CN107380911B - Self-adaptive automobile edge-covering conveying system and control method thereof - Google Patents
Self-adaptive automobile edge-covering conveying system and control method thereof Download PDFInfo
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- CN107380911B CN107380911B CN201710710342.6A CN201710710342A CN107380911B CN 107380911 B CN107380911 B CN 107380911B CN 201710710342 A CN201710710342 A CN 201710710342A CN 107380911 B CN107380911 B CN 107380911B
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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
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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
- 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
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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
- 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
Abstract
The utility model discloses a self-adaptive automobile hemming conveying system and a control method thereof, wherein the self-adaptive automobile hemming conveying system comprises a first layer structure component, a second layer structure component, a third layer structure component, an RFID (radio frequency identification device) identification device and a robot controller; the first layer structure component comprises a base, an X-direction rotating device and a bottom support, the second layer structure component comprises a supporting plate, two groups of X-direction guiding systems and a Z-direction guiding system, and the third layer structure component comprises a flat belt system and a movable electric cylinder; according to the utility model, the spatial positions of the two conveying belts can be adjusted by means of the robot controller and the servo motor according to the sizes of different workpieces to be conveyed (such as engine covers or trunk covers), so that the workpieces can be stably and difficultly placed on the belts. In addition, the utility model can turn over a certain angle, thereby facilitating the workers to take and put the work piece.
Description
Technical Field
The utility model relates to the field of automobile manufacturing, in particular to a self-adaptive automobile hemming conveying system and a control method thereof.
Background
After the processes of stamping, flanging and the like are finished on the inner and outer plates of the four-door two-cover of the automobile, the inner and outer plates are pressed by conveying the automobile to a pressing machine through a belt. The conventional edge wrapping conveying equipment is generally applicable to workpieces with one shape, and comprises a belt and a belt supporting part: the belt supporting part has a fixed height and is responsible for supporting the belt, and the height is very high; the belt may then have a fixed angle to the ground in order to fit the concave-convex surface of the four-door two-cover of the car.
Moreover, aiming at different vehicle types, the current material pressing machine can automatically switch different dies, so that the utilization rate of the material pressing machine is improved. However, the transport device for the workpiece cannot be adaptively replaced, for example, after a change in the model of the vehicle being produced, the transport device must be structurally adjusted or even replaced with a new device. This greatly reduces the utilization of the transport equipment and also takes up production time.
For another example, four doors and engine covers of the same vehicle type, and trunk covers have widely different shapes (i.e., length and width), and front doors and door shapes. The belt spacing of conventional hemming conveying devices is fixed and cannot be matched with different shapes of vehicle doors, engine covers, luggage covers and the like.
An edge-covering conveyor, such as disclosed in patent CN202147981U, is only suitable for workpieces of a specific size.
Disclosure of Invention
The purpose of the utility model is that: the self-adaptive automobile edging conveying system and the control method thereof can enable the belt to be perfectly matched with the size of a workpiece, and are convenient for conveying, loading and picking the workpiece.
In order to achieve the above object, the technical scheme of the present utility model is as follows:
the self-adaptive automobile hemming conveying system comprises a first layer of structural component, a second layer of structural component, a third layer of structural component, an RFID (radio frequency identification device) and a robot controller; the first layer structure component comprises a base, an X-direction rotating device and a bottom support, the second layer structure component comprises a supporting plate, two groups of X-direction guiding systems and a Z-direction guiding system, and the third layer structure component comprises a flat belt system and a movable electric cylinder; the X-direction rotating device and the bottom layer support are respectively arranged on the base, and the X-direction rotating device is fixedly connected with the second layer structure component through the supporting plate; the two groups of X-direction guiding systems are respectively arranged at two sides of the supporting plate and are connected with the Z-direction guiding system and the flat belt system; the Z-direction guiding system is provided with a longitudinal platform, the flat belt system is fixed on the longitudinal platform through a hinged support, a third layer of structural component is fixedly arranged on the second layer of structural component, the flat belt system rotates in the X direction through the hinged support, and the movable electric cylinder is hinged with the flat belt system and the longitudinal platform; the RFID identification device is arranged on the substrate, the robot controller is connected with the radio frequency module of the RFID identification device in a wired or wireless way, and the robot controller is respectively connected with the control circuits of the servo motors of the first layer structure assembly, the second layer structure assembly and the third layer structure assembly.
The self-adaptive automobile edge covering conveying system comprises an X-direction rotating shaft, a servo motor, a multi-stage speed reducer and a base bracket, wherein the servo motor is connected with the X-direction rotating shaft through the multi-stage speed reducer; the base support is fixed on the X-direction rotating shaft and is fixedly connected with the supporting plate of the second-layer structure component through welding or bolts, and the supporting plate rotates along with the X-direction rotating shaft to form an included angle with the base.
