CN107994494A - A kind of system and method for automatic assembling high-tension switch cabinet - Google Patents
A kind of system and method for automatic assembling high-tension switch cabinet Download PDFInfo
- Publication number
- CN107994494A CN107994494A CN201810043553.3A CN201810043553A CN107994494A CN 107994494 A CN107994494 A CN 107994494A CN 201810043553 A CN201810043553 A CN 201810043553A CN 107994494 A CN107994494 A CN 107994494A
- Authority
- CN
- China
- Prior art keywords
- cabinet
- riveting
- robot
- semi
- finished product
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 17
- 239000011265 semifinished product Substances 0.000 claims abstract description 68
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 238000009434 installation Methods 0.000 claims abstract description 45
- 230000008901 benefit Effects 0.000 claims abstract description 37
- 238000012546 transfer Methods 0.000 claims abstract description 31
- 238000006073 displacement reaction Methods 0.000 claims abstract description 18
- 239000002184 metal Substances 0.000 claims abstract description 13
- 230000008859 change Effects 0.000 claims description 19
- 241000894007 species Species 0.000 claims description 13
- 230000005484 gravity Effects 0.000 claims description 11
- 206010044565 Tremor Diseases 0.000 claims description 10
- 230000001939 inductive effect Effects 0.000 claims description 10
- 238000010521 absorption reaction Methods 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 6
- 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 description 6
- 238000003860 storage Methods 0.000 claims description 5
- 230000010354 integration Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 238000003466 welding Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 238000010586 diagram Methods 0.000 description 15
- 239000000047 product Substances 0.000 description 11
- 239000000463 material Substances 0.000 description 5
- 230000008093 supporting effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000007596 consolidation process Methods 0.000 description 3
- 238000012937 correction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 238000012790 confirmation Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 239000004677 Nylon Substances 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000001976 improved effect Effects 0.000 description 1
- 239000004615 ingredient Substances 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02B—BOARDS, SUBSTATIONS OR SWITCHING ARRANGEMENTS FOR THE SUPPLY OR DISTRIBUTION OF ELECTRIC POWER
- H02B3/00—Apparatus specially adapted for the manufacture, assembly, or maintenance of boards or switchgear
Landscapes
- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Power Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention disclose a kind of system of automatic assembling high-tension switch cabinet, including artificial dosing, accumulates offline pipeline unit, robot installation unit, metal plate stationary positioned unit, the main riveting unit of robot, semi-finished product cabinet and transhipment unit and robot benefit riveting unit；Artificial dosing includes collection burdening frame；Accumulate the pipeline body that pipeline unit includes being circularly set；Robot installation unit includes robot body and transfer installs fixture；Metal plate stationary positioned unit includes turntable, nine face stationary positioned tooling platforms and always spells pipeline；The main riveting unit of robot and benefit riveting unit include riveting robot base, riveting robot body and riveting and send nailing machine, and semi-finished product cabinet is offline and transhipment unit includes motorized pulleys transport platform, hydraulic elevator platform, cabinet tipper, conveying mechanism and displacement shuttle.The system of automatic assembling high-tension switch cabinet carries out switchgear assembled in the present invention, and automatization level is high, improves the production efficiency of enterprise.
Description
Technical field
The present invention relates to 10KV switchgears production assembling technique field, more particularly to a kind of automatic assembling high-tension switch cabinet
System and method.
Background technology
It is well known that the consolidation service in industry to 10kV intermediate switchgear cabinets at present is fully relied on and is accomplished manually, assembly 1
Platform switchgear needs 1-2 people to carry workpiece, 1 people positions workpiece, 1 people carries out riveting and plays fixation, and automatization level is not high, manual work
Labor intensity is big, and it is more to take number of workers, and the average assembled 1 switchgear time at 50-60 minutes, cabinet assembly quality according to
It is uneven according to Personal Skills' level and operation habit level, cause product quality to be not sufficiently stable.
