CN107380911A - Self-adapting type automobile bound edge induction system and its control method - Google Patents
Self-adapting type automobile bound edge induction system and its control method Download PDFInfo
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- CN107380911A CN107380911A CN201710710342.6A CN201710710342A CN107380911A CN 107380911 A CN107380911 A CN 107380911A CN 201710710342 A CN201710710342 A CN 201710710342A CN 107380911 A CN107380911 A CN 107380911A
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- construction package
- belt
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- 230000006698 induction Effects 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 14
- 238000010276 construction Methods 0.000 claims abstract description 59
- 230000000694 effects Effects 0.000 claims abstract description 29
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 18
- 238000004519 manufacturing process Methods 0.000 claims description 38
- 238000001514 detection method Methods 0.000 claims description 12
- 238000002360 preparation method Methods 0.000 claims description 9
- 238000006073 displacement reaction Methods 0.000 claims description 8
- 238000013024 troubleshooting Methods 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 230000001681 protective effect Effects 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 3
- 239000000758 substrate Substances 0.000 claims description 3
- 238000012795 verification Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 2
- 208000033748 Device issues Diseases 0.000 claims 1
- 238000006243 chemical reaction Methods 0.000 claims 1
- 239000002184 metal Substances 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000002372 labelling Methods 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009957 hemming Methods 0.000 description 1
- 235000020004 porter Nutrition 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G21/00—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors
- B65G21/10—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof
- B65G21/12—Supporting or protective framework or housings for endless load-carriers or traction elements of belt or chain conveyors movable, or having interchangeable or relatively movable parts; Devices for moving framework or parts thereof to allow adjustment of position of load-carrier or traction element as a whole
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of self-adapting type automobile bound edge induction system and its control method, including first layer construction package, second layer construction package, third layer construction package, RFID identification device and robot controller；Described first layer construction package includes pedestal, X to tumbler and bottom bearing, and described second layer construction package includes supporting plate, two groups of X to guidance system and Z-direction guidance system, described third layer construction package flat belt system and activity electric cylinders；The present invention can be according to different workpiece to be transported（For example, bonnet or case cover）Size, by robot controller and servomotor, adjust the locus of two travelling belts so that workpiece smoothly, not easily shiftedly can be placed on belt.In addition, the present invention can also overturn certain angle, facilitate worker to pick and place workpiece.
Description
Technical field
The present invention relates to automobile manufacturing field, more particularly to a kind of self-adapting type automobile bound edge induction system and its controlling party
Method.
Background technology
After the four-door two-lid inner and outer plates of automobile complete the techniques such as punching press, flanging, usually rely on belt-conveying and enter to swager
Row inner and outer plates press.Currently used bound edge transporting equipment is generally only applicable a kind of workpiece of profile, including the support of belt, belt
Part：Belt support member has fixed height, is responsible for support belt, and this height is very high；Belt then may be with ground
There is fixed angle, this is to coordinate the convex-concave surface of automotive four-door two-lid between face.
Moreover, for different vehicles, current swager can carry out different mould automatic switchovers, so improve
The utilization rate of swager.However, after the transporting equipment of workpiece then can not be changed adaptively, for example the vehicle produced changes,
Transporting equipment must carry out structural adjustment, or even transducer set equipment again.This greatly reduces the utilization rate of transporting equipment,
Occupy the production time.
For another example, four car doors and hood, the shape of luggage lid of same vehicle（That is length and width）Difference is very
Greatly, and front door and car door shape are also different.The belt spacing of conventional bound edge transporting equipment is fixed, it is impossible to is matched
Different shape car door, hood or luggage lid etc..
Such as a kind of conveying device for hemming disclosed in utility model patent CN202147981U, it only can be suitably used for specific dimensions
Workpiece.
The content of the invention
The purpose of the present invention：A kind of self-adapting type automobile bound edge induction system and its control method are provided, belt can be made complete
The size of U.S.'s adaptation workpiece, is easy to the transport, piece uploading and pickup of workpiece.
To achieve these goals, the technical scheme is that：
A kind of self-adapting type automobile bound edge induction system, including first layer construction package, second layer construction package, third layer structure
Component, RFID identification device and robot controller；Described first layer construction package includes pedestal, X to tumbler and bottom
Layer bearing, described second layer construction package include supporting plate, two groups of X to guidance system and Z-direction guidance system, and the described the 3rd
Rotating fields component flat belt system and activity electric cylinders；Described X is separately mounted to described base to tumbler and bottom bearing
On seat, described X is fixedly connected to tumbler by described supporting plate with described second layer construction package；Described two
Group X is arranged in the both sides of described supporting plate to guidance system, and described two groups of X are led to guidance system and described Z-direction
Connected to system and flat belt system；Described Z-direction guidance system is provided with longitudinal platform, and described flat belt system passes through hinge
Bearing is fixed on described longitudinal platform, third layer construction package is fixedly mounted on described second layer construction package,
Described flat belt system by described hinged-support in X to rotation, described activity electric cylinders and described flat belt system and
Longitudinal platform is hinged；Described RFID identification device is arranged on described substrate, described robot controller with it is described
The wired or wireless connection of radio-frequency module of RFID identification device, and described robot controller respectively with described first layer knot
The control circuit connection of the servomotor of structure component, second layer construction package and third layer construction package.
