CN107088881A - The Agile Manufacturing System of integrated multi-robot integration of operation - Google Patents

The Agile Manufacturing System of integrated multi-robot integration of operation Download PDF

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Publication number
CN107088881A
CN107088881A CN201710451509.1A CN201710451509A CN107088881A CN 107088881 A CN107088881 A CN 107088881A CN 201710451509 A CN201710451509 A CN 201710451509A CN 107088881 A CN107088881 A CN 107088881A
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CN
China
Prior art keywords
fixed
spring
finger
robot
cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201710451509.1A
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Chinese (zh)
Inventor
余胜东
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Wenzhou Polytechnic
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Wenzhou Polytechnic
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Application filed by Wenzhou Polytechnic filed Critical Wenzhou Polytechnic
Priority to CN201710451509.1A priority Critical patent/CN107088881A/en
Publication of CN107088881A publication Critical patent/CN107088881A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1661Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages

Abstract

The present invention relates to automated assembling equipment, more specifically to a kind of mechanized equipment for being used to realize Automated assembly.The Agile Manufacturing System of integrated multi-robot integration of operation, including:Workbench, vibrating disk for delivery spring, feeding track for conveying the spring, for the upset reclaimer robot for clamping the spring and flipping an angle, catching robot for grabbing the spring from the upset reclaimer robot, for the blocking mechanism for the translational speed for limiting the spring, chain delivery machanism for conveying the spring, it is equipped on the dynamic clamp mechanism on the chain delivery machanism, it is connected to the cover plate feeding track of the discharging opening of the cover plate vibrating disk, be connected to the Agile Manufacturing System for treating the integrated multi-robot integration of operation of the nip present invention of the cover plate feeding track realizes the quick crawl and carrying to material using several manipulators, the long distance delivery of spring is realized using chain delivery machanism, automate integrated level high, realize the unmanned quick assembling operation of electric equipment products.

Description

The Agile Manufacturing System of integrated multi-robot integration of operation
Technical field
The present invention relates to automated assembling equipment, more specifically to a kind of machinery for being used to realize Automated assembly Equipment.
Background technology
Spring be it is a kind of utilize elasticity come work machine components.The part being made of elastomeric material is sent out under external force Raw deformation, removes and is restored to the original state again after external force.Also " spring " is made.Typically it is made of spring steel.The species complexity of spring is various, presses Shape point, mainly there is helical spring, scroll spring, flat spring, heterotypic spring etc..
Although Spring Industry is a small industry among whole manufacturing industry, its played a part of be absolutely not can be low Estimate.The industrial manufacturing industry of country, auto industry will be accelerated development, and based on one of part, parts Spring Industry just The advanced phase of a development is more needed, the fast development of national whole industry is just adapted to.In addition, spring product scale product The need for expansion, the raising of quality level planted are also the machinery Replacement replacement and the need for the raising of matched host machine performance, because This, the development of whole National Industrial, spring product plays an important role.
Commodity industry and irommongery, including lighter, toy, lockset, door hinge, fitness equipment, mattress, sofa etc., just For quantity, spring is had the call, number is with 10,000,000,000, and technical requirements are not high, and price is very low.
In electric equipment products, such as in electric switch, circuit breaker a large amount of assemblings by spring, because spring structure is small, Size easily changes, accordingly, it would be desirable to which workman realizes the crawl to spring by hand.
The content of the invention
Object of the present invention is to provide a kind of Agile Manufacturing System of integrated multi-robot integration of operation, applied to electricity In the Automated assembly production of device product or engineering goods.The Agile Manufacturing System of the integrated multi-robot integration of operation of the present invention The quick crawl and carrying to material are realized using several manipulators, the long range of spring is realized using chain delivery machanism Conveying, automation integrated level is high, realize the unmanned quick assembling operation of electric equipment products.
A kind of Agile Manufacturing System of integrated multi-robot integration of operation, including:Workbench, the vibration for delivery spring Disk, the feeding track for conveying the spring, for clamp the spring and flip an angle upset reclaimer robot, For grabbing the catching robot of the spring, the mobile speed for limiting the spring from the upset reclaimer robot The blocking mechanism of degree, the chain delivery machanism for conveying the spring, the dynamic folder being equipped on the chain delivery machanism Tool mechanism, the three claw robot for capturing cover plate, the cover plate vibrating disk for exporting the cover plate, it is connected to the cover plate and shakes The cover plate feeding track of the discharging opening of Moving plate, be connected to the cover plate feeding track treat nip;The delivery outlet of the vibrating disk The feeding track is connected to, the delivery outlet of the feeding track is connected to the upset reclaimer robot, the blocking mechanism Positioned at the equipped at outlet port of the feeding track, the catching robot is located at the top of the upset reclaimer robot, described dynamic State clamp mechanism is located at the bottom of the catching robot, and the chain delivery machanism is located at the side of the catching robot; The discharging opening of the cover plate vibrating disk is connected to the cover plate feeding track, and the discharging opening of the cover plate feeding track is connected to institute State and treat nip, the three claw robot is located at the top for treating nip;
The three claw robot includes:No. four supports, No. four horizontal sliding tables, No. four vertical slide unit, horizontal connecting plate, flexibilities Paw;No. four supports are fixed on the workbench, and No. four horizontal sliding tables are fixed on No. four supports, described No. four Vertical slide unit is fixed on No. four horizontal sliding tables, and the horizontal connecting plate is fixed on described No. four vertical slide units, the flexibility Paw is equally spacedly arranged in the bottom of the horizontal connecting plate;The quantity of the flexible paw is three, including:A number flexibility Paw, No. two flexible paws, No. three flexible paws;
The flexible paw includes:No. four finger cylinders, left hand refers to, the right hand refers to, left side assisted finger, right side nondominant hand Finger, spring base, finger springs, flexible clamping plate, the cylinder block of No. four finger cylinders are fixed on the horizontal connecting plate, institute State left hand and refer to refer to the right hand and be connected to No. four finger cylinders, the left hand refers to the state for referring into parallel folding with the right hand;Institute Assisted finger is fixed on the left hand and referred on the left of stating, and the right side assisted finger is fixed on the right hand and referred to;The flexible clamping Plate is movably connected on the right hand and referred to, and the spring base is fixed on the right hand and referred to, the flexible clamping plate and spring base it Between be provided with finger springs;The left hand refers to constitutes one group of clamping combination with right side assisted finger, the left side assisted finger and Flexible clamping plate constitutes one group of clamping combination.
