automatic pilot trolley of AGV as the automatic logistics system of core,
State-of-the-art factory automation logistics system will be constructed, the concise intuitive element for showing factory's Full-automatic logistic system and work are former
Reason.This three big unit of robot manipulating task, automated warehouse, factory's automatic logistics, organic set, co-ordination construct the modern times
One width panorama sketch of flexible intelligent manufacture system and full-automatic unmanned workshop.
In this width in the panoramic structure of the full-automatic factory of the artificial core of machine, the common elements of each automation
It will be presented one by one: the locomotory apparatus such as NI Vision Builder for Automated Inspection, automatic fixture chucking appliance system, sensing and detection system, servo-system
Part, industry communication and PLC control system etc..This system is by the organic knot of the most common core component of these industrial automations
It closes, composition is a set of to be sorted from raw material, carries, identifying, integrated positioning, the holonomic system automatic stored to finished product welding, finished product,
Demonstrate robot localization under actual industrial environment and spatial attitude Motion Technology, image and various sensors identification,
Detection and error-proofing technique, automatic assembling and automatic fixture technology, PLC logic control technique, material transmit and automatic stored automatically
Technology, automatic welding technique, laser marking technology etc..
A kind of intelligent manufacturing system based on industrial robot, including for placing workpiece welding delivery frame 1, be welded into
Product send out pallet 9, stacking vision manipulator 10, Palletised carry manipulator 8 and stacking apparatus for automatically lifting 2；Welding delivery frame 1 is main
Want building block: shelf and Palletised carry manipulator 8；For shelf for storing workpiece blank, there are mark and volume in each workpiece position
Cheng Dingwei.Palletised carry manipulator 8 is made of tri- axis rectilinear coordinates manipulator of X, Y, Z and end cleft hand, realizes the part of shelf
Blanking.And the complete construction with AGV and automatic conveying belt composition factory's automatic logistics；Stacking apparatus for automatically lifting 2 is by element storehouse
The workpiece of taking-up is transported to production line position, waits to be processed.If workpiece is unqualified, waste product basket will be admitted to.
Welding finished product sends out the main building block of pallet 9: shelf: for storing the finished work-piece completed the process, Mei Gegong
There are mark and programming positioning in part position；Stacking vision manipulator 10 is by tri- axis rectilinear coordinates manipulator of X, Y, Z and end cleft hand group
At realizing the part feeding of shelf.And the complete construction with AGV and automatic conveying belt composition factory's automatic logistics；Two dimensional code view
Feel system, finished work-piece carry out two dimensional code identification before storage, reach product accounting and finished product enters the mesh of warehouse correct position
's.
Palletised carry manipulator 8 is located at the side of welding delivery frame 1, corresponding with one end of stacking apparatus for automatically lifting 2；
It further include having Palletised carry robot 3, welding palletizing mechanical arm 4, multistation welding automatic fixture platform 6, laser marking machine 7, AGV
Automatic remote control pilot trolley device and central control cabinet 14；Central control cabinet 14 for be centrally placed each robot controller,
Unmanned warehouse control system, each station logic control with cooperate with PLC, AGV controller, communication module and be mainly used for monitoring and
The electric components such as the central industrial control computer of setting.Central electronic control cabinet 14 has touch screen and carries out human-computer interaction.
The main building block of central electronic control cabinet 14:
(1) software of industrial PC and monitoring software, all devices operation/creation data and sensor-based system condition monitoring is equal
It is run on this computer.All parameter settings are all completed on the computer.The computer mainly passes through PLC and each equipment and sensing
Monitoring system is connected.
(2) PLC is equipped with Mitsubishi FX3U programmable controller, digital quantity expansion module, analog output module, 232 serially
Communication module, ethernet communication module etc., for reading and writing workpiece data, the executing agencies such as control robot, motor, cylinder are dynamic
Make, processing each unit detects signal, the tasks such as management work process, data transmission, safety interlocking.The PLC is directly electric with industry control
Brain is connected.
(3) touch screen, it is more graphical and intuitive as the input-output equipment of industrial PC, eliminate traditional mouse
Mark keyboard.
(4) distribution system, whole system power power supply and protection.