Above-mentioned self-adapting type automobile bound edge induction system, wherein, described X to tumbler include X to rotary shaft, watch
Take motor, multistage speed reducer and base seat support, described servomotor is by described multistage speed reducer and described X to rotation
Axis connection；Described base seat support is fixed on described X in rotary shaft, and passes through weldering with the supporting plate of second layer construction package
Connect or bolt is fixedly connected, described supporting plate rotates with described X to rotary shaft, makes described supporting plate and described pedestal
Between form angle.
Above-mentioned self-adapting type automobile bound edge induction system, wherein, X described in every group to guidance system include track base,
The guide rail that is erected on described track base and two pieces are along X to the X moved to sliding block；The cunning of X described in two groups to guidance system
Levelling bench is respectively fixedly connected with above block, positioned at one side of described supporting plate, the mounting seat as Z-direction guidance system；
Every side of described supporting plate is respectively provided with an X and promotes X to be transported to sliding block transverse reciprocating to the leading screw of electric cylinders to electric cylinders, described X
It is dynamic；Described X is provided with X to the front end of sliding block and carries distance scale and annotation space to indicator, described support plate surface.
Above-mentioned self-adapting type automobile bound edge induction system, wherein, described Z-direction guidance system is arranged on described level
On platform, described Z-direction guidance system includes track base, guide rail and the Z-direction sliding block moved along Z-direction；Described supporting plate it is every
While being respectively equipped with the Z-direction guidance system described in two groups, it is oriented to the Z-direction that every group of X is correspondingly provided with to guidance system described in one group
System；Described longitudinal platform is fixedly connected on described Z-direction sliding block, and described Z-direction electric cylinders are fixed on described level and put down
Platform, the leading screw of described Z-direction electric cylinders are connected with described longitudinal platform；The side of described Z-direction sliding block is provided with Z-direction instruction
Pin, the longitudinal component of the track base of described Z-direction guidance system have then divided distance scale and annotation space.
Above-mentioned self-adapting type automobile bound edge induction system, wherein, described flat belt system includes flat belt, connection institute
Belt motor, belt support frame and the Y-direction rotary shaft for connecting described belt support frame for the flat belt stated, described flexible lamp
The push rod and tail end cover plate of cylinder are hinged with described belt support frame and longitudinal platform respectively；Described Y-direction rotary shaft, which is provided with, to be referred to
Show pin, described belt support frame is provided with arc indicating piece, and described arc indicating piece indicates ± 15 ° of angle index and note
Remember space.
Above-mentioned self-adapting type automobile bound edge induction system, wherein, the setting height(from bottom) of described RFID identification device is not high
In the height of described first layer construction package；Do not occur to be equiped with protection respectively to the both ends of rotation around X on described pedestal
Frame, described RFID identification device are arranged on described protective frame.
Above-mentioned self-adapting type automobile bound edge induction system, wherein, described robot controller has communication interface, I/
O Interface and man-machine interaction interface HMI, described robot controller are connected by the belt motor of frequency converter and described motor
Connect, described robot controller is by servo-drive and described X to electric cylinders, activity electric cylinders, Z-direction electric cylinders and servomotor phase
Even, belt motor, X receive the signal of robot controller and to machine to electric cylinders, activity electric cylinders, Z-direction electric cylinders and servomotor
People's controller feedback signal, workpiece sensor feed back weight signal to robot controller；Described I/O interfaces sense with workpiece
Device, travel switch, RFID identification device, both hands button and alarm lamp connection, described communication interface are connected with host computer.
A kind of control method of self-adapting type automobile bound edge induction system, this method comprise at least two stages：Production is accurate
Standby stage and duplication of production stage；
Wherein, the described Operational preparation stage comprises the following steps：
Step 1：Host computer sends the signal for including production information to robot controller；Or it is manually entered production information.
Step 2：If the strips truck for posting RFID chip reaches specified location, RFID identification device scans RFID chip,
Scanning signal is fed back into robot controller, if robot controller receives scanning signal, verification scanning signal with it is upper
Whether the production information of position machine/personnel's input is consistent；If inconsistent, step 3 is performed, if unanimously, performing step 4.
Step 3：The mode reproduced according to production information by robot teaching determines the X of second layer construction package to electricity
The stroke that the activity electric cylinders of cylinder, Z-direction electric cylinders and third layer construction package need to be walked, i.e.