Preferably, the dynamic clamp mechanism includes:Roller, sliding panel, fixture, the roller are movably connected on the cunning Dynamic plate, the fixture is fixed on the sliding panel;
Preferably, the chain delivery machanism includes:It is gantry support, chain-drive mechanism, motor, sliding rail, perpendicular Straight limiting cylinder, vertical limiting plate, spacing guide pillar, the gantry support are fixed on the workbench, and the chain-drive mechanism is lived Dynamic to be connected to the gantry support, the motor is fixed on the gantry support, and the output shaft of the motor passes through Shaft coupling is fixed on the chain-drive mechanism;The institute matched with the dynamic clamp mechanism is provided with the gantry support Sliding rail is stated, the roller is movably connected on the sliding rail, and the dynamic clamp mechanism is fixed on by connecting carrier bar The chain-drive mechanism;The cylinder block of the vertical limiting cylinder is fixed on the gantry support, and the vertical limiting plate is connected Set on the sliding block of the vertical limiting cylinder, being provided with the vertical limiting plate on the spacing guide pillar, the fixture There is the spacing pilot hole matched with the spacing guide pillar, the spacing guide pillar is located at the top of material platform support seat.
Preferably, it is provided with the fixture on catch, the gantry support and is configured with sensor, the catch and described Sensor matches.
Preferably, the upset reclaimer robot includes:Number support, horizontal sliding cylinder, horizontal slide plate, Tumble cylinder, paw cylinder, upper finger, lower finger, elastic press, a cover plate, a support are fixed on the work Platform, the cylinder block of a horizontal sliding cylinder is fixed on a support, and a horizontal slide plate is movably connected on A number support, the end of the piston rod of a horizontal sliding cylinder is fixed on a horizontal slide plate;It is described to turn over The cylinder block of rotaring cylinder is fixed on a horizontal slide plate, and the cylinder block of a paw cylinder is fixed on the upset gas On the output flange of cylinder;The upper finger, lower finger are fixed on a paw cylinder, the upper finger and are fixed with Refer to, be fixed with the lower finger on the feeding mouth being provided with lower finger, the lower finger with the spring to matching, the upper finger The elastic press is flexibly connected, the cover plate is fixed on the upper finger, under being provided between the elastic press and cover plate Pressing spring, the elastic press and feeding mouth match.
Preferably, the blocking mechanism includes:No. two supports, upper and lower air cylinders, end connecting plate, upper lower skateboard, elasticity are visited Pin, No. two supports are fixed on the workbench, and the cylinder block of the upper and lower air cylinders is fixed on No. two supports, it is described on Lower skateboard is movably connected on No. two supports, and the end of the piston rod of the upper and lower air cylinders is connected by the end connecting plate In the upper lower skateboard;The elastic probe is fixed on the upper lower skateboard, the elastic probe and the feeding track phase Match somebody with somebody.
Preferably, the catching robot includes:No. three supports, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit, Blowing finger cylinder, blowing finger, No. three supports are fixed on the workbench, and No. two horizontal sliding tables are fixed on described No. three supports, described No. two vertical slide units are fixed on the sliding block of No. two horizontal sliding tables, and the Y-axis slide unit is fixed on described On the sliding block of No. two vertical slide units, the blowing finger cylinder is fixed on the sliding block of the Y-axis slide unit.
Preferably, when the piston rod of a horizontal sliding cylinder is in stretching state, the feeding mouth and described send When material track matches, a paw cylinder is in deployed condition, the spring can be entered in the feeding mouth;When When a number paw cylinder is in closure state, in the state of the spring is in clamped by a paw cylinder.
Preferably, two material holes for accommodating the spring are provided with the fixture:Number material hole, a No. two material holes.
Preferably, when the piston rod of the upper and lower air cylinders is in stretching state, the elastic of the elastic probe enters Into the feeding track and touch the surface of the spring;When the piston rod of the upper and lower air cylinders is in retracted mode, The elastic departs from the feeding track and disengaging and the contact of the spring.
Preferably, the bottom of the dynamic clamp mechanism is provided with the material platform for supporting the dynamic clamp mechanism Support seat.
Compared with conventional art, the Agile Manufacturing System of integrated multi-robot integration of operation of the invention has following positive work With and beneficial effect:
The Agile Manufacturing System of the integrated multi-robot integration of operation of the present invention, mainly includes:Workbench, vibrating disk, feeding Track, upset reclaimer robot, catching robot, dynamic clamp mechanism, blocking mechanism, chain delivery machanism, three claw robot, Cover plate vibrating disk, cover plate feeding track, treat nip.The spring is first poured into the vibrating disk, and the vibrating disk will be described Spring is input in the feeding track after carrying out ordered queue;The feeding track is by the spring to the upset reclaimer Direction where tool hand is conveyed;The blocking mechanism is used for the section for controlling the spring to enter the upset reclaimer robot Play;The discharge outlet of upset reclaimer robot from the feeding track is grabbed after the spring, and the spring is departed from In the feeding track, and by the certain angle of the spring pivotal;The dynamic clamp mechanism is in the chain delivery machanism Driving lower edge described in sliding rail motion, it is described spacing after the dynamic clamp mechanism is stayed in the material platform support seat Guide pillar enters in the spacing pilot hole further to improve the positioning precision of the fixture;The catching robot is from described The spring is grabbed on upset reclaimer robot, and the spring is positioned in the material hole, No. two material holes;Connect , the spring is delivered on other different stations by the chain delivery machanism, to realize pipelining.Present invention collection Into the Agile Manufacturing System of multi-robot integration of operation, realize by the spring be automatically assembled to it is described No. one material hole, In No. two material holes, it is to avoid the clamping to the spring is deformed, the spring is delivered to cover plate by the dynamic clamp mechanism and filled With station;The cover plate is described by treating nip described in cover plate feeding track arrival after cover plate vibrating disk output A number flexible paw is from the institute for treating to clamp the cover plate at nip to come and be positioned over to have been located at cover plate assembly station State in dynamic clamp mechanism, because the spring is had been located in the dynamic clamp mechanism, the spring enters the cover plate Pilot hole in, the spring and cover plate realize assembling;Then, described No. two flexible paws are by the spring and lid that assemble Plate is grabbed at next station.The Agile Manufacturing System of the integrated multi-robot integration of operation of the present invention utilizes the upset feeding Manipulator, catching robot realize the quick crawl and carrying to the spring, are realized using the chain delivery machanism The long distance delivery of the spring, the carrying to the cover plate and assembling are realized using the three claw robot.Present invention collection Agile Manufacturing System into multi-robot integration of operation realizes the unmanned quick assembling operation of electric equipment products, efficiency high.