The self-adaptive automobile edge covering conveying system comprises a guide rail seat, a guide rail arranged on the guide rail seat in a erecting mode and two X-direction sliding blocks moving along the X direction, wherein each group of X-direction guiding systems comprises the guide rail seat, the guide rail arranged on the guide rail seat and the two X-direction sliding blocks moving along the X direction; the upper parts of the two groups of sliding blocks of the X-direction guiding system are respectively and fixedly connected with a horizontal platform, and the horizontal platforms are positioned on one side of the supporting plate and serve as mounting seats of the Z-direction guiding system; each side of the supporting plate is provided with an X-direction electric cylinder, and a screw rod of the X-direction electric cylinder pushes the X-direction sliding block to transversely reciprocate; the X-direction indicating needle is arranged at the front end of the X-direction sliding block, and the surface of the supporting plate is provided with a distance scale and a marking space.
The self-adaptive automobile edge covering conveying system is characterized in that the Z-direction guiding system is arranged on the horizontal platform and comprises a guide rail seat, a guide rail and a Z-direction sliding block moving along the Z direction; each side of the supporting plate is respectively provided with two groups of Z-direction guiding systems, so that each group of X-direction guiding systems is correspondingly provided with one group of Z-direction guiding systems; the longitudinal platform is fixedly connected to the Z-direction sliding block, the Z-direction electric cylinder is fixed to the horizontal platform, and a screw rod of the Z-direction electric cylinder is connected with the longitudinal platform; the side of the Z-direction sliding block is provided with a Z-direction indicating needle, and the longitudinal part of the guide rail seat of the Z-direction guiding system is divided into a distance scale and a marking space.
The self-adaptive automobile edge covering conveying system comprises a flat belt, a belt motor connected with the flat belt, a belt support frame and a Y-direction rotating shaft connected with the belt support frame, wherein a push rod and a tail end cover plate of the movable electric cylinder are respectively hinged with the belt support frame and the longitudinal platform; the Y-direction rotating shaft is provided with an indicating needle, the belt supporting frame is provided with an arc indicating sheet, and the arc indicating sheet is marked with an angle scale of +/-15 degrees and a marking space.
In the self-adaptive automobile hemming conveying system, the installation height of the RFID identification device is not higher than the height of the first layer structure component; the base on do not take place around X to rotate both ends have installed the guard frame respectively, RFID recognition device install on the guard frame.
The self-adaptive automobile edge covering conveying system comprises a robot controller, a frequency converter, a motor, an X-direction electric cylinder, a movable electric cylinder, a Z-direction electric cylinder and a servo motor, wherein the robot controller is provided with a communication interface, an I/O interface and a human-machine interaction interface HMI, the robot controller is connected with the belt motor of the motor through the frequency converter, the robot controller is connected with the X-direction electric cylinder, the movable electric cylinder, the Z-direction electric cylinder and the servo motor through servo drive, the belt motor, the X-direction electric cylinder, the movable electric cylinder, the Z-direction electric cylinder and the servo motor receive signals of the robot controller and feed back the signals to the robot controller, and a workpiece sensor feeds back weight signals to the robot controller; the I/O interface is connected with the workpiece sensor, the travel switch, the RFID identification device, the two-hand buttons and the alarm indicator lamp, and the communication interface is connected with the upper computer.
A control method of an adaptive automobile hemming conveying system at least comprises two stages: a production preparation stage and a repeated production stage;
wherein, the production preparation stage comprises the following steps:
step 1: the upper computer sends a signal containing production information to the robot controller; or manually input production information.
Step 2: if the material carrying vehicle attached with the RFID chip reaches a designated position, the RFID identification device scans the RFID chip and feeds back a scanning signal to the robot controller, and if the robot controller receives the scanning signal, the robot controller checks whether the scanning signal is consistent with production information input by an upper computer/personnel; if not, executing the step 3, and if so, executing the step 4.
Step 3: determining the travel needed by the X-direction electric cylinder, the Z-direction electric cylinder of the second layer structure component and the movable electric cylinder of the third layer structure component according to the production information by means of robot teaching reproduction, namely,
the X-direction electric cylinder carries out transverse displacement;
the Z-direction electric cylinder carries out longitudinal displacement;
the movable cylinder makes the flat belt incline; if the robot controller does not receive the scanning signal, continuing scanning and checking;
the robot controller sends out a command to the X-direction electric cylinder, the Z-direction electric cylinder and the movable electric cylinder, so that the X-direction electric cylinder, the Z-direction electric cylinder and the movable electric cylinder travel to the correct stroke, and the flat belt moves to the correct station, so that the flat belt is matched with a workpiece; if the flat belt does not move to the normal station, alarming is carried out, and then fault processing is carried out.
Step 4: the robot controller indicates that the production preparation phase is completed and waits for the production instruction.
Wherein the repetitive production phase comprises the following steps:
step 5: the upper computer sends a production instruction to the robot controller or a person inputs the production instruction.