X carries out lateral displacement to electric cylinders；
Z-direction electric cylinders carry out length travel；
Activity electric cylinders make flat belt angle of inclination；Wherein, if robot controller is not received by scanning signal, continue to sweep
Retouch, then check；
Robot controller sends to X to electric cylinders, Z-direction electric cylinders, activity electric cylinders and sends instruction, makes X to electric cylinders, Z-direction electric cylinders, activity
Electric cylinders go to correct stroke, and flat belt is moved to correct station so that flat belt matches workpiece；Wherein, if flat belt does not have
Normal station is moved to, then is alarmed, then carries out troubleshooting.
Step 4：Robot controller represents that the Operational preparation stage finishes, and waits production ordering.
Wherein, the duplication of production stage comprises the following steps：
Step 5：Host computer sends production ordering and inputs production ordering to robot controller, or personnel.
Step 6：According to production information, robot controller determines the upset classification belonging to the workpiece；If overturning I class,
Do not overturn then, robot controller does not issue a command to servomotor, and display can be with piece uploading；If II class is overturn, then robot
Controller issues instructions to servomotor, and first layer construction package overturns fixed angle, wherein, workpiece corresponding to servomotor passes
Sensor feeds back stroke signal to robot controller, and robot controller is shown after signal transacting by alarm lamp
The upset situation of first layer construction package；If not overturning to fixed angle, alarm, then carry out troubleshooting.
Step 7：Worker's piece uploading, after the completion of piece uploading, start both hands button and send part.
In described step 7, starting the step of both hands button send part is included as follows step by step：
Step 7.1：After starting both hands button, if having been overturn before first layer construction package, horizontality is reverted to；If it
Preceding keep level, then continue.
Step 7.2：Whether workpiece sensor detection workpiece is placed in correct piece uploading position, and detection signal is fed back into machine
Device people's controller；If robot controller receives the detection signal of workpiece sensor, then it represents that piece uploading finishes；If robot control
Device processed does not receive the detection signal of workpiece sensor, then alarms, and then carries out troubleshooting.
Step 7.3：Robot controller sends signal to the frequency converter of belt motor, starts belt motor and starts to send part.
The present invention can be according to different workpiece to be transported（For example, bonnet or case cover）Size, by robot
Controller and servomotor, adjust the locus of two travelling belts so that workpiece can smoothly, not easily shiftedly be placed
On belt.In addition, the present invention can also overturn certain angle, facilitate worker to pick and place workpiece.
Brief description of the drawings
Fig. 1 is the front view of self-adapting type automobile bound edge induction system of the present invention.
Fig. 2 is the side view of self-adapting type automobile bound edge induction system of the present invention.
Fig. 3 is the schematic diagram of self-adapting type automobile bound edge induction system of the present invention.
Fig. 4 is the flow chart in the Operational preparation stage of self-adapting type automobile bound edge induction system of the present invention.
Fig. 5 is the flow chart in the duplication of production stage of self-adapting type automobile bound edge induction system of the present invention.
Embodiment
Embodiments of the invention are further illustrated below in conjunction with accompanying drawing.
Refer to shown in accompanying drawing 1 to accompanying drawing 3, a kind of self-adapting type automobile bound edge induction system, including the first Rotating fields group
Part, second layer construction package, third layer construction package, RFID identification device 41 and robot controller 42；Described first layer
Construction package includes pedestal 10, X includes supporting plate 20, two to tumbler and bottom bearing, described second layer construction package
X is to guidance system and Z-direction guidance system for group, described third layer construction package flat belt system and activity electric cylinders 34；Described X
It is separately mounted to tumbler and bottom bearing on described pedestal 10, described X passes through described support to tumbler
Plate 20 is fixedly connected with described second layer construction package；Two groups of described X are arranged in described support to guidance system
The both sides of plate 20, described two groups of X are connected to guidance system with described Z-direction guidance system and flat belt system, for controlling
The transverse rotation of flat belt system, that is, control flat belt 30 angle of inclination；It is flat that described Z-direction guidance system is provided with longitudinal direction
Platform 215, described flat belt system are fixed on by hinged-support 32 on described longitudinal platform 215, make third layer construction package
It is fixedly mounted on described second layer construction package, realizes the Level Change of third layer structure, described flat belt system
Cut with scissors by described hinged-support 32 in X to rotation, described activity electric cylinders 34 with described flat belt system and longitudinal platform 215
Connect, so as to define the shift position of activity electric cylinders 34；Described RFID identification device 41 is arranged on described substrate 10, is used
In scanning be sent into workpiece type information and be sent to robot controller 42, described robot controller 42 with it is described
The wired or wireless connection of radio-frequency module of RFID identification device 41, and described robot controller 42 is respectively with described first
The control circuit connection of the servomotor of Rotating fields component, second layer construction package and third layer construction package, when acquisition workpiece
After accurate model, robot controller 42 can feed back to horizontal and/or longitudinal stroke signal X to electric cylinders and Z-direction electric cylinders,
So as to adjust belt in horizontal and longitudinal direction displacement.