Next the course of work and operation principle of the three claw robot described:
No. four horizontal sliding tables are used to drive the flexible paw to realize horizontal movement, and described No. four vertical slide units are used for The flexible paw is driven to realize vertically movable;The horizontal connecting plate is fixed on described No. four vertical slide units, the flexible hand Pawl is equally spacedly arranged in the bottom of the horizontal connecting plate.The flexible paw can realize the crawl to material, and in institute Under the driving for stating No. four horizontal sliding tables and No. four vertical slide units, the quick motion in planar range is realized.In order to improve to material Efficiency is clamped, the flexible paw can notify to clamp two cover plates.Because the cover plate exists in physical dimension Small error, the flexible paw can make the flexibility by this small error of the finger springs flexible compensation Paw can clamp two cover plates simultaneously.
Next the course of work and operation principle of the flexible paw described:
The left side assisted finger is fixed on the left hand and referred to, and the right side assisted finger is fixed on the right hand and referred to;Institute State flexible clamping plate and be movably connected on the right hand and refer to, the spring base is fixed on the right hand and referred to, in the flexible clamping plate Finger springs are provided between spring base;The left hand refers to constitutes one group of clamping combination, the left side with right side assisted finger Assisted finger and flexible clamping plate constitute one group of clamping combination.First, No. four finger cylinders are in open configuration, when described Cover plate refers between the assisted finger of right side positioned at the left hand, meanwhile, another described cover plate is located at the left side assisted finger Between flexible clamping plate;Then, No. four finger cylinders closure, No. four finger cylinders drive the left hand to refer to Closed with right side assisted finger so as to clamping the cover plate, meanwhile, the left side assisted finger and flexible clamping plate closing from And the cover plate is clamped, the flexible clamping plate is equal to the elastic force of the finger springs to the chucking power of the cover plate.From And realize, the clamping to two cover plates is completed using No. four finger cylinder, the flexible hand is substantially increased The operating efficiency of pawl.
Next the course of work and operation principle of the chain delivery machanism described:
The chain-drive mechanism is movably connected on the gantry support, and the motor drives the chain-drive mechanism phase The gantry support is rotated.
The roller is movably connected on the sliding rail, the dynamic clamp mechanism by connect carrier bar be fixed on it is described Chain-drive mechanism, the chain-drive mechanism drives the dynamic clamp mechanism to be moved along direction where the sliding rail, due to The guiding function of the sliding rail, improves the kinematic accuracy of the dynamic clamp mechanism.On the chain delivery machanism The spacing guide pillar of positioning precision can be improved by being additionally provided with.
When the dynamic clamp mechanism reaches aiming station, i.e.,:The catch and the sensor match, the chain Transmission mechanism stop motion.Pass through the catch and the electromagnetic action of sensor, it is possible to achieve the dynamic clamp mechanism it is thick Positioning.Next, further improving the positioning precision of the dynamic clamp mechanism.
Because the fixture is located at the top of the material platform support seat, the spacing guide pillar is in the vertical limiting cylinder Entered under driving in the spacing pilot hole, state is accurately positioned because the spacing guide pillar and spacing pilot hole are in, from And the positioning precision of the fixture is improved, while making the fixture be fixed in the material platform support seat, make the fixture not Have any transportable space.The fixture can accurately dock the catching robot, so as to realize pipelining Precision, efficient driving.
Next the course of work and operation principle of the upset reclaimer robot described:
A number horizontal slide plate is movably connected on a support, the piston rod of a horizontal sliding cylinder End is fixed on a horizontal slide plate, and the cylinder block of the tumble cylinder is fixed on a horizontal slide plate, described one Number sliding cylinder is used to drive the tumble cylinder to depart from or touch the feeding track.
The cylinder block of a number paw cylinder is fixed on the output flange of the tumble cylinder, the upper finger, under Finger, which is fixed on a paw cylinder, the upper finger, is fixed with finger, and lower finger is fixed with the lower finger.It is described A number paw cylinder closure, can drive the upper finger, lower refer to close, so as to realize the clamping to the spring;Described No. one Paw cylinder is unclamped, and the upper finger, lower refer to can be driven to depart from, so as to realize the release to the spring.
Because the material of the spring is softer, in order to prevent the upper finger, lower refer to from closing, the spring is realized and clamped When and cause the crimp to the spring.Refer on described and be provided with elastic mechanism, so as to realize the guarantor to the spring Shield, prevents the spring from occurring crimp.
The elastic press is flexibly connected on the upper finger, the cover plate is fixed on the upper finger, in the elastic press Lower pressing spring is provided between cover plate, the elastic press and feeding mouth match.A number paw cylinder is unclamped, described Spring is entered after the feeding mouth;Then, the paw cylinder closure, the elastic press touches the spring Surface, because the behind of the elastic press is provided with the lower pressing spring, compression occurs for the lower pressing spring, so that institute The surface that elastic press flexibility is squeezed in the spring is stated, prevents the spring from occurring crimp.
Next the course of work and operation principle of the blocking mechanism described:
At first, the piston rod of a horizontal sliding cylinder is in stretching state, the feeding mouth and described Feeding track matches, a paw cylinder is in deployed condition, the piston rod of the upper and lower air cylinders is in retracted mode, The elastic departs from the feeding track and disengaging and the contact of the spring, and the spring can enter the feeding mouth In;Then, the paw cylinder driving upper finger, the lower flexible clamping for referring to closure, realizing to the spring;Then, The piston rod of the upper and lower air cylinders is in stretching state, the elastic of the elastic probe is entered in the feeding track simultaneously Touch the surface of the spring, it is ensured that the spring only captured by a paw cylinder can be moved, And the spring pushed down by the elastic probe can not be moved.
By the elastic of the elastic probe is driven by flexible higher spring, the elastic touches institute State after spring, it is possible to prevente effectively from occurring crimp to the spring.