Two, ancillary equipment
Main building block:
1. air compressor machine provides sufficient and quiet pneumatic source, screw-rod structure, 0.3 cube of tolerance, 8 kilograms of outlets for system
Pressure, noise are not more than 71dB；2. cable wire line of rabbet joint frame, the strong and weak electricity specification cabling for system is laid with；3. cart, for carrying
Equipment and workpiece etc.；4. protection tool is welded, for ensuring necessary safety standard and personnel protection in welding process, reference
Bidding documents is related to be required to implement；5. safety device has for ensuring to impart knowledge to students and the running personal safety of system referring to bidding documents
It closes and requires to implement；6. welding material is implemented for welding material needed for experiment referring to the related requirement of bidding documents.
Multistation welding automatic fixture platform 6 and laser marking machine 7 are located at the front and back end of Palletised carry robot 3, and stacking is certainly
Dynamic lifting device 2 is located at the side of Palletised carry robot 3, and welding palletizing mechanical arm 4 is located at multistation welding automatic fixture platform 6
Side；Between multistation welding automatic fixture platform 6 and laser marking machine 7, the AGV automatic remote control pilot trolley device includes
AGV trolley 5, for being laid with track magnetic stripe 15 annular in shape on the ground；AGV trolley 5 is along 15 forward slip of track magnetic stripe, ground
Rail magnetic stripe 15 and Palletised carry robot 3, multistation welding automatic fixture platform 6, laser marking machine 7, welding finished product send out pallet 9
It is corresponding with stacking vision 10 positions of manipulator；Welding 4 side of palletizing mechanical arm is provided with welding gas bottle 12, welding gas bottle
There are two safety guard net 13, two safety guard nets 13 are located at the two sides of welding palletizing mechanical arm 4 for 12 two sides setting；Safety
The side of protective net 13 is provided with for controlling stacking transfer robot 3 and welding six axis control cabinets 11 of palletizing mechanical arm 4.
Palletised carry robot 3 is made of six degree of freedom joint, is fixed on robot base, scope of activities radius
1437mm, load 3kg；Robot teaching unit has liquid crystal display, enabled button, scram button, operation keyboard, is used for parameter
The operation such as setting, manual teaching, position editor, program editing.
The AGV automatic remote control pilot trolley device includes being equipped with electromagnetism homing guidance device, can be along defined guiding
Route, with chargeable battery for its power resources.Electromagnetic path is installed on floor, and AGV trolley 5 is according to electromagnetism rail
Road signal is moved and is acted；AGV trolley 5 compared with walking, is creeped or other non-wheeled movements characterized by wheel type mobile
Robot has the advantages such as action is quick, work efficiency is high, structure is simple, controllability is strong, safety is good.In material conveying
The zone of action of AGV trolley 5 is not limited without being laid with the fixed device such as track, support saddle frame by place, road and space.?
In automatic Material Handling System, its automaticity and flexibility most can be fully embodied, realizes efficient, economic, flexible manless production；
AGV trolley 5 can realize the positioning and start and stop of designated position in orbit by remote control means.
Telecommunication management provides AGV ground control system and AGV single machine, ground monitoring system, ground I/O device, vehicle emulate
The communication function of system and host computer.Communication between AGV uses radio communication system, needs to establish a wireless network
Network, AGV is only and ground system carries out two-way communication, and without communication between AGV, ground control system is using polling mode and Duo Tai
AGV communication；Communication with ground monitoring system, Vehicle Simulation System, host computer uses TCP/IP communication.
As shown in Fig. 2, stacking apparatus for automatically lifting 2 includes rack 2-1, the upper layer feeding device 2-2 being fixedly arranged in rack 1
With lower layer feeding device 2-3；Upper layer feeding device 2-2 is arranged in parallel with lower layer feeding device 2-3 and conveying direction is opposite；Institute
The end of the end and lower layer's feeding device 2-3 of stating upper layer feeding device 2-2 is provided with material lifting device, the rack 2-1
On be provided with the detection device detected one by one to the material on the upper layer feeding device 2-2；Detection device is defeated with upper layer
Expect that device 2-2 is corresponding.
