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 PDFInfo
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- 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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- robot
- cylinder
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 53
- 230000010354 integration Effects 0.000 title claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 89
- 239000000463 material Substances 0.000 claims abstract description 44
- 230000000903 blocking effect Effects 0.000 claims abstract description 15
- 238000007599 discharging Methods 0.000 claims abstract description 10
- 210000000078 claw Anatomy 0.000 claims description 21
- 239000000523 sample Substances 0.000 claims description 18
- 238000007664 blowing Methods 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 9
- 230000000694 effects Effects 0.000 claims description 4
- 241000531807 Psophiidae Species 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 2
- 230000035611 feeding Effects 0.000 description 66
- 230000033001 locomotion Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000033764 rhythmic process Effects 0.000 description 1
- 241000894007 species Species 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme 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
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710451509.1A CN107088881A (en) | 2017-06-08 | 2017-06-08 | The Agile Manufacturing System of integrated multi-robot integration of operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710451509.1A CN107088881A (en) | 2017-06-08 | 2017-06-08 | The Agile Manufacturing System of integrated multi-robot integration of operation |
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Cited By (2)
| 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 |
-
2017
- 2017-06-08 CN CN201710451509.1A patent/CN107088881A/en active Pending
Non-Patent Citations (1)
| Title |
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| 15051678902: "弹簧扣件自动组装机3D模型", 《开拔网 HTTP://WWW.SANWEIMOXING.COM/TUZHI/201606/11645.HTML#AD-IMAGE》 * |
Cited By (3)
| 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 |