Brief description of the drawings
Fig. 1 is the structural representation of the Agile Manufacturing System of integrated multi-robot integration of operation of the invention;
Fig. 2 is the structural representation of the three claw robot of the Agile Manufacturing System of integrated multi-robot integration of operation of the invention Figure;
Fig. 3 is the structural representation of the flexible paw of the Agile Manufacturing System of integrated multi-robot integration of operation of the invention;
Fig. 4 is the part-structure schematic diagram of the Agile Manufacturing System of integrated multi-robot integration of operation of the invention;
Fig. 5,6 are that the structure of chain delivery machanism of Agile Manufacturing System of integrated multi-robot integration of operation of the invention is shown It is intended to;
Fig. 7,8,9 are the part-structure schematic diagrams of the Agile Manufacturing System of integrated multi-robot integration of operation of the invention;
Figure 10,11 be integrated multi-robot integration of operation of the invention Agile Manufacturing System upset reclaimer robot knot Structure schematic diagram.
1 workbench, 2 vibrating disks, 3 feeding tracks, 4 upset reclaimer robots, 5 catching robots, 6 fixtures, 7 stop machine Structure, No. 8 supports, No. 9 horizontal sliding cylinders, No. 10 horizontal slide plates, 11 tumble cylinders, No. 12 paw cylinders, on 13 Finger, 14 times fingers, 15 elastic press, 16 cover plates, 17 springs, 18 upper and lower air cylinders, 19 end connecting plates, lower skateboard, 21 on 20 Elastic probe, refer on 22,23 down finger, 24 elastics, 25 times pressing springs, 26 feeding mouths, 27 No. two horizontal sliding tables, 28 No. two vertically Slide unit, 29Y axles slide unit, 30 blowing finger cylinders, 31 blowing fingers, No. 32 material holes, 33 No. two material holes, 34 No. two supports, 35 No. three supports, 36 chain delivery machanisms, 37 material platform support seats, 38 gantry supports, 39 chain-drive mechanisms, 40 motors, 41 connect Chain link plate, 42 sliding rails, 43 rollers, 44 sliding panels, 45 dynamic clamp mechanisms, 46 catch, 47 sensors, 48 vertical spacing gas Cylinder, 49 vertical limiting plates, 50 spacing guide pillars, 51 spacing pilot holes, 52 three claw robots, 53 cover plate vibrating disks, 54 cover plate feedings Nip, 56 cover plates, 57 No. four supports, 58 No. four horizontal sliding tables, 59 No. four vertical slide units, 60 horizontal connecting plates, 61 are treated in track, 55 Number flexible paw, 62 No. four finger cylinders, 63 left hands refer to, 64 right hands refer to, 65 left side assisted fingers, 66 right side assisted fingers, 67 spring bases, 68 finger springs, 69 flexible clamping plates, 70 No. two flexible paws, 71 No. three flexible paws.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing, but does not constitute any limitation of the invention, Similar element numbers represent similar element in accompanying drawing.As described above, combining the invention provides a kind of integrated multi-robot The Agile Manufacturing System of operation, in the Automated assembly production of electric equipment products, spring is captured in an orderly manner and fixture is placed into On, realized using vibrating disk to the order output of spring into feeding track, using overturning reclaimer robot from feeding track Spring is grabbed, the crawl from upset reclaimer robot comes and is placed on dynamic clamp by spring using catching robot, Spring is delivered to cover plate assembly station using chain delivery machanism;Realized using cover plate vibrating disk to the order output of cover plate extremely Cover plate feeding track, using three claw robot by cover plate from treating that nip grabbed on dynamic clamp, and is assembled to cover plate by spring On, then the spring assembled and cover plate are clamped on next station by three claw robot.The integrated multi-robot connection of the present invention The Agile Manufacturing System of cooperation industry, realizes the order output to spring, spring is adjusted to after predetermined angle, is placed into folder On tool, the smooth, controllable of spring moving process ensure that using double-manipulator, it is to avoid spring is crushed, spring is defeated by chain type Mechanism is sent to be delivered to cover plate assembly station;Using three claw robot by cover plate from treating that it is dynamic on cover plate assembly station that nip is grabbed On state fixture, so as to realize the assembling of cover plate and spring;Then, three claw robot is realized cover plate and spring clamping to next On station.The Agile Manufacturing System of the integrated multi-robot integration of operation of the present invention is realized to the fast of material using several manipulators Speed crawl and carrying, the long distance delivery of spring is realized using chain delivery machanism, and automation integrated level is high, realize electrical equipment The unmanned quick assembling operation of product.
Fig. 1 is the structural representation of the Agile Manufacturing System of integrated multi-robot integration of operation of the invention, and Fig. 2 is the present invention The structural representation of the three claw robot of the Agile Manufacturing System of integrated multi-robot integration of operation, Fig. 3 is that the present invention is integrated more The structural representation of the flexible paw of the Agile Manufacturing System of manipulator integration of operation, Fig. 4 is integrated multi-robot connection of the invention The part-structure schematic diagram of the Agile Manufacturing System of cooperation industry, Fig. 5,6 be integrated multi-robot integration of operation of the invention agility The structural representation of the chain delivery machanism of manufacture system, Fig. 7,8,9 are the agilities of integrated multi-robot integration of operation of the invention The part-structure schematic diagram of manufacture system, Figure 10,11 be integrated multi-robot integration of operation of the invention Agile Manufacturing System Overturn the structural representation of reclaimer robot.