With the continuous progress of science and technology, industrial robot has obtained widely using in every field, by robot manipulating task
It is incorporated into the consolidation service of high-tension switch cabinet, instead of manually carrying out cabinet consolidation service, can works continuously for a long time, effectively
Ground will manually free from numerous and diverse manual labor, avoids during assembly some from manually carrying, assembled human body is caused
Injury, and the production efficiency of enterprise can be greatly improved, ensure Product Precision, stable quality, to reduce operator's technology difficult
Degree and manipulation strength, the advantages that automatization level is high.
The content of the invention
To solve the above-mentioned problems of the prior art, the present invention provide a kind of automatic assembling high-tension switch cabinet system and
Method, realizes the automatic assembling of high-tension switch cabinet, improves the efficiency of assembling and precision of high-tension switch cabinet.
To achieve the above object, the present invention provides following scheme：
The present invention provides a kind of system of automatic assembling high-tension switch cabinet, including artificial dosing, accumulates pipeline list
Member, robot installation unit, metal plate stationary positioned unit, the main riveting unit of robot, semi-finished product cabinet are offline and transport unit
Riveting unit is mended with robot；
The manually dosing includes being used for the collection burdening frame of cabinet parts transhipment storage；
The pipeline body for accumulating pipeline unit and including being circularly set, the pipeline body are used for cabinet zero
Component is conveyed, and fixed feeding station, jacking positioning and multiple pallets are provided with the pipeline body；In the fixation
Material station is disposed adjacent with the manually dosing, and the fixed feeding station is used for artificial loading, the fixed feeding work
Stopper is provided with position；Pallet order anti-misoperation device is provided with the jacking positioning；
The robot installation unit is disposed adjacent with the jacking positioning, and the robot installation unit includes robot
Pedestal, multi-axis machine human body, fixture mounting table and transfer installs fixture, the multi-axis machine human body are arranged at the machine
On people's pedestal, the transfer installs fixture is arranged on the fixture mounting table, the multi-axis machine human body and the transfer
Installs fixture connects, and the robot body controls feeding and the movement of the transfer installs fixture；
The metal plate stationary positioned unit includes turntable, nine face stationary positioned tooling platforms being arranged on the turntable
Pipeline is spelled with total, the metal plate stationary positioned unit is disposed adjacent with the transfer installs fixture, the transfer installs fixture
Pre-splicing cabinet is formed for having adsorbed cabinet parts and being installed on the nine faces stationary positioned tooling platform, total spell conveys
Line is arranged at below the nine faces stationary positioned tooling platform, and total pipeline of spelling is used to convey the pre-splicing cabinet；
The main riveting unit of robot includes riveting robot base, riveting robot body and riveting and send nailing machine, institute
State riveting robot body to be arranged in the riveting robot base, riveting gun be provided with the riveting robot body,
The riveting gun absorption riveting send the rivet in nailing machine and the pre-splicing cabinet is riveted, and the preassembling cabinet is complete
Semi-finished product cabinet is formed after into pre- riveting；
The semi-finished product cabinet is offline and transhipment unit is disposed adjacent with total pipeline of spelling, under the semi-finished product cabinet
Line and transhipment unit include motorized pulleys transport platform, hydraulic elevator platform, cabinet tipper, conveying mechanism and displacement shuttle, institute
State motorized pulleys transport platform to be arranged on the hydraulic elevator platform table top, it is defeated that the cabinet tipper is arranged at the motorized pulleys
Platform is sent to go out cabinet direction front end, the cabinet tipper connection behind one end of the conveying mechanism and upset, the displacement is worn
Shuttle car can connect with the other end of the conveying mechanism, and the conveying mechanism is used to convey the semi-finished product cabinet after upset
Onto the displacement shuttle；
The robot mend riveting unit include mending riveting robot base, mend riveting robot body, mend riveting send nailing machine and half into
Product rotary locating stand, the displacement shuttle is used to the pre-splicing cabinet being transported to the semi-finished product rotary locating stand, described
Mend riveting robot body to be arranged in the benefit riveting robot base, be provided with riveting gun on the benefit riveting robot body, institute
The riveting gun absorption benefit riveting is stated to send the rivet in nailing machine and carry out benefit riveting to the pre-splicing cabinet.