Step 6: according to the production information, the robot controller determines the turnover category to which the workpiece belongs; if the type I is the overturning type I, the robot controller does not send an instruction to the servo motor and displays the available parts; if the turnover type II is the turnover type II, the robot controller sends an instruction to the servo motor, the first layer structure component turns over a fixed angle, wherein a travel signal is fed back to the robot controller by a workpiece sensor corresponding to the servo motor, and the robot controller displays the turnover condition of the first layer structure component through an alarm indicator lamp after signal processing; if the vehicle is not overturned to a fixed angle, alarming is carried out, and then fault processing is carried out.
Step 7: and (5) feeding the workpiece by workers, and starting the double-hand button to send the workpiece after finishing feeding the workpiece.
In the step 7, the step of starting the two-hand button delivery comprises the following sub-steps:
step 7.1: after the two-hand button is started, if the first layer of structural components are overturned before, the first layer of structural components are restored to a horizontal state; if the level is maintained before, the process continues.
Step 7.2: the workpiece sensor detects whether a workpiece is placed at a correct workpiece loading position or not, and feeds a detection signal back to the robot controller; if the robot controller receives the detection signal of the workpiece sensor, the robot controller indicates that the workpiece loading is finished; and if the robot controller cannot receive the detection signal of the workpiece sensor, alarming and then performing fault processing.
Step 7.3: the robot controller sends a signal to a frequency converter of the belt motor, and starts the belt motor to start delivering the workpiece.
According to the utility model, the spatial positions of the two conveying belts can be adjusted by means of the robot controller and the servo motor according to the sizes of different workpieces to be conveyed (such as engine covers or trunk covers), so that the workpieces can be stably and difficultly placed on the belts. In addition, the utility model can turn over a certain angle, thereby facilitating the workers to take and put the work piece.
Drawings
Fig. 1 is a front view of an adaptive automotive hemming conveying system of the present utility model.
Fig. 2 is a side view of the adaptive automotive hemming conveying system of the present utility model.
Fig. 3 is a schematic diagram of an adaptive automotive hemming conveying system of the present utility model.
Fig. 4 is a flow chart of the production preparation phase of the adaptive automotive hemming conveying system of the present utility model.
Fig. 5 is a flow chart of the repetitive production phase of the adaptive automotive hemming conveying system of the present utility model.
Detailed Description
Embodiments of the present utility model are further described below with reference to the accompanying drawings.
Referring to fig. 1 to 3, an adaptive automobile hemming conveying system includes a first layer structure assembly, a second layer structure assembly, a third layer structure assembly, an RFID identification device 41 and a robot controller 42; the first layer structure component comprises a base 10, an X-direction rotating device and a bottom support, the second layer structure component comprises a supporting plate 20, two groups of X-direction guiding systems and a Z-direction guiding system, and the third layer structure component comprises a flat belt system and a movable electric cylinder 34; the X-direction rotating device and the bottom layer support are respectively arranged on the base 10, and the X-direction rotating device is fixedly connected with the second layer structure component through the supporting plate 20; the two sets of X-direction guiding systems are respectively arranged at two sides of the supporting plate 20, and are connected with the Z-direction guiding system and the flat belt system for controlling the transverse rotation of the flat belt system, namely controlling the inclination angle of the flat belt 30; the Z-direction guiding system is provided with a longitudinal platform 215, the flat belt system is fixed on the longitudinal platform 215 through a hinged support 32, so that a third layer structure assembly is fixedly arranged on the second layer structure assembly, the height change of the third layer structure is realized, the flat belt system rotates in the X direction through the hinged support 32, and the movable electric cylinder 34 is hinged with the flat belt system and the longitudinal platform 215, so that the moving position of the movable electric cylinder 34 is limited; the RFID recognition device 41 is arranged on the base plate 10 and is used for scanning the model information of the fed workpiece and transmitting the model information to the robot controller 42, the robot controller 42 is connected with the radio frequency module of the RFID recognition device 41 in a wired or wireless mode, the robot controller 42 is respectively connected with the control circuits of the servo motors of the first layer of structural components, the second layer of structural components and the third layer of structural components, and after the accurate model of the workpiece is obtained, the robot controller 42 can feed back horizontal and/or longitudinal stroke signals to the X-direction electric cylinder and the Z-direction electric cylinder, so that the displacement of the belt in the horizontal and longitudinal directions is adjusted.