A kind of Agile Manufacturing System of integrated multi-robot integration of operation, including:Workbench 1, for delivery spring 17 Vibrating disk 2, the feeding track 3 for conveying the spring 17, the upset for clamping the spring 17 and flipping an angle Reclaimer robot 4, for from it is described upset reclaimer robot 4 in grab the catching robot 5 of the spring 17, for limiting The blocking mechanism 7 of the translational speed of the spring 17, the chain delivery machanism 36 for conveying the spring 17, be equipped on it is described Dynamic clamp mechanism 45 on chain delivery machanism 36, the three claw robot 52 for capturing cover plate 56, for exporting the lid The cover plate vibrating disk 53 of plate 56, be connected to the cover plate vibrating disk 53 discharging opening cover plate feeding track 54, be connected to it is described Cover plate feeding track 54 treats nip 55;The delivery outlet of the vibrating disk 2 is connected to the feeding track 3, the feeding track 3 Delivery outlet be connected to it is described upset reclaimer robot 4, the blocking mechanism 7 be located at the feeding track 3 equipped at outlet port, institute The top that catching robot 5 is located at the upset reclaimer robot 4 is stated, the dynamic clamp mechanism 45 is located at the crawl machinery The bottom of hand 5, the chain delivery machanism 36 is located at the side of the catching robot 5;The discharging of the cover plate vibrating disk 53 Mouth is connected to the cover plate feeding track 54, the discharging opening of the cover plate feeding track 54 be connected to it is described treat nip 55, it is described Three claw robot 52 is located at the top for treating nip 55;
The three claw robot includes:No. four supports 57, No. four horizontal sliding tables 58, No. four vertical slide unit 59, level connection joints Plate 60, flexible paw;No. four supports 57 are fixed on the workbench 1, and No. four horizontal sliding tables 58 are fixed on described four Number support 57, described No. four vertical slide units 59 are fixed on No. four horizontal sliding tables 58, and the horizontal connecting plate 60 is fixed on institute No. four vertical slide units 59 are stated, the flexible paw is equally spacedly arranged in the bottom of the horizontal connecting plate 60;The flexible hand The quantity of pawl is three, including:Number flexible paw 61, No. two flexible paws 70, a No. three flexible paws 71;
The flexible paw includes:No. four finger cylinders 62, left hands refer to the 63, right hand and refer to 64, left side assisted finger 65, right side Assisted finger 66, spring base 67, finger springs 68, flexible clamping plate 69, the cylinder block of No. four finger cylinders 62 are fixed on The horizontal connecting plate 60, the left hand refer to 63 and the right hand refer to 64 and be connected to No. four finger cylinders 62, the left hand refers to 63 Refer to the state of 64 one-tenth parallel foldings with the right hand;The left side assisted finger 65 is fixed on the left hand and refers to 63, the right side auxiliary Finger 66 is fixed on the right hand and refers to 64;The flexible clamping plate 69 is movably connected on the right hand and refers to 64, the spring base 67 It is fixed on the right hand and refers to 64, finger springs 68 is provided between the flexible clamping plate 69 and spring base 67;The left hand Refer to 63 and the one group of clamping combination of the composition of right side assisted finger 66, the left side assisted finger 65 and flexible clamping plate 69 constitute one group Clamping combination.
More specifically, the dynamic clamp mechanism 45 includes:Roller 43, sliding panel 44, fixture 6, the activity of roller 43 The sliding panel 44 is connected to, the fixture 6 is fixed on the sliding panel 44;
More specifically, the chain delivery machanism 36 includes:Gantry support 38, chain-drive mechanism 39, motor 40, cunning Dynamic rail road 42, vertical limiting cylinder 48, vertical limiting plate 49, spacing guide pillar 50, the gantry support 38 are fixed on the work Platform 1, the chain-drive mechanism 39 is movably connected on the gantry support 38, and the motor 40 is fixed on gantry branch Frame, the output shaft of the motor 40 is fixed on the chain-drive mechanism 39 by shaft coupling;On the gantry support 38 The sliding rail 42 matched with the dynamic clamp mechanism 45 is provided with, the roller 43 is movably connected on the slip Track 42, the dynamic clamp mechanism 45 is fixed on the chain-drive mechanism 39 by connecting carrier bar 41;The vertical spacing gas The cylinder block of cylinder 48 is fixed on the gantry support 38, and the vertical limiting plate 49 is fixed on the cunning of the vertical limiting cylinder 48 On block, it is provided with the spacing guide pillar 50, the fixture 6 and is provided with and the spacing guide pillar 50 on the vertical limiting plate 49 The spacing pilot hole 51 matched, the spacing guide pillar 50 is located at the top of material platform support seat 37.
More specifically, being provided with catch 46 on the fixture 6, sensor 47 is configured with the gantry support 38, it is described Catch 46 and the sensor 47 match.
More specifically, the upset reclaimer robot 4 includes:Number support 8, horizontal sliding cylinder 9, a level Slide plate 10, tumble cylinder 11, paw cylinder 12, upper finger 13, lower finger 14, elastic press 15, a cover plate 16, described No. one Support 8 is fixed on the workbench 1, and the cylinder block of a horizontal sliding cylinder 9 is fixed on a support 8, described A number horizontal slide plate 10 is movably connected on a support 8, and the end of the piston rod of a horizontal sliding cylinder 9 is connected In a horizontal slide plate 10;The cylinder block of the tumble cylinder 11 is fixed on a horizontal slide plate 10, described No. one The cylinder block of paw cylinder 12 is fixed on the output flange of the tumble cylinder 11;The upper finger 13, lower finger 14 are connected Lower finger 23, institute are fixed with 22, the lower finger 14 in being fixed with to refer in a paw cylinder 12, the upper finger 13 The lower feeding mouth 26 for referring to and being provided with 23 with the spring 17 to matching is stated, upper refer to is flexibly connected the elastic press on 22 15, the cover plate 16 is fixed on the upper finger 22, and lower pressing spring 25, institute are provided between the elastic press 15 and cover plate 16 State elastic press 15 and feeding mouth 26 matches.
More specifically, the blocking mechanism 7 includes:No. two supports 34, upper and lower air cylinders 18, end connecting plate 19, upper downslides Plate 20, elastic probe 21, No. two supports 34 are fixed on the workbench 1, and the cylinder block of the upper and lower air cylinders 18 is fixed on No. two supports 34, the upper lower skateboard 20 is movably connected on No. two supports 34, the piston rod of the upper and lower air cylinders 18 End the upper lower skateboard 20 is fixed on by the end connecting plate 19;The elastic probe 21 is fixed on the upper downslide Plate 20, the elastic probe 21 and the feeding track 3 match.
More specifically, the catching robot 5 includes:No. three supports 35, No. two horizontal sliding tables 27, No. two vertical slide units 28th, Y-axis slide unit 29, blowing finger cylinder 30, blowing finger 31, No. three supports 35 are fixed on the workbench 1, described two Number horizontal sliding table 27 is fixed on No. three supports 35, and described No. two vertical slide units 28 are fixed on No. two horizontal sliding tables 27 On sliding block, the Y-axis slide unit 29 is fixed on the sliding block of described No. two vertical slide units 28, and the blowing finger cylinder 30 is fixed on On the sliding block of the Y-axis slide unit 29.
More specifically, when the piston rod of described No. one horizontal sliding cylinder 9 is in stretching state, the feeding mouth 26 and institute When stating that feeding track 3 matches, a paw cylinder 12 is in deployed condition, the spring 17 can enter it is described enter In material mouth 26;When a paw cylinder 12 is in closure state, the spring 17 is in by a paw cylinder In the state of 12 is clamped.