Optionally, it is described collection burdening frame include forward right side plate and left front side plate rack, left back side plate and right lateral side plate frame,
Big bent plate rack, left and right pillar rack, bent plate and contact box installation rack, pretectum and back header rack and bottom plate on contact box
Rack.
Optionally, the manually dosing further includes column cantilever crane and load moving fixture, and the column cantilever crane includes
Column body, rotary joint, cantilevered track and balance crane, the column body pass through the rotary joint and the cantilevered track
Connection, the cantilevered track are connected with the balance crane, and the balance crane is connected with the load moving fixture；The transfer folder
Tool includes vacuum cup, workpiece species switching mechanism and gravity center adjusting mechanism, the workpiece species switching mechanism and the vacuum
Sucker connects, and the workpiece species switching mechanism is used for the position and direction for adjusting the vacuum cup, and the center of gravity adjusts machine
Structure is used for the center of gravity for adjusting the load moving fixture.
Optionally, the pipeline body includes driving motor and L-shaped circulation gathering chain, and the driving motor is used for
Drive gathering chain circulation transmission, the corner of the gathering chain be disposed with the first rotary module, the first jacking it is traversing,
Second rotary module and the second jacking are traversing.
Optionally, the positioning pin positioned to cabinet parts is both provided with the diverse location of each pallet,
The position and different cabinet parts that the positioning pin is set are corresponding；Each tray bottom surface is both provided with order fool proof
Sensing chip, the order fool proof sensing chip is different in the position that each tray bottom surface is set, and is set in the jacking positioning
Be equipped with can sense the order fool proof sensing chip close to inductive switch.
Optionally, 20 pallets are provided with the pipeline body, are one group per adjacent 5 pallets, often
The group pallet includes a material-saving pallet, energy cross-pair is provided with the material-saving pallet stacks and put left back side plate and right lateral side
Plate, big bent plate, pretectum and the positioning pin of back header and bottom plate.
Optionally, the multi-axis machine human body is six-joint robot, is set on six shaft flange faces of the six-joint robot
It is equipped with quick change head robot side and the vision system for the positioning compensation that to cabinet parts position take pictures, the transfer installation folder
Tool includes big fixture and small jig, and quick change head tool side is both provided with the big fixture and the small jig, by described fast
The switching of Huan Tou robots side and the quick change head tool side, which coordinates, realizes being switched fast for the big fixture and the small jig.
Optionally, the turntable is connected with the multi-axis robot Ontology integration, and the multi-axis machine human body can be controlled
The turntable is made to be rotated in any plane angle phi；The nine faces stationary positioned tooling platform includes bottom plate mounting surface, a left side
Front side board mounting surface, left back side plate mounting surface, pretectum mounting surface, back header mounting surface, contact cartridge mounting surface, big bent plate
Mounting surface, forward right side plate mounting surface, right lateral side plate mounting surface and pipeline is always spelled, set on the nine faces stationary positioned tooling platform
Have and the corresponding positioning pin of cabinet parts.
Optionally, it is both provided with rivet hole positioning vision on the riveting robot body and the benefit riveting robot body
System；The riveting send nailing machine to send nailing machine structure identical with the benefit riveting, including round tremble disk, directly shakes disk, rivet push-pull mechanism
With rivet feeding to position detecting mechanism, the round tremble disk is connected with the straight shake disk, and rivet is in the round tremble disk by vibrations
The straight shake disk is reached after conveying, the straight shake disk is connected with the rivet push-pull mechanism, and the rivet push-pull mechanism is by described in
Rivet in straight shake disk is conveyed to the riveting gun.