The X-direction rotating device comprises an X-direction rotating shaft 14, a 400W servo motor 12 (the power range can be selected to be 200W-1 KW), a multi-stage speed reducer 13 and a base bracket 15, wherein the servo motor 12 is connected with the X-direction rotating shaft 14 through the multi-stage speed reducer 13; after the output of the servo motor 12 is decelerated by the multi-stage speed reducer 13, the torque of the X-direction rotating shaft 14 is increased, so that the rotation speed of the X-direction rotating shaft 14 is reduced, and the rotation angle of the X-direction rotating shaft 14 can be controlled relatively accurately. The base support 15 is fixed on the X-direction rotation shaft 14 and is fixedly connected with the support plate 20 of the second layer structure assembly by welding or bolts, and the support plate 20 rotates along with the X-direction rotation shaft 14, so that a certain angle is formed between the support plate 20 and the base 10. The servo motor 12 is connected with the Z-direction guiding sliding component and the flat belt system through the hinged connecting pieces respectively, and the push rod of the servo motor 12 can rotate against the rotating shaft of the flat belt when longitudinally lifting.
The bottom support comprises an upper bearing 16, a lower bearing 16 and a concentric shaft 17, wherein the lower bearing of the upper bearing 16 is fixed on the base 10, the upper bearing of the upper bearing 16 is connected with the support plate 20, and the upper bearing 16 and the lower bearing 16 are fixed by being connected with the concentric shaft 17, so that the weight of the support plate 20 and all components on the support plate 20 is prevented from falling on the X-direction rotating shaft 14 of the X-direction rotating device. For structural stability, the concentric axis 17 of the base support is on the same axis as the X-axis 14. The bottom support is used to support the weight of the support plate 20 and all components located on the support plate 20, avoiding that all weight falls on the base frame 15.
Each group of X-direction guiding systems comprises a guide rail seat 202, a guide rail 201 erected on the guide rail seat 202 and two X-direction sliding blocks 203 moving along the X direction; the upper parts of the two groups of sliding blocks 203 of the X-direction guiding system are respectively fixedly connected with a horizontal platform 211, and are positioned on one side of the supporting plate 20 to be used as an installation seat of the Z-direction guiding system; each side of the supporting plate 20 is provided with an X-direction electric cylinder 204, and a screw rod of the X-direction electric cylinder 204 pushes the X-direction sliding block 203 to transversely reciprocate, so that the balance of the whole structure is ensured, the transverse distance between the two flat belts 30 is changed, and the four-door two-cover workpiece lifting mechanism can be suitable for four-door two-cover workpieces of different vehicle types. In addition, the front end of the X-direction slider 203 is provided with an X-direction indicator 205 for indicating the travel of the flat belt in the X-direction, the surface of the support plate 20 is provided with a distance scale and a marking space, the marking space can be used for placing a product label, and the product label can represent the position to which the current product moves, so that the secondary inspection is convenient to be performed later, and the distance scale is used for indicating the transverse displacement.
The Z-direction guiding system is arranged on the horizontal platform 211, the structure of the Z-direction guiding system is similar to that of the X-direction guiding system, and the Z-direction guiding system comprises a guide rail seat 212, a guide rail 213 and a Z-direction sliding block 216 which moves along the Z direction; similarly, each side of the supporting plate 20 is respectively provided with two groups of the Z-guiding systems, so that each group of the X-guiding systems is correspondingly provided with one group of the Z-guiding systems, and the balance of the whole structure is ensured; the longitudinal platform 215 is fixedly connected to the Z-direction sliding block 216, the Z-direction electric cylinder 214 is fixed to the horizontal platform 211, and a screw rod of the Z-direction electric cylinder 214 is connected to the longitudinal platform 215 to support against the longitudinal platform 215 for lifting. In addition, the side of the Z-direction slider 216 is provided with a Z-direction indicator 217 for indicating the travel of the flat belt 30 in the Z-direction, and the longitudinal portion of the guide rail seat 212 of the Z-direction guiding system is divided into a distance scale and a marking space, the marking space can be used for placing a product label, and the product label can represent the position where the current product moves, so that the second inspection is convenient to be performed later, and the distance scale is used for indicating the longitudinal displacement.
The flat belt system comprises a common flat belt 30, a belt motor 38 connected with the flat belt 30, a belt support 31 and a Y-direction rotating shaft 33 connected with the belt support 31, wherein a push rod and a tail end cover plate of the movable electric cylinder 34 are respectively hinged with the belt support 31 and the longitudinal platform 215, so that the moving position of the movable electric cylinder 34 is limited, and when a screw rod of the movable electric cylinder 34 pushes the belt support 31 to move in the Z direction, the Y-direction rotating shaft 33 can convert the longitudinal movement of the belt support 31 into rotation around the Y direction, so that the angle adjustment of the flat belt 30 is realized. In addition, Y to axis of rotation 33 be equipped with the pilot pin 36 for instruct the turned angle of flat belt 30, simultaneously, belt support frame 31 on be equipped with arc indicator piece 37, arc indicator piece 37 mark have ± 15's angle scale and mark space, mark space can place the product label, can indicate the position that current product moved to, make the secondary inspection in the future convenient, the angle scale is used for instructing the turned angle of flat belt 30.