More specifically, being provided with two material holes for accommodating the spring 17 on the fixture 6:A number material hole 32, two Number material hole 33.
More specifically, when the piston rod of the upper and lower air cylinders 18 is in stretching state, the elasticity of the elastic probe 21 Post 24 enters in the feeding track 3 and touches the surface of the spring 17;At the piston rod of the upper and lower air cylinders 18 When retracted mode, the elastic 24 departs from the feeding track 3 and departs from the contact with the spring 17.
More specifically, the bottom of the dynamic clamp mechanism 45 is provided with the institute for supporting the dynamic clamp mechanism 45 State material platform support seat 37.
Below in conjunction with Fig. 1 to 11, the Agile Manufacturing System of integrated multi-robot integration of operation of the invention is further described Operation principle and the course of work:
The Agile Manufacturing System of the integrated multi-robot integration of operation of the present invention, mainly includes:Workbench 1, vibrating disk 2, send Expect track 3, upset reclaimer robot 4, catching robot 5, dynamic clamp mechanism 45, blocking mechanism 7, chain delivery machanism 36, Three claw robot 52, cover plate vibrating disk 53, cover plate feeding track 54, treat nip 55.The spring 17 is first poured into the vibration In disk 2, the vibrating disk 2 carries out the spring 7 to be input to after ordered queue in the feeding track 3;The feeding track 3 The spring 17 is conveyed to the upset reclaimer robot 4 place direction;The blocking mechanism 7 is used to control the bullet Spring 17 enters the rhythm of the upset reclaimer robot 4;The upset discharging of the reclaimer robot 4 from the feeding track 3 Grab after the spring 17, the spring 17 is departed from the feeding track 3, and the spring 17 is rotated necessarily at mouthful Angle;Sliding rail 42 described in driving lower edge of the dynamic clamp mechanism 45 in the chain delivery machanism 36 is moved, institute State after dynamic clamp mechanism 45 stayed in the material platform support seat 37, the spacing guide pillar 50 enters the spacing pilot hole Further to improve the positioning precision of the fixture 6 in 51;The catching robot 5 is grabbed from the upset reclaimer robot 4 The spring 17 is got, and the spring 17 is positioned in the material hole 32, No. two material holes 33;Then, the chain type The spring 17 is delivered on other different stations by conveying mechanism 36, to realize pipelining.The integrated multimachine of the present invention The Agile Manufacturing System of tool hand integration of operation, realizes the spring 17 being automatically assembled to the material hole 32, two In number material hole 33, it is to avoid the clamping to the spring 17 is deformed, and the spring 17 is delivered to by the dynamic clamp mechanism 45 Cover plate assembly station;The cover plate 56 reaches institute after the cover plate vibrating disk 53 output by the cover plate feeding track 54 State and treat nip 55, a flexible paw 61 treats that the cover plate 56 clamping comes at nip 55 and be positioned over position from described In the dynamic clamp mechanism 45 at the cover plate assembly station, because the spring 17 has been located in the dynamic clamp mechanism 45 On, the spring 17 is entered in the pilot hole of the cover plate 56, and the spring 17 and cover plate 56 realize assembling;Then, it is described No. two flexible paws 70 grab the spring 17 assembled and cover plate 56 at next station.The present invention is integrated more mechanical The Agile Manufacturing System of hand integration of operation is realized to the spring 17 using the upset reclaimer robot 4, catching robot 5 Quick crawl and carrying, the long distance delivery of the spring 17 is realized using the chain delivery machanism, described three are utilized Pawl manipulator realizes the carrying to the cover plate and assembling.The Agile Manufacturing System of the integrated multi-robot integration of operation of the present invention Realize unmanned quick assembling operation, the efficiency high of electric equipment products.
Next the course of work and operation principle of the three claw robot 52 described:
No. four horizontal sliding tables 58 are used to drive the flexible paw to realize horizontal movement, described No. four vertical slide units 59 It is vertically movable for driving the flexible paw to realize;The horizontal connecting plate 60 is fixed on described No. four vertical slide units 59, institute State the bottom that flexible paw is equally spacedly arranged in the horizontal connecting plate 60.The flexible paw can be realized grabs to material Take, and under the driving of No. four horizontal sliding tables 58 and No. four vertical slide units 59, realize the quick motion in planar range.For Improve to material clamp holding effect rate, the flexible paw can notify to clamp two cover plates 56.Due to the cover plate 56 There is small error in physical dimension, the flexible paw can be this small by the flexible compensation of finger springs 68 Error, allow the flexible paw while clamping two cover plates 56.
Next the course of work and operation principle of the flexible paw described:
The left side assisted finger 65 is fixed on the left hand and refers to 63, and the right side assisted finger 66 is fixed on the right hand Refer to 64;The flexible clamping plate 69 is movably connected on the right hand and refers to 64, and the spring base 67 is fixed on the right hand and refers to 64, Finger springs 68 are provided between the flexible clamping plate 69 and spring base 67;The left hand refers to 63 and the structure of right side assisted finger 66 Into one group of clamping combination, the left side assisted finger 65 and flexible clamping plate 69 constitute one group of clamping combination.First, described No. four Finger cylinder 62 is in open configuration, when the cover plate 56 refers between 63 and right side assisted finger 66 positioned at the left hand, meanwhile, Another described cover plate 56 is located between the left side assisted finger 65 and flexible clamping plate 69;Then, four trumpeter refers to gas Cylinder 62 is closed, No. four finger cylinders 62 drive the left hand refer to 63 and the closure of right side assisted finger 66 so as to clamping The cover plate 56, meanwhile, left side assisted finger 65 and flexible clamping plate 69 closure is described so as to clamp the cover plate 56 The chucking power of 69 pairs of the flexible clamping plate cover plate 56 is equal to the elastic force of the finger springs 68.Hereby, it is achieved that utilizing one No. four finger cylinders 62 complete the clamping to two cover plates 56, substantially increase the work effect of the flexible paw Rate.
Next the course of work and operation principle of the chain delivery machanism 36 described:
The chain-drive mechanism 39 is movably connected on the gantry support 38, and the motor 40 drives the Chain conveyer Mechanism 39 is rotated relative to the gantry support 38.