Present invention also offers a kind of method of automatic assembling high-tension switch cabinet, include the following steps：
(1) the cabinet parts stored in collection burdening frame are taken out in order and is put into the corresponding support of fixed feeding station
On disk；
(2) the pipeline body accumulated in pipeline unit conveys pallet, and after being transported to jacking positioning, pallet is suitable
Sequence anti-misoperation device judges that the startup alarm if being judged as not being, is searched former by manpower intervention when whether front tray is required pallet
Cause, if being judged as YES, robot installation unit control transfer installs fixture captures nine cabinet parts successively, and passes through rotation
Turntable is rotated, nine cabinet parts of crawl are installed on nine face stationary positioned tooling platforms successively, forms preassembling cabinet；
Capture after all cabinet parts of front tray, empty pallet continues on to fixed feeding station, waits new circulation to start；
After the completion of (3) nine cabinet parts preassemblings, riveting robot is moved to the top that nailing machine is sent in riveting, passes through riveting
Nail gun draws rivet and rivet hole important on preassembling cabinet is riveted in advance in order, and preassembling cabinet completes pre- riveting
Semi-finished product cabinet is formed afterwards；
(4) semi-finished product cabinet fall on it is total spell on cabinet pipeline, then semi-finished product cabinet is offline and transhipment unit in hydraulic pressure
Lifting platform rises to and always spells the same height of cabinet pipeline, starts total spelling cabinet pipeline and motorized pulleys transport platform, makes semi-finished product
Cabinet is transported in motorized pulleys transport platform；After semi-finished product cabinet being induced by the inductive switch of hydraulic elevator platform in place, liquid
Pressure lifting platform drops to cabinet tipper height, semi-finished product cabinet is transported on cabinet tipper, then cabinet tipper turns over
Turn 90 °；Meanwhile it is mobile and connected with cabinet tipper to shift shuttle, conveying mechanism is by the semi-finished product cabinet after upset
It is transported on displacement shuttle；
(5) shift shuttle to be delivered to semi-finished product cabinet on the semi-finished product rotary locating stand of robot benefit riveting unit, half
Finished product rotary locating stand is accurately positioned and is fixed to preassembling cabinet；Then, Bu Mao robots are moved to benefit riveting and send nailing machine
Top, drawn by riveting gun and rivet and benefit riveting carried out to remaining rivet hole on semi-finished product cabinet, until semi-finished product cabinet
On rivet hole all riveting finish.
The present invention achieves following technique effect relative to the prior art：
A kind of system of automatic assembling high-tension switch cabinet provided by the invention is using multi-axis robot as whole system
Core execution system, precision is high, speed is fast, and scalability is high, and when assembled switchgear uses unmanned operation, is taken by robot
Material, installation etc., time saving less manpower, improves work efficiency, and reduces company operation cost；It is high by automatic assembling in the present invention
The system against high voltage switchgear of cabinet of compressing switch carries out assembled, and automatization level is high, ensure that Product Precision, realizes concentration and match somebody with somebody
Material, fixed point feeding, one can complete, and reduce artificial operation intensity, improve the production efficiency of enterprise.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure diagram of the system of automatic assembling high-tension switch cabinet of the present invention；
Fig. 2 be automatic assembling high-tension switch cabinet of the present invention system in front and rear head cover collection burdening frame structure diagram；
Fig. 3 matches somebody with somebody for bent plate collection on contact box mounting plate in the system of automatic assembling high-tension switch cabinet of the present invention and contact box
The structure diagram of rack；
Fig. 4 is the structure diagram of the system central post cantilever crane of automatic assembling high-tension switch cabinet of the present invention；
The knot of load moving fixture before Fig. 5 a switch for vacuum cup upset in the system of automatic assembling high-tension switch cabinet of the present invention
Structure schematic diagram；