The robot controller 42 has a communication interface, an I/O interface, and a man-machine interaction interface HMI, and is further connected to a frequency converter and a servo drive of each motor, and can receive and transmit control signals. The belt motor 38, X-direction cylinder 204, movable cylinder 34, Z-direction cylinder 214 can then each receive the signals from the robot controller 42 and feed back the signals to the robot controller 42. The workpiece sensor then feeds back a weight signal to the robot controller 42 to determine whether a workpiece is present on the flat belt 30. The travel switch is used for controlling each motor or electric cylinder to move to the correct station. The RFID scanner may transmit the scan signal to the robot controller 42, or may receive a control signal transmitted from the robot 42 controller to determine whether the scan signal is received correctly. The two-hand button is used for operating the personnel, and the belt pulley is started to start to transport after the personnel walk to a safe area. The I/O interface is connected with the workpiece sensor, the travel switch, the RFID identification device, the two-hand buttons and the alarm indicator lamp, and the communication interface is connected with the upper computer.
Personnel can input production information through the HMI, and the HMI can also monitor the operation condition of the whole transportation system for personnel to observe.
In fact, because the weight difference between the four doors and the two covers is relatively large due to different vehicle types, the third layer of structural components are not too high, otherwise, when the first layer of structural components are turned over, the second layer of structural components and the third layer of structural components collapse. The cylinder force which can be used in the utility model is preferably 1T, and the self height is about 20-25 cm.
The base 10 is a planar steel plate structure with a size of 2X 1.2m, and preferably, the X-direction rotating device is located at the center of the base 10.
The support plate 20 is a planar steel plate structure with a size of 2 x 1m, and is made of the same material as the base 10, and the thickness is small relative to the length and width, so that the material needs to have high strength.
The RFID recognition device 41 is installed at a height not higher than the height of the first layered structure component. The two ends of the base 10, which do not rotate around the X direction, are respectively provided with a protective frame 40 to protect the conveying system from approaching, and ensure personnel safety. The RFID identification device 41 may be mounted on the protective frame 40.
Preferably, a baffle (not shown) may be added to the side of the flat belt 30 for picking and placing the workpiece, and when the worker loads/unloads the workpiece, the flat belt 30 is turned to a certain angle (for example, 60 °) along with the support plate 20, the baffle plays a role of preventing the workpiece from falling off the flat belt 30, and the baffle may define a loading position of the workpiece.
Preferably, since the supporting plate 20 can turn 360 ° around the X direction, and the actual required turning angle range may be only ±75°, in order to limit the turning angle, the base 10 is provided with the limit 18, and the limit 18 is located at two ends of the base 10 where the rotation around the X direction occurs.
The robot controller 42 is connected with an HMI (human-machine interface) and control software; the actuation of the servo motor 12, the X-direction cylinder 204, the Z-direction cylinder 214, and the movable cylinder 34 are respectively connected to the controller 42. In addition, the robot controller 42 is connected to a frequency converter of the belt motor 38.
Referring to fig. 4 and 5, a control method of an adaptive automobile hemming conveying system includes at least two stages: a production preparation stage and a repeated production stage;
wherein, the production preparation stage comprises the following steps:
step 1: the upper computer transmits a signal containing production information to the robot controller 42; or manually inputting production information; (the production information comprises the geometric dimensions of the vehicle door/engine cover/luggage cover of the vehicle type and also comprises the overturning type of the workpiece, which is divided into two types, namely, the overturning type I is that the first layer does not need to be overturned; and the overturning class II is that the overturning angle theta of the first layer is set by personnel and represents the angle required to be overturned by the servo motor of the first layer structure component.
Step 2: the carriage (pushed by a person) with the RFID chip attached reaches a designated position, and the RFID scanner scans the RFID chip and feeds back a scanning signal to the robot controller 42.
If the robot controller 42 receives the scan signal, checking whether the scan signal is consistent with the production information inputted by the upper computer/personnel; if not, executing the step 3, and if so, executing the step 4.
Step 3: determining the travel needed by the X-direction electric cylinder, the Z-direction electric cylinder of the second layer structure component and the movable electric cylinder of the third layer structure component according to the production information by means of robot teaching reproduction, namely,
the X-direction electric cylinder 204 performs transverse displacement;
the Z-direction cylinder 214 is longitudinally displaced;
moving the cylinder 34 to tilt the flat belt 30 by an angle; if the robot controller 42 does not receive the scan signal, the scan is continued and the check is performed again.
The robot controller 42 sends commands to the X-direction cylinder 204, the Z-direction cylinder 214, and the movable cylinder 34 to move the X-direction cylinder 204, the Z-direction cylinder 214, and the movable cylinder 34 to the correct strokes and the flat belt 30 to the correct station so that the flat belt 30 matches the workpiece. And then proceeds to step 4. If the flat belt 30 does not move to the normal station, the alarm is given, and then the fault processing is performed.
