CN107393743A - The low-voltage air switch automatic setup system and method for a kind of double mechanical arms cooperating - Google Patents
The low-voltage air switch automatic setup system and method for a kind of double mechanical arms cooperating Download PDFInfo
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- CN107393743A CN107393743A CN201710605365.0A CN201710605365A CN107393743A CN 107393743 A CN107393743 A CN 107393743A CN 201710605365 A CN201710605365 A CN 201710605365A CN 107393743 A CN107393743 A CN 107393743A
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- Prior art keywords
- air switch
- pneumatic
- low
- pallet
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01H—ELECTRIC SWITCHES; RELAYS; SELECTORS; EMERGENCY PROTECTIVE DEVICES
- H01H11/00—Apparatus or processes specially adapted for the manufacture of electric switches
Abstract
A kind of low-voltage air switch automatic setup system of double mechanical arms cooperating, including the conveyer belt for transmitting part pallet, for gripping binding post and static sets of contacts sheet metal respectively and being put into two six degree of freedom drag articulation industrial robots of air switch specified location after the completion of assembling, to detect whether part pallet reaches the photoelectric sensor of assembly station and part pallet to be positioned to the fixing device of assembly station, two six degree of freedoms drag articulation industrial robot, the photoelectric sensor and fixing device are located at the side of the transmission belt assembly station；And provide a kind of low-voltage air switch automatic assembly method of double mechanical arms cooperating.The present invention is reasonable in design, simple in construction, can realize low-voltage air switch automatic assembling function, reduce human resources using, reduce labor intensity, improve production efficiency, lifting product qualification rate and guarantee product quality.
Description
Technical field
The present invention relates to low-voltage air switch to assemble field, especially a kind of low-voltage air switch automatic setup system and side
Method.
Background technology
Low-voltage air switch is the significant components of low voltage power distribution network and electric drive system, and its main function is：1. connect
Touch and disjunction circuit；2. powered off when the dangerous situations such as short circuit, heavy overload and under-voltage occur for circuit or electrical equipment
Protection.
The assembling of existing low-voltage air switch more by the way of full man-made assembly there are human resources to take big, labor
The shortcomings such as fatigue resistance is big, low production efficiency and product quality uniformity are low, the theory of modern industry lean production is not met, it is also difficult
To be effectively reduced production cost.
The content of the invention
In order to overcome the human resources of existing low-voltage air switch assembly method to take, big, labor intensity is big, production efficiency
The low deficiency low with product quality uniformity, present invention offer one kind is reasonable in design, simple in construction, can realize that low-pressure air is opened
Close automatic assembling function, reduce human resources using, reduce labor intensity, improve production efficiency, lift product qualification rate and guarantor
Demonstrate,prove the low-voltage air switch automatic setup system and method for the double mechanical arms cooperating of product quality.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of low-voltage air switch automatic setup system of double mechanical arms cooperating, including for transmitting part pallet
Conveyer belt, for grip respectively binding post and static sets of contacts sheet metal and assemble after the completion of be put into air switch specified location
Two six degree of freedom drag articulation industrial robots, detecting the photoelectric sensor whether part pallet reaches assembly station
With part pallet to be positioned to the fixing device of assembly station, two six degree of freedom drag articulations industrial robot,
The photoelectric sensor and fixing device are located at the side of the transmission belt assembly station.
Further, wherein the pneumatic tong gripping binding post of a six degree of freedom drag articulation industrial robot, another
The pneumatic tong of platform six degree of freedom drag articulation industrial robot grips static sets of contacts sheet metal, and two six degree of freedoms hang down
Straight joint industrial robot coordinates the cooperation for completing two parts, and ligand is placed on to the specified location of air switch；Two
The motor program of one six degree of freedom drag articulation industrial robot is generated by teaching, is stored in motion planning and robot control cabinet.
Further, the assembling fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, the pneumatic baffle
For controlling the station where part pallet, Pneumatic tailstock is used for positioning of the pallet in station, ensures that pallet is fixed on assembling
In the specified location of station.
Further, the assembling photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet
When reaching assembly station operating position, assembling photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control
Pneumatic tailstock cylinder processed stretches out.