By two layers of feeding device setting up and down, upper layer feeding device 2-2 is used to carry out the part of material defeated the present invention
It send, by the detection of detection device, underproof product is sent to lower layer feeding device 2-3 by lifting device, realize object
Expect the accuracy of transmitting, while improving the automation of feed conveying, improves working efficiency, and by will be on apparatus for automatically lifting
Underlying design reduces occupied area, improves space utilization rate.
Detection device includes the sensing chip 2-4 and receiver board 2-5 being fixedly arranged on rack 2-1；Sensing chip 2-4 and receiver board 2-
5 are laid in the left and right sides of upper layer feeding device 2-2, and sensing chip 2-4 is corresponding with the position receiver board 2-5；Upper layer conveying dress
When setting the material on 2-2 and being moved at the corresponding position of detection device, by being used cooperatively for sensing chip 2-4 and receiver board 2-5,
What can quickly be prepared detects whether the material is qualified products, if it is qualified products, passes through the biography of upper layer feeding device 2-2
Defeated band is transferred on placement plate 2-11, is grabbed by manipulator, carries out the next step, if not qualified products, equally
It is transferred on placement plate 2-11 by the transmission belt of upper layer feeding device 2-2, under the drive of driving lifting cylinder 2-7, will be put
The unqualified material on plate 2-11 is set to be moved at lower layer feeding device 2-3, it will by the transmission belt on lower layer feeding device 2-3
Substandard product conveying is gone back, and is grabbed by manipulator, is placed into corresponding position；Pass through sensing chip 2-4's and receiver board 2-5
It is cooperatively connected, manipulator is flexibly used, can complete from feeding, put substandard products, to finished product integration work is put, automatically
Change degree is high, substantially increases production efficiency.
Material lifting device includes four vertical columns 2-6, lifting cylinder 2-7, lifting cylinder 2-7 or more is driven to run
Dynamical element 2-8；Wherein dynamical element 2-8 can be motor；It is connected, is gone up and down by connecting plate 2-9 between adjacent vertical columns 2-6
Cylinder 2-7 is fixedly arranged on connecting plate 2-9, is equipped with cylinder attachment base 2-10 at the top of lifting cylinder 2-7, on cylinder attachment base 2-10
It is installed with the placement plate 2-11 for placing material, lifting cylinder 2-7 drives placement plate 2-11 connecting by cylinder attachment base 2-10
It is slided on plate 2-9；In addition, can also directly adopt lifting cylinder or oil cylinder or electric pushrod driving lifting cylinder 2-7 operation etc., tool
Body mode is with no restrictions.
Placement plate 2-11 is adapted with upper layer feeding device 2-2 with the end of lower layer feeding device 2-3；So that part is defeated
It can easily be placed on placement plate 2-11 during sending, be provided conveniently for the crawl of subsequent manipulator, while also be material
On being placed into placement plate 2-11, stability is improved during being delivered on lower layer feeding device 2-3 by lifting device；
Mobile guiding role is improved, while also avoiding the occurrence of and deviateing on placement plate 2-11, causes the components such as material stuck etc. and asks
Topic.
The two sides of placement plate 2-11 are laid with symmetrical baffle 2-12；When lifting cylinder 2-7 rises to extreme higher position,
It is in same horizontal line at the top of the top of baffle 2-12 and rack 2-1；Setting baffle 2-12 can be effectively prevented material from
Slid on placement plate 2-11, ensure that the safety of material, while but also placement plate 2-11 and upper layer feeding device 2-2 patch
Conjunction is more compact, ensure that the continuity of material transmitting.
Upper layer feeding device 2-2 and lower layer's feeding device 2-3 is conveyer belt transmission；Using conveyer belt, have following excellent
Point: first, material or part will not be scratched, guarantees the service life and positioning accuracy of material.Second, material operation
In, when needing to stop positioning, material can stop immediately, and motor control precision and electric control system cost is effectively reduced.