In the present utility model, the "angle at which the servo motor 12 of the first floor structure assembly is turned" is estimated based on the number of actual site handling workers (typically two), the position of the hand to be handled, the center of gravity of the workpiece, the weight of the workpiece, and the like, and is also stored in the production information of the RFID recognition device 41. When workpieces of different vehicle types are fed, the servo motor 12 is required to overturn different fixed angles. That is, when workpieces of a certain vehicle type are transported in batches, it can be regarded that the turning angle of the servo motor 12 is fixed. Typically, the angle is no more than 90 degrees.
Step 4: the robot controller 42 indicates that the production preparation phase is completed and waits for a production instruction.
Wherein the repetitive production phase comprises the following steps:
step 5: the upper computer sends a production instruction to the robot controller 42; or a person enters a production instruction.
Step 6: based on the production information, the robot controller 42 determines the roll-over category to which the workpiece belongs. If the type I is overturned, the robot controller 42 does not send an instruction to the servo motor 12 and displays the available parts; if the robot controller 42 is in the second type of overturning, the robot controller 42 sends an instruction to the servo motor 12, the first layer structure component overturns by a fixed angle, wherein a workpiece sensor corresponding to the servo motor 12 feeds back a travel signal to the robot controller 42, and after the robot controller 42 processes the signal, the overturning condition of the first layer structure component is displayed through an alarm indicator lamp: the overturning condition comprises: after the overturning is finished, people cannot get close to the overturning, and the overturning faults should be checked. For example, a tri-color lamp is used as an alarm indicator lamp, and if the alarm indicator lamp is green, the turning is completed; if the display is red, the display is turned over, and the personnel cannot get close; if the color is yellow, the turning failure is indicated, and the failure is checked. If the vehicle is not overturned to a fixed angle, alarming is carried out, and then fault processing is carried out.
Step 7: and (5) feeding the workpiece by workers, and starting the double-hand button to send the workpiece after finishing feeding the workpiece.
In the step 7, the step of starting the two-hand button feeding may further include the following sub-steps:
step 7.1: after the two-hand button is started, if the first layer of structural components are overturned before, the first layer of structural components are restored to a horizontal state; if the level is maintained before, the process continues.
Step 7.2: the workpiece sensor detects whether the workpiece is placed at the correct loading position, and feeds back a detection signal to the robot controller 42.
If the robot controller 42 receives the detection signal of the workpiece sensor, the workpiece loading is finished; if the robot controller 42 does not receive the detection signal of the workpiece sensor, an alarm is given, and then a fault process is performed.
Step 7.3: the robot controller 42 sends a signal to the frequency converter of the belt motor 38 to start the belt motor 38 to begin feeding.
In the utility model, the cylinder can also replace an electric cylinder as a driving source, and the utility model is not repeated.
In the present utility model, the X-direction means the lateral direction along the paper surface direction, the Y-direction means the forward direction along the paper surface direction, and the Z-direction means the vertical direction along the paper surface direction.
The utility model additionally arranges the X-direction rotating shaft 14 and the servo motor 12, and controls the rotation of the X-direction rotating shaft 14 through the servo motor 12, so that the whole belt supporting frame 31 can be overturned, and workers can conveniently take and place workpieces (usually 1 mm is 60-80 cm). The rotation angle is reasonable and the belt supporting frame 31 is ensured not to incline and collapse.
The belt support frame 31 is provided with two sets of X-direction guide systems which are symmetrical to each other, each belt corresponds to one set of X-direction guide system, and each set of X-direction guide system is controlled by one electric cylinder.
The utility model is also provided with two sets of Z-direction guiding systems, each set of Z-direction guiding system is also controlled by an electric cylinder, and each belt corresponds to one set of Z-direction guiding system, so that the displacement of the belt in the Z direction can be realized, and the belt can be lowered/raised. The upper rotating shaft can be matched when the workpiece is lowered, so that the height of a worker for taking and placing the workpiece is further reduced; the height of the next tool can be matched when the belt is lifted, and the conveying height of the belt is adjusted.
The utility model can also automatically adjust the inclination angle of the belt according to workpieces with different shapes. Meets the requirements of different vehicle types.
The utility model utilizes the RFID recognition device 41 to automatically recognize the model of the workpiece to be transported, and automatically controls the strokes of the X-direction electric cylinder 204 and the Z-direction electric cylinder 214 and the inclination angle of the belt according to the recognized model information, thereby achieving the purpose of self-adaption.
In summary, according to the utility model, the spatial positions of the two conveyor belts can be adjusted by means of the robot controller and the servo motor according to the sizes of different workpieces to be conveyed (such as engine covers or trunk covers), so that the workpieces can be stably and difficultly placed on the belts. In addition, the utility model can turn over a certain angle, thereby facilitating the workers to take and put the work piece.
The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the content of the present utility model or technical fields directly or indirectly attached to other related products are included in the scope of the present utility model.