Described X includes X to rotary shaft 14,400W servomotors 12 to tumbler（Power bracket can be selected in 200W ~
1KW）, multistage speed reducer 13 and base seat support 15, described servomotor 12 pass through described multistage speed reducer 13 and described X
Connected to rotary shaft 14；After the output of servomotor 12 is slowed down by multistage speed reducer 13, add X and turn to rotary shaft 14
Square, so as to reduce X to the rotating speed of rotary shaft 14, X can be relatively accurately controlled to the rotational angle of rotary shaft 14.Described base
Seat support 15 is fixed on described X in rotary shaft 14, and passes through welding or bolt with the supporting plate 20 of second layer construction package
It is fixedly connected, described supporting plate 20 rotates with described X to rotary shaft 14, makes described supporting plate 20 and described pedestal 10
Between shape have a certain degree.The slide unit and flat belt system that servomotor 12 is oriented to Z-direction respectively by articulated joints
System connection, the push rod of servomotor 12 can withstand the rotation of flat belt rotary shaft when doing longitudinal direction lifting.
Described bottom bearing includes metal (upper 16 and concentric shafts 17, and the lower bearing of described metal (upper 16 is fixed on
On described pedestal 10, the upper bearing (metal) of described metal (upper 16 is connected with described supporting plate 20, described metal (upper 16
By determining with the described axle fixed of concentric shafts 17, thus be avoided that supporting plate 20 and in supporting plate 20 all parts weight
All fall on X is to the X of tumbler to rotary shaft 14.For the consideration of structural stability, the concentric shafts of described bottom bearing
17 with described X to rotary shaft 14 on the same axis.Bottom bearing is used to support supporting plate 20 and positioned at supporting plate 20
All parts weight, avoid all weight from all falling on base seat support 15.
X described in every group to guidance system include track base 202, the guide rail 201 being erected on described track base 202 and
Two pieces along X to the X moved to sliding block 203；The top of X to the sliding block 203 of guidance system described in two groups is respectively fixedly connected with water
Average 211, positioned at one side of described supporting plate 20, the mounting seat as Z-direction guidance system；Described supporting plate 20 it is every
X is promoted to ensure to the traverse motion of sliding block 203 to the leading screw of electric cylinders 204 to electric cylinders 204, described X while being respectively provided with an X
Overall structure balances, and so as to change the horizontal spacing of two flat belts 30, goes for the four-door two-lid workpiece of different automobile types.
In addition, the front end of described X to sliding block 203 is provided with X to indicator 205, for indicating flat belt in stroke upward X, institute
The surface of supporting plate 20 stated then carries distance scale and annotation space, and annotation space can place Product labelling, can represent to work as
The position that preceding product is moved to, does quadratic search after convenient, distance scale is used to indicate lateral displacement.
Described Z-direction guidance system is arranged on described levelling bench 211, and the structure of Z-direction guidance system and X are to guiding
System is similar, and described Z-direction guidance system includes track base 212, guide rail 213 and the Z-direction sliding block 216 moved along Z-direction；Equally
, every side of described supporting plate 20 is respectively equipped with the Z-direction guidance system described in two groups, every group of X is pacified to guidance system is corresponding
Equipped with the Z-direction guidance system described in one group, ensure integrally-built balance；Described longitudinal platform 215 is fixedly connected on described
Z-direction sliding block 216 on, described Z-direction electric cylinders 214 are fixed on described levelling bench 211, the leading screw of described Z-direction electric cylinders 214
It is connected with described longitudinal platform 215, longitudinal platform 215 can be propped up and do lifting action.In addition, described Z-direction sliding block 216
Side is provided with Z-direction indicator 217, for indicating stroke of the flat belt 30 in Z-direction, the guide rail of described Z-direction guidance system
The longitudinal component of seat 212 has then divided distance scale and annotation space, and annotation space can place Product labelling, can represent to work as
The position that preceding product is moved to, does quadratic search after convenient, distance scale is used to indicate length travel.
Belt motor of the described flat belt system except including the described flat belt 30 of common flat belt 30 and connection
Outside 38, in addition to belt support frame 31 and the Y-direction rotary shaft 33 for connecting described belt support frame 31, described activity electric cylinders
34 push rod and tail end cover plate is be hinged with described belt support frame 31 and longitudinal platform 215 respectively, so as to define flexible lamp
The shift position of cylinder 34, when the leading screw of activity electric cylinders 34 promotes belt support frame 31 to have Z-direction displacement, Y-direction rotary shaft 33 can
So that belt support frame 31 is vertically moved into the rotation be converted to around Y-direction, it is achieved thereby that the angular adjustment of flat belt 30.Separately
Outside, described Y-direction rotary shaft 33 is provided with indicator 36, for indicating the rotational angle of flat belt 30, meanwhile, described belt branch
Support 31 is provided with arc indicating piece 37, and described arc indicating piece 37 indicates ± 15 ° of angle index and annotation space, annotation
Space can place Product labelling, can represent the position that current production is moved to, quadratic search, angle index to be done after convenient
To indicate the rotational angle of flat belt 30.