A kind of low-voltage air switch automatic assembly method of double mechanical arms cooperating, the assembly method include following step
Suddenly：
Part pallet is put conveyer belt and moved therewith by step 1., the gas in stretching state until encountering assembly station
Dynamic baffle plate, photoelectric sensor collect workpiece arriving signal, and PLC, which sends signal to solenoid directional control valve, stretches out Pneumatic tailstock, will
Part pallet is fixed；
After step 2. part pallet is fixed on assembly station, PLC sends signal to two vertical multi-joint six degree of freedoms
Robot, robot configuration processor：One vertical multi-joint six-DOF robot gripping part binding post, another vertical
Multi-joint six-DOF robot grips part static state sets of contacts sheet metal；
After two industrial robots of step 3. each grip Assembly part, the rigging position that teaching is specified is moved to, and
Set according to tutorial program, part static state sets of contacts sheet metal is formed into ligand through part binding post；
Ligand is moved to the specified location of air switch bottom with same speed by two industrial robots of step 4.,
Robot signals unclamps tong to tong, completes the assembly work of air switch.
Beneficial effects of the present invention are mainly manifested in：It is reasonable in design, simple in construction, can realize that low-voltage air switch is automatic
Assembling function, reduce human resources using, reduce labor intensity, improves production efficiency, lifting product qualification rate and guarantee product
Quality.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention, and 1 is the first vertical multi-joint Six-DOF industrial robot, and 2 be second vertical
Straight multi-joint Six-DOF industrial robot, 3 be part pallet, and 4 be conveyer belt, and 5 be Pneumatic tailstock (sc Standard Cylinders), and 6 are
Pneumatic baffle (twin shaft cylinder), 7 be photoelectric sensor.
Fig. 2 is the top view of the present invention.
Fig. 3 is the top view of part pallet, wherein, 11 be part arc-chute, and 12 be arc-chute locating slot, and 13 be terminals
Son, 14 be binding post locating slot, and 15 be pallet positioning hole, and 16 be static sets of contacts sheet metal, and 17 be static sets of contacts positioning
Groove, 18 be low-voltage air switch bottom, and 19 be low-voltage air switch top cover.
Embodiment
The invention will be further described below in conjunction with the accompanying drawings.
1~Fig. 3 of reference picture, a kind of low-voltage air switch automatic setup system of double mechanical arms cooperating, including for
Transmit part pallet conveyer belt, for grip respectively binding post and static sets of contacts sheet metal and assemble after the completion of be put into sky
Two six degree of freedom drag articulation industrial robots of air cock specified location, detecting whether part pallet reaches assembler
Position photoelectric sensor and part pallet to be positioned to the fixing device of assembly station, two six degree of freedoms vertically close
Section industrial robot, the photoelectric sensor and fixing device are located at the side of the transmission belt assembly station.
Further, wherein the pneumatic tong gripping binding post of a six degree of freedom drag articulation industrial robot, another
The pneumatic tong of platform six degree of freedom drag articulation industrial robot grips static sets of contacts sheet metal, and two six degree of freedoms hang down
Straight joint industrial robot coordinates the cooperation for completing two parts, and ligand is placed on to the specified location of air switch；Two
The motor program of one six degree of freedom drag articulation industrial robot is generated by teaching, is stored in motion planning and robot control cabinet.
Further, the assembling fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, the pneumatic baffle
For controlling the station where part pallet, Pneumatic tailstock is used for positioning of the pallet in station, ensures that pallet is fixed on assembling
In the specified location of station.
Further, the assembling photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet
When reaching assembly station operating position, assembling photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control
Pneumatic tailstock cylinder processed stretches out.
A kind of low-voltage air switch automatic assembly method of double mechanical arms cooperating, comprises the following steps：
Part pallet is put conveyer belt and moved therewith by step 1., and the pneumatic baffle that stretching state is in until encountering is (double
Axle cylinder), photoelectric sensor collects workpiece arriving signal, and PLC, which sends signal to solenoid directional control valve, makes Pneumatic tailstock (sc standards
Cylinder) stretch out, part pallet is fixed.