Claims (7)
1. The utility model provides a self-adaptation formula car conveying system that bordures which characterized in that: the system comprises a first layer structure component, a second layer structure component, a third layer structure component, an RFID identification device and a robot controller; the first layer structure component comprises a base, an X-direction rotating device and a bottom support, the second layer structure component comprises a supporting plate, two groups of X-direction guiding systems and a Z-direction guiding system, and the third layer structure component comprises a flat belt system and a movable electric cylinder; the X-direction rotating device and the bottom layer support are respectively arranged on the base, and the X-direction rotating device is fixedly connected with the second layer structure component through the supporting plate; the two groups of X-direction guiding systems are respectively arranged at two sides of the supporting plate and are connected with the Z-direction guiding system and the flat belt system; the Z-direction guiding system is provided with a longitudinal platform, the flat belt system is fixed on the longitudinal platform through a hinged support, a third layer of structural component is fixedly arranged on the second layer of structural component, the flat belt system rotates in the X direction through the hinged support, and the movable electric cylinder is hinged with the flat belt system and the longitudinal platform; the RFID identification device is arranged on the substrate, the robot controller is connected with the radio frequency module of the RFID identification device in a wired or wireless way, and the robot controller is respectively connected with the control circuits of the servo motors of the first layer structure assembly, the second layer structure assembly and the third layer structure assembly; the X-direction rotating device comprises an X-direction rotating shaft, a servo motor, a multi-stage speed reducer and a base bracket, wherein the servo motor is connected with the X-direction rotating shaft through the multi-stage speed reducer; the base support is fixed on the X-direction rotating shaft and fixedly connected with a supporting plate of the second-layer structure component through welding or bolts, and the supporting plate rotates along with the X-direction rotating shaft to form an included angle with the base; each group of X-direction guiding systems comprises a guide rail seat, a guide rail erected on the guide rail seat and two X-direction sliding blocks moving along the X direction; the upper parts of the two groups of sliding blocks of the X-direction guiding system are respectively and fixedly connected with a horizontal platform, and the horizontal platforms are positioned on one side of the supporting plate and serve as mounting seats of the Z-direction guiding system; each side of the supporting plate is provided with an X-direction electric cylinder, and a screw rod of the X-direction electric cylinder pushes the X-direction sliding block to transversely reciprocate; the X-direction indicating needle is arranged at the front end of the X-direction sliding block, and the surface of the supporting plate is provided with a distance scale and a marking space.
2. The adaptive automotive hemming conveying system of claim 1 wherein: the Z-direction guiding system is arranged on the horizontal platform and comprises a guide rail seat, a guide rail and a Z-direction sliding block moving along the Z direction; each side of the supporting plate is respectively provided with two groups of Z-direction guiding systems, so that each group of X-direction guiding systems is correspondingly provided with one group of Z-direction guiding systems; the longitudinal platform is fixedly connected to the Z-direction sliding block, the Z-direction electric cylinder is fixed to the horizontal platform, and a screw rod of the Z-direction electric cylinder is connected with the longitudinal platform; the side of the Z-direction sliding block is provided with a Z-direction indicating needle, and the longitudinal part of the guide rail seat of the Z-direction guiding system is divided into a distance scale and a marking space.
3. The adaptive automotive hemming conveying system of claim 2 wherein: the flat belt system comprises a flat belt, a belt motor connected with the flat belt, a belt support frame and a Y-direction rotating shaft connected with the belt support frame, and a push rod and a tail end cover plate of the movable electric cylinder are respectively hinged with the belt support frame and the longitudinal platform; the Y-direction rotating shaft is provided with an indicating needle, the belt supporting frame is provided with an arc indicating sheet, and the arc indicating sheet is marked with an angle scale of +/-15 degrees and a marking space.
4. The adaptive automotive hemming conveying system of claim 3 wherein: the mounting height of the RFID identification device is not higher than the height of the first layer structure component; the base on do not take place around X to rotate both ends have installed the guard frame respectively, RFID recognition device install on the guard frame.
5. The adaptive automotive hemming conveying system of claim 4 wherein: the robot controller is provided with a communication interface, an I/O interface and a human-machine interaction interface HMI, the robot controller is connected with a belt motor of the motor through a frequency converter, the robot controller is connected with the X-direction electric cylinder, the movable electric cylinder, the Z-direction electric cylinder and the servo motor through servo drive, the belt motor, the X-direction electric cylinder, the movable electric cylinder, the Z-direction electric cylinder and the servo motor receive signals of the robot controller and feed back the signals to the robot controller, and the workpiece sensor feeds back weight signals to the robot controller; the I/O interface is connected with the workpiece sensor, the travel switch, the RFID identification device, the two-hand buttons and the alarm indicator lamp, and the communication interface is connected with the upper computer.