Robot controller 42 has communication interface, I/O interfaces and a man-machine interaction interface HMI, but also with each motor
Frequency converter, servo-drive be connected, can receive and transmission of control signals.Then, belt motor 38, X to electric cylinders 204, activity
Electric cylinders 34, Z-direction electric cylinders 214 can receive the signal of robot controller 42 and to the feedback signals of robot controller 42.So
Afterwards, workpiece sensor feeds back weight signal to robot controller 42, to judge whether there is workpiece on flat belt 30.Travel switch
Then it is used for controlling each motor or electric cylinders to be moved to correct station.RFID scanner can transmit scanning signal and be controlled to robot
Device 42, the control signal of the controller transmission of robot 42 can also be received, to judge whether scanning signal is properly received.Both hands are pressed
Button is for personnel come what is operated, and startup belt pulley starts to transport after personnel go to safety zone.Described I/O interfaces pass with workpiece
Sensor, travel switch, RFID identification device, both hands button and alarm lamp connection, described communication interface connect with host computer
Connect.
Personnel can input production information by HMI, and HMI can also monitor the operating condition of whole transportation system with
For personal observations.
In fact, because vehicle is different, the weight difference of four-door two-lid is bigger, therefore third layer construction package should not mistake
Height, when otherwise first layer construction package is overturn, the related third layer construction package of second layer construction package can collapse.The present invention
It is preferably 1T that workable electric cylinders, which are contributed, and oneself height is about 20 ~ 25cm.
Described pedestal 10 is that size is that 2m*1.2m is plane steel plate structure, it is preferred that described X is to tumbler position
In the center of described pedestal 10.
Described supporting plate 20 is the plane steel plate structure that size is 2m*1m, is identical material with pedestal 10, due to thickness
It is all smaller relative to length and width, it is therefore desirable to which that material will have higher intensity.
The setting height(from bottom) of described RFID identification device 41 is not higher than the height of described first layer construction package.Described
Do not occur to be equiped with protective frame 40 respectively to the both ends of rotation around X on pedestal 10, to protect induction system not allow people close, protect yet
Demonstrate,prove personal security.Described RFID identification device 41 may be mounted on described protective frame 40.
Preferably, described flat belt 30 can add baffle plate for picking and placeing the side of workpiece（Not shown in figure）, work as work
During people's piece uploading/lower part, flat belt 30 is overturn to certain angle with supporting plate 20（Such as 60 °）, baffle plate, which plays, prevents workpiece from flat
The effect dropped on belt 30, and when baffle plate can limit piece uploading, workpiece ground putting position.
Preferably, because supporting plate 20 can be overturn around X to carrying out 360 °, and the flip angle scope being actually needed may
Only ± 75 °, in order to limit its flip angle, limited location 18 is installed, described spacing 18 positioned at described on described pedestal 10
Pedestal 10 upper generation around X to the both ends of rotation.
Described robot controller 42 is connected with HMI（Man-machine interface）And control software；Described servomotor 12, X
Driving to electric cylinders 204, Z-direction electric cylinders 214 and activity electric cylinders 34 is connected respectively to controller 42.In addition, described robot control
Device 42 processed is connected with the frequency converter of belt motor 38.
Refer to shown in accompanying drawing 4 and accompanying drawing 5, a kind of control method of self-adapting type automobile bound edge induction system, this method
Including at least two stages：Operational preparation stage and duplication of production stage；
Wherein, the described Operational preparation stage comprises the following steps：
Step 1：Host computer sends the signal for including production information to robot controller 42；Or it is manually entered production information；
（Production information includes the physical dimension of car door/hood/luggage lid of the vehicle, includes the upset classification of the workpiece, point
For two classes, I class is overturn：First layer does not have to upset；Overturn II class：First layer overturns θ angles, and θ is set by personnel, expression the
The angle that the servomotor of one Rotating fields component need to be overturn.）.
Step 2：（Push by people）The strips truck for posting RFID chip reaches specified location, RFID scanner scanning RFID
Chip, scanning signal is fed back into robot controller 42.
If robot controller 42 receives scanning signal, verification scanning signal and the production of host computer/personnel's input
Whether information is consistent；If inconsistent, step 3 is performed, if unanimously, performing step 4.
Step 3：The mode reproduced according to production information by robot teaching determines the X of second layer construction package to electricity
The stroke that the activity electric cylinders of cylinder, Z-direction electric cylinders and third layer construction package need to be walked, i.e.
X carries out lateral displacement to electric cylinders 204；
Z-direction electric cylinders 214 carry out length travel；
Activity electric cylinders 34 make the angle of inclination of flat belt 30；Wherein, if robot controller 42 is not received by scanning signal, after
Continuous scanning, then check.
Robot controller 42 sends to X to electric cylinders 204, Z-direction electric cylinders 214, activity electric cylinders 34 and sends instruction, makes X to electricity
Cylinder 204, Z-direction electric cylinders 214, activity electric cylinders 34 go to correct stroke, and flat belt 30 is moved to correct station so that flat belt 30
Match workpiece.Subsequently into step 4.Wherein, if flat belt 30 is not moved to normal station, alarm, then carry out failure
Processing.