The first driving for driving upper layer feeding device 2-2 and lower layer's feeding device 2-3 to rotate is laid on rack 2-1
Device 2-13 and the second driving device 2-14；First driving device 2-13 is located at the upper layer bottom feeding device 2-2, the second driving dress
It sets 2-14 and is located at the bottom lower layer feeding device 2-3；First driving device 2-13 and the second driving device 2-14 is driving motor；It protects
The running stability of upper layer feeding device 2-2 Yu lower layer's feeding device 2-3 are demonstrate,proved.
It is installed with mounting plate 2-15 at the top of rack 2-1, mounting plate 2-15 is located on the two sides of upper layer feeding device 2-2
It holds, high resolution CCD video camera is installed on mounting plate 2-15, the CCD camera camera lens is upper on rack 2-1 towards being installed on
In the middle part of layer feeding device 2-2；CCD camera is connected to computer by data line；Detection process middle high-resolution CCD camera
It is right against the middle position of upper layer feeding device 2-2, material or part to detect it in transmitting transmission process, Wo Menke
To be equipped with displacement sensor in high resolution CCD video camera front end, when material or part pass through displacement sensor, pass through position
Displacement sensor is directly read, quickly, efficiently, accurately；Or on rack 2-1 be equipped with contact-detection sensor, according to each biography
The reading of sensor is determined the position of measured piece in the measurements, shape or color by system automatically, can be carried out vision and be sorted,
After material transmitting is completed, we can carry out being distinguished according to the shape or color of material, convenient and practical.
As shown in Figure 3-4, multistation welding automatic fixture platform 6, for being fixedly welded workpiece, multistation is processed convenient for improving
Efficiency.The +/- 0.2mm of tool locating precision, the +/- 0.05mm of repetitive positioning accuracy；Including workbench body 6-1 and it is installed on work
The decelerating motor 6-4 of the bottom playscript with stage directions body 6-1；Decelerating motor 6-4 power is 1500~2500W, is provided on workbench body 6-1
The bottom rounded welding disk 6-2, welding disk 6-2 is installed with connecting column 6-3, and connecting column 6-3 passes through the work playscript with stage directions
The upper end of body 6-1 is connected with decelerating motor 6-4；The end connecting column 6-3 is provided with rotate gear 6-5, corresponding, institute
It states and is provided with drive sprocket 6-6 compatible with rotate gear 6-5 on decelerating motor 6-4；Drive sprocket 6-6 passes through decelerating motor
6-4 drives rotate gear 6-5 along indicators turn, and then drives welding disk 6-2 rotation, welding disk 6-2 and workbench
There are certain gap between ontology 6-1, the flexibility that can be rotated with more convenient welding disk 6-2；Meanwhile decelerating motor
The slewing rate of 6-4 can be set according to the time of work pieces process, ensure that the consistency of work pieces process state, be improved
The production efficiency and yield rate of product.
Connecting column 6-3 is concave shape simultaneously, and rotate gear 6-5 is formed in the groove of connecting column 6-3, using such
Structure and rotate gear 6-5 are rotatablely connected, and increase the stability of connection.
It is laid with several for placing the positioning seat 6-7 of workpiece on welding disk 6-2, multiple positioning seat 6-7 are distributed in
On circumference centered on the central axis of welding disk 6-2；Manipulator by welding automatic worktable outer left side will
The workpiece for needing to process is placed in positioning seat 6-7, is positioned, is led to by the photoelectric sensor 6-9 being arranged among positioning seat 6-7
The mutual cooperation for crossing the manipulator and photoelectric sensor 6-9 in left side, by Workpiece clamping and positions automatically, then passes through welding
Disk 6-2 is rotated under the drive of decelerating motor 6-4, is welded by the manipulator on right side to workpiece, using the weldering of multistation
Design is connect, the working efficiency entirely welded is substantially increased.
The baffle 6-8 of the position for dividing different positioning seat 6-7 is provided on welding disk 6-2, baffle 6-8 is solid
On welding disk 6-2, it is integrally formed；We can positioning seat 6-7 quantity according to actual needs in welding disk
Several baffles 6-8 is set on 6-2, and setting baffle 6-8 is main or in order to distinguish corresponding processing work on each positioning seat 6-7
Sequence is different, extraordinary recognition reaction is played for the process for distinguishing different positioning seat 6-7, in addition, baffle 6-8 and welding
Disk 6-2 is fixedly connected, and ensure that the firmness of the connection of entire welding disk 6-2 and the stability of rotation, and then be ensure that and made
With safety；The present invention is as needed, baffle 6-8 is provided with 6-2 block, 2 baffle 6-8 are with the central axis of welding disk 6-2
Line is center vertical runs, and positioning seat 6-7 is divided into four.