The knot of load moving fixture after Fig. 5 b switch for vacuum cup upset in the system of automatic assembling high-tension switch cabinet of the present invention
Structure schematic diagram；
Fig. 6 is the structure diagram that pipeline unit is accumulated in the system of automatic assembling high-tension switch cabinet of the present invention；
Fig. 7 be automatic assembling high-tension switch cabinet of the present invention system in forward right side plate pallet structure diagram；
Fig. 8 be automatic assembling high-tension switch cabinet of the present invention system in robot installation unit structure diagram；
Fig. 9 be automatic assembling high-tension switch cabinet of the present invention system in greatly fixture structure diagram；
Figure 10 be automatic assembling high-tension switch cabinet of the present invention system in metal plate stationary positioned unit structure diagram；
Figure 11 installs the structural representation of stationary plane for cabinet right flank in the system of automatic assembling high-tension switch cabinet of the present invention
Figure；
Figure 12 be automatic assembling high-tension switch cabinet of the present invention system in the main riveting unit of robot structure diagram；
Figure 13 is the structure diagram that nailing machine is sent in the system of automatic assembling high-tension switch cabinet of the present invention；
Figure 14 be automatic assembling high-tension switch cabinet of the present invention system in semi-finished product cabinet it is offline and transport unit structure
Schematic diagram；
Wherein, the artificial dosing of 1-, 2- accumulate pipeline unit, 3- robots installation unit, 4- metal plate stationary positioneds
Unit, the main riveting unit of 5- robots, 6- semi-finished product cabinets are offline and transport unit, 7- robots benefit riveting unit, 8- back headers,
9- pretectums, 10- contact box mounting plates, bent plate on 11- contact boxs, 12- rotary joints, 13- column bodies, 14- load moving fixtures,
15- cantilevered tracks, 16- balance cranes, 17- gravity center adjusting mechanisms, 18- workpiece species switching mechanisms, 19- vacuum cups, 20- stop
Device, 21- pipeline bodies, 22- driving motors, the first rotary modules of 23-, 24- first jack traversing, 25- jacking positioning, 26-
Pallet order anti-misoperation device, 27- pallets, 28- second jack traversing, the second rotary modules of 29-, 30- forward right side plate mounting holes,
31- positioning pins, 32- forward right side plates, 33- are oriented to, 34- supporting blocks, and 35- jacking location holes, 36- order fool proof sensing chips, 37- can
Regulates alignment pin, 38- six-joint robots, 39- quick change head robots side, 40- robot bases, 41- the first quick change head protection covers,
42- small jigs, the big fixtures of 43-, 44- the second quick change head protection covers, 45- bottom plate mounting surfaces, 46- quick change head tool sides, 47- fixtures
Frame, 48- terminal boxes, 49- suckers position switching cylinder, 50- suckers, 51- switching slides, 52- vacuum generator groups, 53- are left
Side mounting surface, 54- pretectum mounting surfaces, 55- back header mounting surfaces, 56- contact cartridge mounting surfaces, the big bent plate installations of 57-
Face, 58- always spell pipeline, 59- right flank mounting surfaces, 60- turntables, 61- contact cartridges, 62- right lateral side plates, and 63- is curved greatly
Nailing machine, 68- round tremble disks, 69- are sent in plate, 64- riveting guns, 65- riveting robot bodies, 66- riveting robot bases, 67- rivetings
Rivet push-pull mechanism, 70- directly shake disk, 71- rivets feeding to position detecting mechanism, 72- motorized pulleys transport platforms, the upset of 73- hydraulic pressure
Cylinder, 74- cabinet tippers, 75- plate chain drive sprockets and transmission shaft, 76- plate chain feeder motor cases, 77- conveying plate chains, 78-
Plate chain pipeline, 79- upset bearing spiders, 80- hydraulic elevator platforms.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, it is below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
The present invention provides a kind of system of automatic assembling high-tension switch cabinet, as shown in Figure 1, including artificial dosing 1, product
Put pipeline unit 2, robot installation unit 3, metal plate stationary positioned unit 4, the main riveting unit 5 of robot, semi-finished product cabinet
Riveting unit 7 is mended by offline and transhipment unit 6 and robot.
Artificial dosing 1 includes being used for the collection burdening frame of cabinet parts transhipment storage.