In the present invention, " angle that the servomotor 12 of first layer construction package need to be overturn " here is according to actual existing
The number of field porter（Generally two）, set about to carry position, workpiece center of gravity, the appraisal such as workpiece weight, also store
In the production information of RFID identification device 41.The workpiece of different automobile types in feeding, it is necessary to servomotor 12 overturn it is different
Fixed angle.That is, when the workpiece of bulk transport a certain kind vehicle, can regard the flip angle of servomotor 12 as is
Fixed.Typically, the angle is no more than 90 degree.
Step 4：Robot controller 42 represents that the Operational preparation stage finishes, and waits production ordering.
Wherein, the duplication of production stage comprises the following steps：
Step 5：Host computer sends production ordering to robot controller 42；Or personnel input production ordering.
Step 6：According to production information, robot controller 42 determines the upset classification belonging to the workpiece.If upset I
Class, then do not overturn, robot controller 42 does not issue a command to servomotor 12, and display can be with piece uploading；If II class is overturn, then
Robot controller 42 issues instructions to servomotor 12, and first layer construction package overturns fixed angle, wherein, servomotor 12
Corresponding workpiece sensor feeds back stroke signal to robot controller 42, and robot controller 42 leads to after signal transacting
Cross the upset situation that alarm lamp shows first layer construction package：Upset situation includes：" upset finishes ", " overturn, people
Member must not be close " and " upset failure, malfunction elimination should be carried out " etc..For example, using tri coloured lantern as alarm lamp, if display
Green, represent that upset finishes；If display is red, expression is overturn, and personnel must not be close；If showing yellow, upset event is represented
Barrier, should carry out malfunction elimination.If not overturning to fixed angle, alarm, then carry out troubleshooting.
Step 7：Worker's piece uploading, after the completion of piece uploading, start both hands button and send part.
In described step 7, starting the step of both hands button send part can also be included as follows step by step：
Step 7.1：After starting both hands button, if having been overturn before first layer construction package, horizontality is reverted to；If it
Preceding keep level, then continue.
Step 7.2：Whether workpiece sensor detection workpiece is placed in correct piece uploading position, and detection signal is fed back into machine
Device people controller 42.
If robot controller 42 receives the detection signal of workpiece sensor, then it represents that piece uploading finishes；If robot control
Device 42 processed does not receive the detection signal of workpiece sensor, then alarms, and then carries out troubleshooting.
Step 7.3：Robot controller 42 sends signal to the frequency converter of belt motor 38, starts belt motor 38 and starts
Send part.
In the present invention, cylinder can also substitute electric cylinders and be repeated no more as driving source, the present invention.
In the present invention, for X to the transverse direction referred to along paper direction, Y-direction refers to the forward direction along paper direction, and Z-direction refers to edge
The vertical direction in paper direction.
The present invention has been added around X to rotary shaft 14 and servomotor 12, and X is controlled to 14 turns of rotary shaft by servomotor 12
It is dynamic, make belt support frame 31 is overall may be reversed, facilitate worker to take, put workpiece（Typically 1m*60 ~ 80cm）.Rotational angle is reasonable
And ensure that belt support frame 31 will not tilt and collapse.
Two sets of symmetrical X are provided with the belt support frame 31 of the present invention to guidance system, every belt corresponding one
Cover X to guidance system, often cover X and controlled to guidance system by an electric cylinders, this method can realize belt X to displacement,
So as to adjust the relative distance of two belts.
The present invention is additionally provided with two sets of Z-direction guidance systems, often covers Z-direction guidance system and is controlled also by electric cylinders, every belt pair
Answer a set of Z-direction guidance system, can so realize displacement of the belt in Z-direction, so as to reduce/raise belt.Can during reduction
To coordinate rotary shaft above, height when worker picks and places workpiece is more reduced；Next frock can be matched during rise
Highly, the delivery head of belt is adjusted.
The present invention can also be directed to the angle of inclination of workpiece adjust automatically belt of different shapes.Meet the need of different automobile types
Ask.
The present invention treats transmitting workpiece model using RFID identification device 41 and carries out automatic identification, according to the model recognized
Information automatically controls stroke and belt angle of inclination of the above-mentioned X to electric cylinders 204 and Z-direction electric cylinders 214, reaches adaptive
Purpose.
In summary, the present invention can be according to different workpiece to be transported（For example, bonnet or case cover）Size, borrow
Help robot controller and servomotor, adjust the locus of two travelling belts so that workpiece can smoothly, be not easy to move
It is placed on dynamicly on belt.In addition, the present invention can also overturn certain angle, facilitate worker to pick and place workpiece.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the scope of the invention, every utilization
The equivalent structure transformation that present specification is made, or directly or indirectly with the technology neck for being attached to other Related products
Domain, it is included within the scope of the present invention.