Since baffle 6-8 is and then rotated under the rotation of welding disk 6-2, isosceles trapezoid is arranged in baffle 6-8 by us
The length of shape, baffle 6-8 is consistent with the outer diameter of welding disk 6-2；Baffle 6-8 is close to welding disk 6-2 sloped-end
Shape reduces the space of welding disk 6-2 rotation, meanwhile, also ensure the safety of welding disk 6-2 rotation.
As seen in figs. 5-6, the laser marking machine 7 is 20W laser marking machine, and mark range 100x100mm is maximum
Mark depth 0.4mm, minimum mark line width 0.05mm, highest mark speed 15m/s；Including workbench 7-1, it is laid in workbench
7-2, institute is arranged on lifting device in lifting device 7-2 and laser mark printing device 7-3, the laser mark printing device 7-3 on 7-1
It states the end laser mark printing device 7-3 and is provided with downwardly directed laser marking mechanism 7-4, mark behaviour is provided on workbench 7-1
Make platform 7-5, laser marking mechanism 7-4 is corresponding with the position of mark station 7-5.
The rear end workbench 7-1 is installed with mounting plate 7-6, and slideway 7-7, lifting device 7-2 sliding are provided on mounting plate 7-6
It is laid on slideway 7-7, lifting device 7-2 is moved left and right by interior on slideway 7-7；It is beaten by 7-2 on lifting device and laser
The height of device for mark 7-3 adjustable labelling head 7-19 and CCD camera (laser optical path).
Control device is provided on workbench 7-1, control device automated control operation system, control device includes circuit
Plate, display 7-15, operation panel 7-16, control button 7-17 and the electric wire for connecting circuit board；The control device is located at installation
The right side of plate 7-6；For controlling laser mark printing device 7-3 moving up and down on lifting device 7-2；Report is equipped in control device
Alarm device, the warning device are the sound module equipped with prompt tone；Detection device reduces defect ware, improves product quality.
Laser mark printing device 7-3 includes the guide cylinder 7-8 being slidably connected on lifting device 7-2, socket in guide cylinder 7-8
There is the sliding bar 7-9 slid back and forth in guide cylinder 7-8, the end sliding bar 7-9 is connected with laser marking mechanism 7-4, passes through, sliding
Lever 7-9 slides back and forth guide cylinder 7-8's, ensure that the mobile convenience of CCD camera；So that CCD camera is directed to
Property irradiation workpiece, can quickly, efficiently, the accurate mark precision for improving workpiece；Meanwhile laser mark printing device 7-3 is provided with
Sensing device, the sensing device are optoelectronic switch inductor.
Laser marking mechanism 7-4 includes labelling head 7-19, the connecting plate 7-10 for being set to the end sliding bar 7-9；Connecting plate
Fixed block 7-11 and lower fixed block 7-12 are installed on 7-10；CCD device 7-13, lower fixation are installed on upper fixed block 7-11
Lighting source link block 7-14 is installed on block 7-12, lighting source link block 7-14 is located at the lower end CCD device 7-13, and shines
Mingguang City source link block 7-14 is corresponding with the position device 7-13 CCD；7-CCD device 13 is high resolution CCD video camera, the CCD
Camera lens direction is corresponding with mark station 7-5, and CCD camera is connected to control device by data line；Product is put
It is placed in the range that can be got under labelling head 7-19 and the intersection region in region that CCD camera can be irradiated to, is imaged by CCD
Machine product irradiation extracts marking area and carries out mark so that labelling head 7-19 obtains the outer dimension of product, to realize to production
The accurate mark of product avoids employee and places error caused by product, promotes the qualification rate and working efficiency of product, reduces artificial
Cost.