After step 2. part pallet is fixed on assembly station, PLC sends signal to two vertical multi-joint six degree of freedoms
Robot, robot configuration processor.One vertical multi-joint six-DOF robot gripping part binding post, another vertical
Multi-joint six-DOF robot grips part static state sets of contacts sheet metal.
After two industrial robots of step 3. each grip Assembly part, the rigging position that teaching is specified is moved to, and
Set according to tutorial program, part static state sets of contacts sheet metal is formed into ligand through part binding post.
Ligand is moved to the specified location of air switch bottom with same speed by two industrial robots of step 4.,
Robot signals unclamps tong to tong, completes the assembly work of air switch.
The low-voltage air switch automatic setup system of the double mechanical arms cooperating of the present embodiment, including two vertical more passes
Save six-DOF robot, photoelectric sensor, conveyer belt and fixing device.The vertical multi-joint six degree of freedom machine of described two
People includes robot body, motion planning and robot control cabinet and end effector of robot (tong).Described fixing device includes
Two pairs of Pneumatic tailstocks (sc Standard Cylinders) and a pair of pneumatic baffles (twin shaft cylinder).The motor program of robot uses teaching mode
Generation, program are stored in motion planning and robot control cabinet.
Before carrying out assembling work, low-voltage air switch top cover and low-voltage air switch bottom are positioned on Fig. 3 first
Specified location, and part arc-chute, static sets of contacts sheet metal and binding post are positioned on part pallet.By part pallet
Transmission rim end is positioned over, starts low-voltage air switch assembling work.Part pallet reach in Fig. 1 the first vertical multi-joint six from
During by degree 1 position of industrial robot, i.e., into assembly station.The cylinder of pneumatic baffle 6 in Fig. 1 on station stretches out, and stops pallet
Stay on assembly station, it is just signal that photoelectric sensor 7, which receives pallet, in Fig. 1, and Pneumatic tailstock 5 stretches out and worn in PLC control figures 1
Pallet positioning hole 15 in Fig. 3 is crossed, completes the positioning of pallet.PLC sends signal to the first vertical multi-joint six-DOF robot
Vertical multi-joint six-DOF robot, robot configuration processor with second.First vertical multi-joint six-DOF robot is extremely
The locating slot of Fig. 3 middle connecting terminals 14 grips part binding post, and the second vertical multi-joint six-DOF robot is static into Fig. 3
The locating slot of sets of contacts 17 grips part static state sets of contacts sheet metal.It is mobile after two industrial robots each grip Assembly part
The rigging position specified to teaching, and set according to tutorial program, part static state sets of contacts sheet metal is passed through into part wiring
Terminal forms ligand.Ligand is moved to the finger of the bottom of air switch 8 in Fig. 3 with same speed by two industrial robots
Positioning is put, and robot signals unclamps tong to tong, completes the assembly work of first air switch.Assembled more than repeating
Work, completes the assembly work of second air switch, and low-voltage air switch assembly work is completed.Assembly work complete, PLC to
Magnetic valve sends signal, and Pneumatic tailstock is retracted, and pneumatic baffle is retracted.Workpiece goes to next station with conveyer belt.
Claims (5)
- A kind of 1. low-voltage air switch automatic setup system of double mechanical arms cooperating, it is characterised in that：The automatic assembling System includes being used to transmit the conveyer belt of part pallet, for gripping binding post and static sets of contacts sheet metal respectively and assembling After the completion of be put into two six degree of freedom drag articulation industrial robots of air switch specified location, be to detect part pallet The no photoelectric sensor for reaching assembly station and part pallet to be positioned to the fixing device of assembly station, described two six Free degree drag articulation industrial robot, the photoelectric sensor and fixing device are located at the one of the transmission belt assembly station Side.
- 2. the low-voltage air switch automatic setup system of double mechanical arms cooperating as claimed in claim 1, it is characterised in that： The pneumatic tong gripping binding post of wherein one six degree of freedom drag articulation industrial robot, another six degree of freedom vertically close The pneumatic tong for saving industrial robot grips static sets of contacts sheet metal, two six degree of freedom drag articulation industrial robots Coordinate the cooperation for completing two parts, and ligand is placed on to the specified location of air switch；Two six degree of freedoms are vertical The motor program of joint industrial robot is generated by teaching, is stored in motion planning and robot control cabinet.