As shown in fig. 6, accumulating the pipeline body 21 that pipeline unit 2 includes being circularly set, set on pipeline body 21
It is equipped with fixed feeding station, jacking positioning 25 and multiple pallets 27；Different cabinet parts are respectively charged into multiple pallets 27,
Pipeline body 21 is used to convey pallet 27；Stopper 20, the stopper are provided with the fixed feeding station
20 are used to control pallet 27 to walk to stop, and pallet 27, which is transported at the fixed feeding station, to be stopped, the fixed feeding station with
Artificial dosing 1 is disposed adjacent, and the fixed feeding station is used for artificial loading, it is necessary to which artificial loading is completed to provide definite life
After order, pipeline body 21 continues to convey pallet 27；Pallet order anti-misoperation device 26, pallet 27 are provided with jacking positioning 25
Be transported to jacking positioning 25 on when, robot installation unit 3 by pallet order anti-misoperation device 26 judge when front tray whether be
Required pallet, starts alarm if being judged as not being, reason is searched by manpower intervention, if being judged as YES, robot installation is single
Member 3 captures the cabinet parts on pallet 27, and robot installation unit 3 has been captured provides top after front tray upper cabinet body parts
25 all-clears of positioning are risen, empty pallet can continue to convey along pipeline body 21.
Robot installation unit 3 is disposed adjacent with jacking positioning 25, as shown in figure 8, robot installation unit 3 includes machine
People's pedestal 40, multi-axis machine human body, fixture mounting table and transfer installs fixture；The multi-axis machine human body is arranged at machine
On people's pedestal 40, the transfer installs fixture is arranged on the fixture mounting table, the multi-axis machine human body and the shifting
Installs fixture connection is carried, the robot body controls the transfer installs fixture mobile and grips the cabinet zero in pallet 27
Part.
As shown in Figure 10, it is fixed that metal plate stationary positioned unit 4 includes turntable 60, nine faces being arranged on turntable 60 are fixed
Position tooling platform and it is total spell pipeline 58, turntable 60 can make the nine faces stationary positioned tooling platform any plane angle phi into
Row rotation, ensures to be not in blind area in the service radius of the multi-axis robot.Metal plate stationary positioned unit 4 and the shifting
Carry installs fixture to be disposed adjacent, the transfer installs fixture is used to adsorb cabinet parts and be installed on nine face and fix to determine
Pre-splicing cabinet is formed on the tooling platform of position, total pipeline 58 of spelling is arranged at below the nine faces stationary positioned tooling platform, total to spell conveying
Line 58 is used to convey the pre-splicing cabinet.
As shown in figure 12, the main riveting unit 5 of robot includes riveting robot base 66, riveting robot body 65 and riveting
Nailing machine 67 is picked, riveting robot body 65 is arranged in riveting robot base 66, rivets and be provided with robot body 65
Riveting gun 64, the absorption riveting of riveting gun 64 are sent the rivet in nailing machine 67 and the pre-splicing cabinet are riveted in advance, preassembling cabinet
Body forms semi-finished product cabinet after completing pre- riveting, and falls on total spell on cabinet pipeline 58.
As shown in figure 14, semi-finished product cabinet is offline and transhipment unit 6 is disposed adjacent with total pipeline 58 of spelling, semi-finished product cabinet
Offline and transhipment unit 6 includes motorized pulleys transport platform 72, hydraulic elevator platform 80, cabinet tipper 74, conveying mechanism and displacement
The semi-finished product cabinet is transported in motorized pulleys transport platform 72 by shuttle, total pipeline 58 of spelling, motorized pulleys transport platform 72
It is arranged on the table top of hydraulic elevator platform 80, cabinet tipper 74 is arranged at motorized pulleys transport platform 72 and goes out cabinet direction front end,
The semi-finished product cabinet is transported on cabinet tipper 74 by motorized pulleys transport platform 72, and cabinet tipper 74 is by the semi-finished product
Cabinet overturns 90 °, and the cabinet tipper 74 behind one end of the conveying mechanism and upset connects, and the semi-finished product cabinet after upset is defeated
It is sent on the conveying mechanism, the displacement shuttle is moved to connect with the other end of the conveying mechanism, the conveyer
The semi-finished product cabinet after upset is transported on the displacement shuttle by structure.As Figure 14 provides a kind of preferable conveyer
Configuration formula, that is, plate chain pipeline 78, plate chain pipeline 78 include plate chain drive sprocket and transmission shaft 75, conveying plate chain 77 and plate chain
Feeder motor case 76, by plate chain drive sprocket and transmission shaft 75 drive conveying plate chain 77 realize by described half after upset into
Product cabinet is transported on the displacement shuttle.