Several anchor point 7-18 are provided on mark station 7-5, anchor point 7-18 is equidistantly laid in mark station 7-5
On；Anchor point 7-18 is set, so that the positioning of workpiece is more accurate, meanwhile, anchor point 7-18 is also convenient for labelling head 7-19
The accuracy of mark on workpiece.
The workflow and principle of a kind of intelligent manufacturing system based on industrial robot of the present invention are as follows:
From welding delivery frame 1, by product placement shape, successively pickup and grabbing rises to stacking Palletised carry manipulator 8 automatically
The beginning of falling unit 2, after the stacking apparatus for automatically lifting 2 of workpiece to pipeline end rises, 3 joint head of Palletised carry robot
Wrist industrial vision camera is sorted and is positioned to its platform workpiece；Correct product is carried to multistation welding automatic fixture platform 6
The 1st station, otherwise it is to be processed in incorrect product is grabbed to defective products feed bin；Multistation welding automatic fixture platform 6 receives
To after the first station signal, goes to welding palletizing mechanical arm 4 after 3rd station and first get the jump on weldering on " robbing wire shearing machine device clearly " and complete
Clearly rob movement move back to multistation welding automatic fixture platform 6 carry out welding, at this time AGV trolley 5 from charging pile place to
Welding bench area, when welding finished goods goes to the 1st work, Palletised carry robot 3 connects weldment and grabs at 5 platform of AGV trolley,
And it moves on to stopping at laser marking machine 7.Welding is completed after stopping at part to laser marking machine 7, and Palletised carry robot 3 is by work
Part grabs to the stamp area of laser marking machine 7 laser work for carrying out two dimensional code, and smog also works at the same time after collecting, by harmful gas
Body is collected and is handled.Stamp finished goods is grabbed to AGV trolley 5 and is moved at infrared scanning gate inhibition the life that will weld finished goods
Archival of information is produced in computer management system；Industry when AGV trolley 5 is moved to stacking vision manipulator 10, on manipulator head
Camera is to its vision positioning and crawl and to welding finished product hair pallet 9 and by corresponding position typing to management system for internet of things protect
It deposits, realizes with no paper operation；Facilitate the intelligent management of finished product storage.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention；Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Although appended drawing reference in figure is used more herein: welding delivery frame 1, stacking apparatus for automatically lifting 2, rack 2-
1, upper layer feeding device 2-2, lower layer feeding device 2-3, sensing chip 2-4, receiver board 2-5, vertical columns 2-6, lifting cylinder 2-
7, dynamical element 2-8, connecting plate 2-9, cylinder attachment base 2-10, placement plate 2-11, baffle 2-12, first driving device 2-13,
Second driving device 2-14, mounting plate 2-15, Palletised carry robot 3 weld palletizing mechanical arm 4, AGV trolley 5, multistation weldering
Connect automatic fixture platform 6, workbench body 6-1, welding disk 6-2, connecting column 6-3, decelerating motor 6-4, rotate gear 6-5,
Drive sprocket 6-6, positioning seat 6-7, baffle 6-8, photoelectric sensor 6-9；Laser marking machine 7, workbench 7-1, lifting device 7-
2, laser mark printing device 7-3, laser marking mechanism 7-4, mark station 7-5, mounting plate 7-6, slideway 7-7, guide cylinder 7-8,
Sliding bar 7-9, connecting plate 7-10, upper fixed block 7-11, lower fixed block 7-12, CCD device 7-13, lighting source link block 7-
14, display 7-15, operation panel 7-16, control button 7-17, anchor point 7-18, labelling head 7-19, Palletised carry manipulator
8, welding finished product hair pallet 9, stacking vision manipulator 10, six axis control cabinets 11, welding gas bottle 12, safety guard net 13,
Central control cabinet 14, the equal terms of track magnetic stripe 15, but it does not exclude the possibility of using other terms.Only using these terms
It is to be more convenient to describe and explain essence of the invention；Being construed as any additional limitation is all and this hair
What bright spirit was disagreed.