- 3. the low-voltage air switch automatic setup system of double mechanical arms cooperating as claimed in claim 1 or 2, its feature exist In：The assembling fixing device includes two pairs of Pneumatic tailstocks and a pair of pneumatic baffles, and the pneumatic baffle is used to control part support Station where disk, Pneumatic tailstock are used for positioning of the pallet in station, ensure that pallet is fixed on the specified location of assembly station On.
- 4. the low-voltage air switch automatic setup system of double mechanical arms cooperating as claimed in claim 1 or 2, its feature exist In：The assembling photoelectric sensor is to control the opportunity that Pneumatic tailstock cylinder stretches out, when part pallet reaches assembly station work When making position, assembling photoelectric sensor receives workpiece signal in place, and PLC issues instructions to reversal valve control Pneumatic tailstock cylinder Stretch out.
- A kind of 5. dress that low-voltage air switch automatic setup system of double mechanical arms cooperating as claimed in claim 1 is realized Method of completing the square, it is characterised in that：The assembly method comprises the following steps：Part pallet is put conveyer belt and moved therewith by step 1., the pneumatic gear in stretching state until encountering assembly station Plate, photoelectric sensor collect workpiece arriving signal, and PLC, which sends signal to solenoid directional control valve, stretches out Pneumatic tailstock, by part Pallet is fixed；After step 2. part pallet is fixed on assembly station, PLC sends signal to two vertical multi-joint six degree of freedom machines People, robot configuration processor：One vertical multi-joint six-DOF robot gripping part binding post, another vertical more passes Save six-DOF robot gripping part static state sets of contacts sheet metal；After two industrial robots of step 3. each grip Assembly part, the rigging position that teaching is specified is moved to, and according to Tutorial program is set, and part static state sets of contacts sheet metal is formed into ligand through part binding post；Ligand is moved to the specified location of air switch bottom, machine with same speed by two industrial robots of step 4. People signals unclamps tong to tong, completes the assembly work of air switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710605365.0A CN107393743B (en) | 2017-07-24 | 2017-07-24 | Automatic assembling system and method for low-pressure air switch with two mechanical arms working cooperatively |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710605365.0A CN107393743B (en) | 2017-07-24 | 2017-07-24 | Automatic assembling system and method for low-pressure air switch with two mechanical arms working cooperatively |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107393743A true CN107393743A (en) | 2017-11-24 |
| CN107393743B CN107393743B (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710605365.0A Active CN107393743B (en) | 2017-07-24 | 2017-07-24 | Automatic assembling system and method for low-pressure air switch with two mechanical arms working cooperatively |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109571441A (en) * | 2019-01-08 | 2019-04-05 | 崧智智能科技(深圳)有限公司 | The quick teaching method of industrial robot |
| CN110473725A (en) * | 2019-08-06 | 2019-11-19 | 鲁东大学 | A kind of breaker microswitch production line for automatically assembling and its assembly method |
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| CN106944824A (en) * | 2017-03-30 | 2017-07-14 | 嘉善金亿精密铸件有限公司 | A kind of casting assembly equipment with positioning function |
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| JPH05301623A (en) * | 1992-04-27 | 1993-11-16 | Rheon Autom Mach Co Ltd | Alignment method for cylindrical material |
| CN101664881A (en) * | 2009-09-04 | 2010-03-10 | 浙江工业大学 | Open-type field six-degree-of-freedom series-parallel processing robot |
| CN103198949A (en) * | 2013-04-07 | 2013-07-10 | 广东升威电子制品有限公司 | Switch automated assembling device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109571441A (en) * | 2019-01-08 | 2019-04-05 | 崧智智能科技(深圳)有限公司 | The quick teaching method of industrial robot |
| CN110473725A (en) * | 2019-08-06 | 2019-11-19 | 鲁东大学 | A kind of breaker microswitch production line for automatically assembling and its assembly method |
| CN110473725B (en) * | 2019-08-06 | 2021-04-16 | 鲁东大学 | Automatic assembly production line and assembly method for microswitch of circuit breaker |
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| Publication number | Publication date |
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| CN107393743B (en) | 2020-02-21 |
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