Claims (9)
- A kind of 1. self-adapting type automobile bound edge induction system, it is characterised in that：Including first layer construction package, the second Rotating fields group Part, third layer construction package, RFID identification device and robot controller；Described first layer construction package include pedestal, X to Tumbler and bottom bearing, described second layer construction package includes supporting plate, two groups of X are oriented to system to guidance system and Z-direction System, described third layer construction package flat belt system and activity electric cylinders；Described X pacifies respectively to tumbler and bottom bearing On described pedestal, described X is fixed to tumbler by described supporting plate and described second layer construction package Connection；Two groups of described X are arranged in the both sides of described supporting plate to guidance system, and described two groups of X are to guidance system It is connected with described Z-direction guidance system and flat belt system；Described Z-direction guidance system is provided with longitudinal platform, and described is flat Belt system is fixed on by hinged-support on described longitudinal platform, third layer construction package is fixedly mounted on described second On Rotating fields component, described flat belt system by described hinged-support in X to rotation, described activity electric cylinders with it is described Flat belt system and longitudinal platform are hinged；Described RFID identification device is arranged on described substrate, described robot control The wired or wireless connection of radio-frequency module of device processed and described RFID identification device, and described robot controller respectively with institute The control circuit connection of the servomotor of first layer construction package, second layer construction package and the third layer construction package stated.
- 2. self-adapting type automobile bound edge induction system according to claim 1, it is characterised in that：Described X fills to rotation Put and subtracted including X to rotary shaft, servomotor, multistage speed reducer and base seat support, described servomotor by described multistage Fast machine and described X are to rotating axis connection；Described base seat support is fixed on described X in rotary shaft, and with second layer knot The supporting plate of structure component is fixedly connected by welding or bolt, and described supporting plate rotates with described X to rotary shaft, is made described Supporting plate and described pedestal between form angle.
- 3. self-adapting type automobile bound edge induction system according to claim 1, it is characterised in that：Guide X described in every group Include track base, the guide rail being erected on described track base and two pieces along X to the X moved to sliding block to system；Described in two groups X to levelling bench is respectively fixedly connected with above the sliding block of guidance system, positioned at one side of described supporting plate, as Z-direction The mounting seat of guidance system；Every side of described supporting plate is respectively provided with an X and promotes X to the leading screw of electric cylinders to electric cylinders, described X To sliding block traverse motion；Described X is provided with X to indicator to the front end of sliding block, described support plate surface carry away from From scale and annotation space.
- 4. self-adapting type automobile bound edge induction system according to claim 1, it is characterised in that：Described Z-direction is oriented to system System is arranged on described levelling bench, and described Z-direction guidance system includes track base, guide rail and the Z-direction cunning moved along Z-direction Block；Every side of described supporting plate is respectively equipped with the Z-direction guidance system described in two groups, every group of X is installed to guidance system is corresponding There is the Z-direction guidance system described in one group；Described longitudinal platform is fixedly connected on described Z-direction sliding block, described Z-direction electric cylinders Described levelling bench is fixed on, the leading screw of described Z-direction electric cylinders is connected with described longitudinal platform；Described Z-direction sliding block Side is provided with Z-direction indicator, and the longitudinal component of the track base of described Z-direction guidance system has then divided distance scale and annotation Space.
- 5. self-adapting type automobile bound edge induction system according to claim 1, it is characterised in that：Described flat belt system The Y-direction of the described belt support frame of belt motor, belt support frame and connection including the described flat belt of flat belt, connection turns Moving axis, the push rod and tail end cover plate of described activity electric cylinders are hinged with described belt support frame and longitudinal platform respectively；It is described Y-direction rotary shaft be provided with indicator, described belt support frame is provided with arc indicating piece, described arc indicating piece indicates ± 15 ° of angle index and annotation space.
- 6. self-adapting type automobile bound edge induction system according to claim 1, it is characterised in that：Described RFID identification dress The setting height(from bottom) put is not higher than the height of described first layer construction package；Two around X to rotation do not occur on described pedestal End is equiped with protective frame respectively, and described RFID identification device is arranged on described protective frame.
- 7. the self-adapting type automobile bound edge induction system according to claim 1-6 any one, it is characterised in that：Described There is robot controller communication interface, I/O interfaces and man-machine interaction interface HMI, described robot controller to pass through frequency conversion Device is connected with the belt motor of described motor, and described robot controller is by servo-drive and described X to electric cylinders, work Dynamic electric cylinders, Z-direction electric cylinders and servomotor are connected, and belt motor, X receive to electric cylinders, activity electric cylinders, Z-direction electric cylinders and servomotor The signal of robot controller simultaneously gives robot to control to robot controller feedback signal, workpiece sensor feedback weight signal Device；Described I/O interfaces are connected with workpiece sensor, travel switch, RFID identification device, both hands button and alarm lamp, Described communication interface is connected with host computer.