Claims (5)
1. a kind of intelligent manufacturing system based on industrial robot is delivered frame (1) including the welding for placing workpiece, is welded into
Product send out pallet (9), stacking vision manipulator (10), Palletised carry manipulator (8) and stacking apparatus for automatically lifting (2)；Stacking
Conveying robot (8) is located at the side of welding delivery frame (1), corresponding with one end of stacking apparatus for automatically lifting (2)；Its feature
It is: further includes having Palletised carry robot (3), welding palletizing mechanical arm (4), multistation welding automatic fixture platform (6), laser
Marking machine (7), AGV automatic remote control pilot trolley device and central control cabinet (14)；Multistation welding automatic fixture platform (6) and swash
Light marking machine (7) is located at the front and back end of Palletised carry robot (3), and stacking apparatus for automatically lifting (2) is located at Palletised carry machine
The side of people (3), welding palletizing mechanical arm (4) are located at the side of multistation welding automatic fixture platform (6)；Multistation welding is automatic
Between tooling platform (6) and laser marking machine (7), Palletised carry robot (3) is made of six degree of freedom joint, is fixed on robot
On pedestal, scope of activities radius 1437mm；The AGV automatic remote control pilot trolley device includes AGV trolley (5), for being laid with
Track magnetic stripe (15) annular in shape on the ground；AGV trolley (5) is along track magnetic stripe (15) forward slip, track magnetic stripe (15)
With Palletised carry robot (3), multistation welding automatic fixture platform (6), laser marking machine (7), welding finished product hair pallet (9)
It is corresponding with stacking vision manipulator (10) position；The stacking apparatus for automatically lifting (2) includes rack (2-1), is fixedly arranged on machine
Upper layer feeding device (2-2) and lower layer's feeding device (2-3) on frame (2-1)；Upper layer feeding device (2-2) and lower layer's conveying fill
(2-3) is set to be arranged in parallel and conveying direction is opposite；The end of the upper layer feeding device (2-2) and lower layer's feeding device (2-
3) end is provided with material lifting device, is provided on the rack (2-1) to the object on the upper layer feeding device (2-2)
Expect the detection device detected one by one；Detection device is corresponding with upper layer feeding device (2-2)；The detection device includes solid
Sensing chip (2-4) and receiver board (2-5) on rack (2-1)；Sensing chip (2-4) and receiver board (2-5) are laid in upper layer
The left and right sides of feeding device (2-2), and sensing chip (2-4) is corresponding with the receiver board position (2-5)；The material lifting device
The dynamical element (2-8) run up and down including four vertical columns (2-6), lifting cylinder (2-7), driving lifting cylinder (2-7)；
It is connected between adjacent vertical columns (2-6) by connecting plate (2-9), lifting cylinder (2-7) is fixedly arranged on connecting plate (2-9), is risen
It is equipped with cylinder attachment base (2-10) at the top of sending down abnormally ascending cylinder (2-7), the placement for placing material is installed on cylinder attachment base (2-10)
Plate (2-11) lifting cylinder (2-7) drives placement plate (2-11) to slide on connecting plate (2-9) by cylinder attachment base (2-10)；
The placement plate (2-11) is adapted with upper layer feeding device (2-2) with the end of lower layer's feeding device (2-3), the placement plate
The two sides of (2-11) are laid with symmetrical baffle (2-12)；When lifting cylinder (2-7) rises to extreme higher position, the baffle
It is in same horizontal line at the top of the top of (2-12) and rack (2-1), the upper layer feeding device (2-2) and lower layer's conveying fill
Setting (2-3) is conveyer belt transmission；It is laid on the rack (2-1) for driving upper layer feeding device (2-2) and lower layer defeated
Expect the first driving device (2-13) and the second driving device (2-14) of device (2-3) rotation；The position first driving device (2-13)
In the bottom upper layer feeding device (2-2), the second driving device (2-14) is located at the bottom lower layer's feeding device (2-3).
2. a kind of intelligent manufacturing system based on industrial robot according to claim 1, it is characterised in that: the welding
Palletizing mechanical arm (4) side is provided with welding gas bottle (12), and there are two security protections for the two sides setting of welding gas bottle (12)
Net (13), two safety guard nets (13) are located at the two sides of welding palletizing mechanical arm (4).