The roller 43 is movably connected on the sliding rail 42, and the dynamic clamp mechanism 45 is consolidated by connecting carrier bar 41 It is connected in the chain-drive mechanism 39, the chain-drive mechanism 39 drives the dynamic clamp mechanism 45 along the institute of sliding rail 42 In direction motion, due to the guiding function of the sliding rail 42, the kinematic accuracy of the dynamic clamp mechanism 45 is improved. The spacing guide pillar 50 of positioning precision can be improved by being additionally provided with the chain delivery machanism 36.
When the dynamic clamp mechanism 45 reaches aiming station, i.e.,:The catch 46 and the sensor 47 match, The stop motion of chain-drive mechanism 39.Pass through the catch 46 and the electromagnetic action of sensor 47, it is possible to achieve the dynamic The coarse positioning of clamp mechanism 45.Next, further improving the positioning precision of the dynamic clamp mechanism 45.
Because the fixture 6 is located at the top of the material platform support seat 37, the spacing guide pillar 50 is described vertical spacing Entered under the driving of cylinder 48 in the spacing pilot hole 51, because the spacing guide pillar 50 and spacing pilot hole 51 are in essence True positioning states, so that the positioning precision of the fixture 6 is improved, while making the fixture 6 be fixed on the material platform support seat On 37, the fixture 6 is set not have any transportable space.The fixture 6 can accurately dock the catching robot 5, so as to realize the precision of pipelining, efficient driving.
Next the course of work and operation principle of the upset reclaimer robot 4 described:
A number horizontal slide plate 10 is movably connected on a support 8, the piston of a horizontal sliding cylinder 9 The end of bar is fixed on a horizontal slide plate 10, and the cylinder block of the tumble cylinder 11 is fixed on a horizontal slide plate 10, a sliding cylinder 9 is used to drive the tumble cylinder 11 to depart from or touch the feeding track 3.
The cylinder block of a number paw cylinder 12 is fixed on the output flange of the tumble cylinder 11, the upper finger 13rd, lower finger 14, which is fixed on a paw cylinder 12, the upper finger 13, is fixed with finger 22, the lower finger 14 It is fixed with lower finger 23.A number paw cylinder 12 is closed, can drive it is described it is upper refer to 22, it is lower refer to 23 and close, so as to realize pair The clamping of the spring 17;A number paw cylinder 12 is unclamped, and upper 22, the lower finger 23 that refers to can be driven to depart from, so that real Now to the release of the spring 17.
Because the material of the spring 17 is softer, in order to prevent upper 22, the lower finger 23 that refers to from closing, to the spring 17 Realize during clamping and cause the crimp to the spring 17.Refer on described and 22 be provided with elastic mechanism, so as to realize pair The protection of the spring 17, prevents the spring 17 from occurring crimp.
Upper refer to is flexibly connected the elastic press 15 on 22, the cover plate 16 is fixed on the upper finger 22, described Lower pressing spring 25 is provided between elastic press 15 and cover plate 16, the elastic press 15 and feeding mouth 26 match.Described one Number paw cylinder 12 is unclamped, and the spring 17 is entered after the feeding mouth 26;Then, a paw cylinder 12 is closed, The elastic press 15 touches the surface of the spring 17, and bullet is pushed described in the behind of the elastic press 15 is provided with Compression occurs for spring 25, the lower pressing spring 25, so that the flexibility of the elastic press 15 is squeezed in the surface of the spring 17, Prevent the spring 17 from occurring crimp.
Next the course of work and operation principle of the blocking mechanism 7 described:
At first, the piston rod of described No. one horizontal sliding cylinder 9 is in stretching state, the feeding mouth 26 and institute State feeding track 3 match, a paw cylinder 12 be in deployed condition, the upper and lower air cylinders 18 piston rod be in contracting The state of returning, the elastic 24 departs from the feeding track 3 and departs from the contact with the spring 17, and the spring 17 can enter Enter into the feeding mouth 26;Then, a paw cylinder 12 drives upper 22, the lower finger 23 that refers to close, and realizes to institute State the flexible clamping of spring 17;Then, the piston rod of the upper and lower air cylinders 18 is in stretching state, makes the elastic probe 21 Elastic 24 enters in the feeding track 3 and touches the surface of the spring 17, it is ensured that only by the trumpeter pawl The spring 17 that cylinder 12 is captured can be moved, and the spring 17 pushed down by the elastic probe 21 can not occur Motion.
By the elastic 24 of the elastic probe 21 is driven by flexible higher spring, the elastic 24 connects Contact after the spring 17, it is possible to prevente effectively from occurring crimp to the spring 17.
Finally it is pointed out that above example is only the Agile Manufacturing System of integrated multi-robot integration of operation of the invention More representational example.Obviously, the Agile Manufacturing System of integrated multi-robot integration of operation of the invention is not limited to above-mentioned implementation Example, can also there is many deformations.The technology of every Agile Manufacturing System according to integrated multi-robot integration of operation of the invention is real Any simple modification, equivalent variations and modification that confrontation above example is made, are considered as belonging to the integrated machinery more of the present invention The protection domain of the Agile Manufacturing System of hand integration of operation.

Claims (10)

1. a kind of Agile Manufacturing System of integrated multi-robot integration of operation, it is characterised in that including:Workbench, for exporting The vibrating disk of spring, the feeding track for conveying the spring, the upset for clamping the spring and flipping an angle Reclaimer robot, for grabbing the catching robot of the spring from the upset reclaimer robot, it is described for limiting The blocking mechanism of the translational speed of spring, the chain delivery machanism for conveying the spring, it is equipped on the chain-linked conveyer Dynamic clamp mechanism on structure, the three claw robot for capturing cover plate, the cover plate vibrating disk for exporting the cover plate, connection Cover plate feeding track to the discharging opening of the cover plate vibrating disk, be connected to the cover plate feeding track treat nip;It is described to shake The delivery outlet of Moving plate is connected to the feeding track, and the delivery outlet of the feeding track is connected to the upset reclaimer robot, The blocking mechanism is located at the equipped at outlet port of the feeding track, and the catching robot is located at the upset reclaimer robot Top, the dynamic clamp mechanism is located at the bottom of the catching robot, and the chain delivery machanism is located at the gripper The side of tool hand;The discharging opening of the cover plate vibrating disk is connected to the cover plate feeding track, and the cover plate feeding track goes out Material mouth treats nip described in being connected to, and the three claw robot is located at the top for treating nip;
The three claw robot includes:No. four supports, No. four horizontal sliding tables, No. four vertical slide unit, horizontal connecting plate, flexible hands Pawl;No. four supports are fixed on the workbench, and No. four horizontal sliding tables are fixed on No. four supports, and described No. four are erected Straight slide unit is fixed on No. four horizontal sliding tables, and the horizontal connecting plate is fixed on described No. four vertical slide units, the flexible hand Pawl is equally spacedly arranged in the bottom of the horizontal connecting plate;The quantity of the flexible paw is three, including:A number flexible hand Pawl, No. two flexible paws, No. three flexible paws;
The flexible paw includes:No. four finger cylinders, left hand refers to, the right hand refers to, left side assisted finger, right side assisted finger, bullet Spring abutment, finger springs, flexible clamping plate, the cylinder block of No. four finger cylinders are fixed on the horizontal connecting plate, the left side Finger and the right hand, which refer to, is connected to No. four finger cylinders, and the left hand refers to the state for referring into parallel folding with the right hand;The left side Side assisted finger is fixed on the left hand and referred to, and the right side assisted finger is fixed on the right hand and referred to;The flexible clamping plate is lived Dynamic to be connected to the right hand and refer to, the spring base is fixed on the right hand and referred to, and is set between the flexible clamping plate and spring base It is equipped with finger springs;The left hand refers to constitutes one group of clamping combination, the left side assisted finger and flexibility with right side assisted finger Grip block constitutes one group of clamping combination.
2. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 1, it is characterised in that described dynamic State clamp mechanism includes:Roller, sliding panel, fixture, the roller are movably connected on the sliding panel, and the fixture is fixed on institute State on sliding panel.
3. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 1, it is characterised in that the chain Formula conveying mechanism includes:Gantry support, chain-drive mechanism, motor, sliding rail, vertical limiting cylinder, vertical limiting plate, Spacing guide pillar, the gantry support is fixed on the workbench, and the chain-drive mechanism is movably connected on the gantry support, institute State motor and be fixed on the gantry support, the output shaft of the motor is fixed on the Chain conveyer machine by shaft coupling Structure;The sliding rail matched with the dynamic clamp mechanism, the roller activity are provided with the gantry support The sliding rail is connected to, the dynamic clamp mechanism is fixed on the chain-drive mechanism by connecting carrier bar;It is described vertical The cylinder block of limiting cylinder is fixed on the gantry support, and the vertical limiting plate is fixed on the sliding block of the vertical limiting cylinder On, it is provided with the vertical limiting plate and is provided with what is matched with the spacing guide pillar on the spacing guide pillar, the fixture Spacing pilot hole, the spacing guide pillar is located at the top of material platform support seat.
4. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 3, it is characterised in that the folder It is provided with tool on catch, the gantry support and is configured with sensor, the catch and the sensor matches.
5. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 1, it is characterised in that described to turn over Turning reclaimer robot includes:Number support, horizontal sliding cylinder, horizontal slide plate, tumble cylinder, trumpeter's pawl gas Cylinder, upper finger, lower finger, elastic press, cover plate, a support are fixed on the workbench, and a level is slided The cylinder block of cylinder is fixed on a support, and a horizontal slide plate is movably connected on a support, described one The end of the piston rod of number horizontal sliding cylinder is fixed on a horizontal slide plate;The cylinder block of the tumble cylinder is fixed on A number horizontal slide plate, the cylinder block of a paw cylinder is fixed on the output flange of the tumble cylinder;It is described Upper finger, lower finger, which are fixed on a paw cylinder, the upper finger, is fixed with finger, is fixed with the lower finger It is lower to refer to, it is provided with the lower finger on the feeding mouth with the spring to matching, the upper finger and is flexibly connected the elastic press, The cover plate be fixed on it is described it is upper refer to, be provided with lower pressing spring between the elastic press and cover plate, the elastic press and Feeding mouth matches.
6. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 1, it is characterised in that the resistance Retaining device includes:No. two supports, upper and lower air cylinders, end connecting plate, upper lower skateboard, elastic probes, No. two supports are fixed on The workbench, the cylinder block of the upper and lower air cylinders is fixed on No. two supports, and the upper lower skateboard is movably connected on described No. two supports, the end of the piston rod of the upper and lower air cylinders is fixed on the upper lower skateboard by the end connecting plate;It is described Elastic probe is fixed on the upper lower skateboard, and the elastic probe and the feeding track match.
7. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 1, it is characterised in that described to grab Manipulator is taken to include:No. three supports, No. two horizontal sliding tables, No. two vertical slide units, Y-axis slide unit, blowing finger cylinder, blowing hands Refer to, No. three supports are fixed on the workbench, No. two horizontal sliding tables are fixed on No. three supports, and described No. two are erected Straight slide unit is fixed on the sliding block of No. two horizontal sliding tables, and the Y-axis slide unit is fixed on the sliding block of described No. two vertical slide units On, the blowing finger cylinder is fixed on the sliding block of the Y-axis slide unit.
8. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 3, it is characterised in that the folder Two material holes for accommodating the spring are provided with tool:Number material hole, a No. two material holes.
9. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 6, it is characterised in that when described When the piston rod of upper and lower air cylinders is in stretching state, the elastic of the elastic probe is entered in the feeding track and contacted To the surface of the spring;When the piston rod of the upper and lower air cylinders is in retracted mode, the elastic departs from the feeding Track and disengaging and the contact of the spring.
10. the Agile Manufacturing System of integrated multi-robot integration of operation according to claim 6, it is characterised in that described The bottom of dynamic clamp mechanism is provided with the material platform support seat for supporting the dynamic clamp mechanism.
CN201710451509.1A 2017-06-08 2017-06-08 The Agile Manufacturing System of integrated multi-robot integration of operation Pending CN107088881A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110370055A (en) * 2019-08-30 2019-10-25 六安市龙兴汽车零部件有限公司 A kind of movable clamping mechanism for robot arm processing
WO2019231402A1 (en) * 2018-05-30 2019-12-05 Brickzle Pte. Ltd. System and method for assembling mosaic artwork

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019231402A1 (en) * 2018-05-30 2019-12-05 Brickzle Pte. Ltd. System and method for assembling mosaic artwork
CN110370055A (en) * 2019-08-30 2019-10-25 六安市龙兴汽车零部件有限公司 A kind of movable clamping mechanism for robot arm processing
CN110370055B (en) * 2019-08-30 2021-03-16 六安市龙兴汽车零部件有限公司 Movable clamping mechanism for machining mechanical arm of robot

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Application publication date: 20170825