6. A method of controlling an adaptive automotive hemming conveying system of claim 5 wherein: the method comprises at least two stages: a production preparation stage and a repeated production stage;
wherein, the production preparation stage comprises the following steps:
step 1: the upper computer sends a signal containing production information to the robot controller; or manually inputting production information;
step 2: if the material carrying vehicle attached with the RFID chip reaches a designated position, the RFID identification device scans the RFID chip and feeds back a scanning signal to the robot controller, and if the robot controller receives the scanning signal, the robot controller checks whether the scanning signal is consistent with production information input by an upper computer/personnel; if not, executing the step 3, and if so, executing the step 4;
step 3: determining the travel needed by the X-direction electric cylinder, the Z-direction electric cylinder of the second layer structure component and the movable electric cylinder of the third layer structure component according to the production information by means of robot teaching reproduction, namely,
the X-direction electric cylinder carries out transverse displacement;
the Z-direction electric cylinder carries out longitudinal displacement;
the movable cylinder makes the flat belt incline; if the robot controller does not receive the scanning signal, continuing scanning and checking;
the robot controller sends out a command to the X-direction electric cylinder, the Z-direction electric cylinder and the movable electric cylinder, so that the X-direction electric cylinder, the Z-direction electric cylinder and the movable electric cylinder travel to the correct stroke, and the flat belt moves to the correct station, so that the flat belt is matched with a workpiece; if the flat belt does not move to a normal station, alarming, and then performing fault treatment;
step 4: the robot controller indicates that the production preparation stage is finished and waits for a production instruction;
wherein the repetitive production phase comprises the following steps:
step 5: the upper computer sends a production instruction to the robot controller, or a person inputs the production instruction;
step 6: according to the production information, the robot controller determines the turnover category to which the workpiece belongs; if the type I is the overturning type I, the robot controller does not send an instruction to the servo motor and displays the available parts; if the turnover type II is the turnover type II, the robot controller sends an instruction to the servo motor, the first layer structure component turns over a fixed angle, wherein a travel signal is fed back to the robot controller by a workpiece sensor corresponding to the servo motor, and the robot controller displays the turnover condition of the first layer structure component through an alarm indicator lamp after signal processing; if the vehicle is not overturned to a fixed angle, alarming, and then carrying out fault treatment;
step 7: and (5) feeding the workpiece by workers, and starting the double-hand button to send the workpiece after finishing feeding the workpiece.
7. The control method of the adaptive automotive hemming conveying system according to claim 6, wherein: in the step 7, the step of starting the two-hand button delivery comprises the following sub-steps:
step 7.1: after the two-hand button is started, if the first layer of structural components are overturned before, the first layer of structural components are restored to a horizontal state; if the level is kept before, continuing;
step 7.2: the workpiece sensor detects whether a workpiece is placed at a correct workpiece loading position or not, and feeds a detection signal back to the robot controller; if the robot controller receives the detection signal of the workpiece sensor, the robot controller indicates that the workpiece loading is finished; if the robot controller can not receive the detection signal of the workpiece sensor, alarming and then performing fault processing;
step 7.3: the robot controller sends a signal to a frequency converter of the belt motor, and starts the belt motor to start delivering the workpiece.
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| CN108501004B (en) * | 2018-04-13 | 2020-05-05 | 宁波德深机械设备有限公司 | Teaching system of industrial robot |
| CN109160266B (en) * | 2018-09-03 | 2023-11-21 | 刘强 | Automatic measurement and posture placement system for size of waste and old battery |
| CN109264302A (en) * | 2018-10-30 | 2019-01-25 | 博飞特（上海）汽车设备自动化有限公司 | One kind is for lines conveying equipment under vehicle side sealing wire |
| CN111331860B (en) * | 2018-11-02 | 2021-10-01 | 北部湾大学 | Edge covering method for plate-shaped workpiece |
| CN109291079B (en) * | 2018-11-21 | 2022-02-22 | 苏州工业园区职业技术学院 | Industrial robot self-assembly system and method |
| CN110525889A (en) * | 2019-08-27 | 2019-12-03 | 上汽通用五菱汽车股份有限公司 | A kind of flexibility feeding-discharging mechanism |
| CN111230348B (en) * | 2020-03-22 | 2024-01-19 | 上海晓奥享荣自动化设备有限公司 | Automatic flexible welding system and welding method for box-shaped section beam |
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| CN105414377A (en) * | 2015-11-02 | 2016-03-23 | 安徽瑞祥工业有限公司 | Metal plate conveying devices and method of pressing machine |
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| EP1591230B1 (en) * | 2004-04-30 | 2016-10-19 | Masterwork Machinery Co., Ltd. | Apparatus for feeding blanks to a folding box gluing machine |
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| CN102092557B (en) * | 2010-12-31 | 2012-09-05 | 长城汽车股份有限公司 | Convenient-to-operate common conveying device for vehicle doors and trunk lids |
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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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