3. a kind of intelligent manufacturing system based on industrial robot according to claim 2, it is characterised in that: the safety
The side of protective net (13) is provided with for controlling stacking transfer robot (3) and welding the six axis control of palletizing mechanical arm (4)
Cabinet (11).
4. a kind of intelligent manufacturing system based on industrial robot according to claim 1, it is characterised in that: the laser
Marking machine (7) includes workbench (7-1), lifting device (7-2) and the laser mark printing device (7- being laid on workbench (7-1)
3), the laser mark printing device (7-3) is arranged on lifting device (7-2), the laser mark printing device end (7-3) setting
Have downwardly directed laser marking mechanism (7-4), mark station (7-5), laser marking mechanism are provided on workbench (7-1)
(7-4) is corresponding with the position of mark station (7-5)；Workbench (7-1) rear end is installed with mounting plate (7-6), installation
It is provided on plate (7-6) slideway (7-7), lifting device (7-2) sliding is laid on slideway (7-7), and lifting device (7-2) passes through
Slideway (7-7) moves left and right, and is provided with control device on the workbench (7-1), which is located at mounting plate (7-6)
Right side；For controlling laser mark printing device (7-3) moving up and down on lifting device (7-2), the laser mark printing device (7-
3) include the guide cylinder (7-8) being slidably connected on lifting device (7-2), be socketed in guide cylinder (7-8) at guide cylinder (7-8)
The sliding bar (7-9) inside slid back and forth, the end sliding bar (7-9) are connected with laser marking mechanism (7-4)；The laser marking machine
Structure (7-4) includes labelling head (7-19), the connecting plate (7-10) for being set to the end sliding bar (7-9)；It is solid on connecting plate (7-10)
Equipped with upper fixed block (7-11) and lower fixed block (7-12)；It is installed with CCD device (7-13) on upper fixed block (7-11), lower fixation
It is installed on block (7-12) lighting source link block (7-14), lighting source link block (7-14) is located under CCD device (7-13)
End, and lighting source link block (7-14) is corresponding with the CCD device position (7-13)；The CCD device (7-13) is high score
Resolution CCD camera, CCD camera camera lens direction is corresponding with mark station (7-5), and CCD camera passes through data line
It is connected to control device；The control device includes circuit board, display (7-15), operation panel (7-16), control button (7-
17) and connection circuit board electric wire；Warning device is equipped in the control device, the warning device is equipped with prompt tone
Sound module；It is provided with several anchor points (7-18) on the mark station (7-5), anchor point (7-18), which is equidistantly laid in, to be beaten
It marks on station (7-5)；The laser mark printing device (7-3) is provided with sensing device, and the sensing device is optoelectronic switch
Inductor.
5. a kind of intelligent manufacturing system based on industrial robot according to claim 1, it is characterised in that: the multiplexing
Position welding automatic fixture platform (6) includes workbench body (6-1) and the decelerating motor for being installed on the bottom workbench body (6-1)
(6-4)；Rounded welding disk (6-2) is provided in workbench body (6-1), the bottom welding disk (6-2) is fixed
Have connecting column (6-3), connecting column (6-3) is connected across the upper end of workbench body (6-1) with decelerating motor (6-4)；Connection
The end column (6-3) is provided with rotate gear (6-5), corresponding, is provided on the decelerating motor (6-4) and turning gear
Take turns (6-5) compatible drive sprocket (6-6)；It is laid on the welding disk (6-2) several for placing determining for workpiece
Position seat (6-7), multiple positioning seats (6-7) are distributed on the circumference centered on the central axis of welding disk (6-2)；It is described
The baffle (6-8) of the position for dividing different positioning seats (6-7) is provided on welding disk (6-2), the baffle (6-8) is solid
On welding disk (6-2), it is integrally formed；The baffle (6-8) is provided with 2 pieces, and 2 baffles (6-8) are with welding
The central axis of disk (6-2) is center vertical runs, and positioning seat (6-7) is divided into four；The baffle (6-8) is in isosceles ladder
The length of shape, baffle (6-8) is consistent with the outer diameter of welding disk (6-2)；Light is provided among the positioning seat (6-7)
Electric transducer (6-9).
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