- A kind of 8. control method of the self-adapting type automobile bound edge induction system described in claim 7, it is characterised in that：This method Including at least two stages：Operational preparation stage and duplication of production stage；Wherein, the described Operational preparation stage comprises the following steps：Step 1：Host computer sends the signal for including production information to robot controller；Or it is manually entered production information；Step 2：If the strips truck for posting RFID chip reaches specified location, RFID identification device scanning RFID chip, will sweep Retouch signal and feed back to robot controller, if robot controller receives scanning signal, verification scanning signal and host computer/ Whether the production information of personnel's input is consistent；If inconsistent, step 3 is performed, if unanimously, performing step 4；Step 3：The mode reproduced according to production information by robot teaching determines the X of second layer construction package to electric cylinders, Z-direction The stroke that electric cylinders and the activity electric cylinders of third layer construction package need to be walked, i.e.X carries out lateral displacement to electric cylinders；Z-direction electric cylinders carry out length travel；Activity electric cylinders make flat belt angle of inclination；Wherein, if robot controller is not received by scanning signal, continue to sweep Retouch, then check；Robot controller sends to X to electric cylinders, Z-direction electric cylinders, activity electric cylinders and sends instruction, makes X to electric cylinders, Z-direction electric cylinders, activity Electric cylinders go to correct stroke, and flat belt is moved to correct station so that flat belt matches workpiece；Wherein, if flat belt does not have Normal station is moved to, then is alarmed, then carries out troubleshooting；Step 4：Robot controller represents that the Operational preparation stage finishes, and waits production ordering；Wherein, the duplication of production stage comprises the following steps：Step 5：Host computer sends production ordering and inputs production ordering to robot controller, or personnel；Step 6：According to production information, robot controller determines the upset classification belonging to the workpiece；If I class is overturn, then not Upset, robot controller does not issue a command to servomotor, and display can be with piece uploading；If II class is overturn, then robot controls Device issues instructions to servomotor, and first layer construction package overturns fixed angle, wherein, workpiece sensor corresponding to servomotor Stroke signal is fed back to robot controller, and robot controller shows first after signal transacting, by alarm lamp The upset situation of Rotating fields component；If not overturning to fixed angle, alarm, then carry out troubleshooting；Step 7：Worker's piece uploading, after the completion of piece uploading, start both hands button and send part.
- 9. the control method of self-adapting type automobile bound edge induction system according to claim 8, it is characterised in that：Described Step 7 in, start both hands button the step of sending part include it is following step by step：Step 7.1：After starting both hands button, if having been overturn before first layer construction package, horizontality is reverted to；If it Preceding keep level, then continue；Step 7.2：Whether workpiece sensor detection workpiece is placed in correct piece uploading position, and detection signal is fed back into robot Controller；If robot controller receives the detection signal of workpiece sensor, then it represents that piece uploading finishes；If robot controller The detection signal of workpiece sensor is not received, then is alarmed, then carries out troubleshooting；Step 7.3：Robot controller sends signal to the frequency converter of belt motor, starts belt motor and starts to send part.
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Address after: 201802, Zone C, 1st Floor, Building 1, No. 125 Huiping Road, Nanxiang Town, Jiading District, Shanghai Patentee after: Shanghai Xiaoao Automobile Co.,Ltd. Patentee after: SHANGHAI SHOW-KYOEL AUTOMOTIVE EQUIPMENT Co.,Ltd. Patentee after: XIAOAO INDUSTRIAL INTELLIGENCE EQUIPMENT (SUZHOU) CO.,LTD. Address before: 201802, Zone C, 1st Floor, Building 1, No. 125 Huiping Road, Nanxiang Town, Jiading District, Shanghai Patentee before: SHANGHAI XIAOAO AUTOMOBILE SALES CO.,LTD. Patentee before: SHANGHAI SHOW-KYOEL AUTOMOTIVE EQUIPMENT Co.,Ltd. Patentee before: XIAOAO INDUSTRIAL INTELLIGENCE EQUIPMENT (SUZHOU) CO.,LTD. |
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Address after: 201802, Zone C, 1st Floor, Building 1, No. 125 Huiping Road, Nanxiang Town, Jiading District, Shanghai Patentee after: Shanghai XIAO AUTOMOBILE Co.,Ltd. Country or region after: China Patentee after: Xiaoao (Shanghai) Engineering Technology Co.,Ltd. Patentee after: XIAOAO INDUSTRIAL INTELLIGENCE EQUIPMENT (SUZHOU) CO.,LTD. Address before: 201802, Zone C, 1st Floor, Building 1, No. 125 Huiping Road, Nanxiang Town, Jiading District, Shanghai Patentee before: Shanghai Xiaoao Automobile Co.,Ltd. Country or region before: China Patentee before: SHANGHAI SHOW-KYOEL AUTOMOTIVE EQUIPMENT Co.,Ltd. Patentee before: XIAOAO INDUSTRIAL INTELLIGENCE EQUIPMENT (SUZHOU) CO.,LTD. |
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