The robot mend riveting unit include mending riveting robot base, mend riveting robot body, mend riveting send nailing machine and half into
Product rotary locating stand, the benefit riveting robot base, mend riveting robot body, mend riveting send nailing machine respectively with the riveting robot
Pedestal, riveting robot body, riveting send the structure of nailing machine identical, and the semi-finished product cabinet is transported to by the displacement shuttle
The semi-finished product rotary locating stand, the semi-finished product rotary locating stand structure is similar with turntable 60, and the semi-finished product rotation is fixed
Position platform carries out fine positioning and fixation to the semi-finished product cabinet, prevents positioning phenomenon occur during riveting is mended；The benefit riveter
Device human body is arranged in the benefit riveting robot base, and riveting gun, the rivet are provided with the benefit riveting robot body
The rifle absorption benefit riveting send the rivet in nailing machine and carries out benefit riveting to the semi-finished product cabinet, until on the semi-finished product cabinet
All riveting finishes rivet hole, completes the automatic assembling of high-tension switch cabinet.
For the ease of the transhipment storage to cabinet parts, in this present embodiment, artificial dosing 1 is provided with 7 kinds of collection
Burdening frame, including forward right side plate and left front side plate rack, left back side plate and right lateral side plate frame, big bent plate rack, left and right pillar
Bent plate and contact box installation rack, pretectum and back header rack and bottom plate rack on rack, contact box；Wherein, pretectum and
Back header rack is as shown in Fig. 2, bent plate and contact box mounting plate rack are as shown in figure 3, since contact box shaped is special on contact box
Very, so, bent plate and contact box installation rack use nylon tray form, the structure and diagram of other racks on the contact box
The structure of two racks is similar, as long as the transhipment and storage of its corresponding cabinet parts can be realized.
For the ease of the cabinet parts feeding heavier to some, in this present embodiment, as shown in figure 4, artificial charger sheet
Member 1 further includes column cantilever crane and load moving fixture 14, and the column cantilever crane includes column body 13, rotary joint 12, cantilever
Track 15 and balance crane 16, column body 13 are connected by rotary joint 12 with cantilevered track 15, cantilevered track 15 and balance crane
16 are connected, and balance crane 16 is connected with load moving fixture 14, and cantilever is driven by the rotation of rotary joint 12 on column body 13
Track 15 rotates, while complex equilibrium hangs 16 mobile drive load moving fixture 14 and moves, centered on column body 13, cantilever rail
Road 15 is in the rotating range of radius, auxiliary ingredients worker carries out feeding to some heavier cabinet parts, matches somebody with somebody so as to reduce
Expect the labor intensity of worker.
Since cabinet parts species and shape are more, in order to make load moving fixture 14 adapt to grabbing for a variety of cabinet parts
Take, in this present embodiment, as shown in Fig. 4, Fig. 5 a and Fig. 5 b, load moving fixture 14 includes vacuum cup 19, workpiece species switching machine
Structure 18 and gravity center adjusting mechanism 17, workpiece species switching mechanism 18 are connected with vacuum cup 19, and gravity center adjusting mechanism 17 is arranged at
On load moving fixture 14, gravity center adjusting mechanism 17 is used for the center of gravity for adjusting load moving fixture 14, and workpiece species switching mechanism 18 is used to adjust
The position and direction of whole vacuum cup 19, in artificial loading according to different types of cabinet parts, by artificial judgment whether
The position and direction of vacuum cup 19 are adjusted by workpiece species switching mechanism 18.Further, in this present embodiment, transfer is pressed from both sides
The control button of the operation for controlling workpiece species switching mechanism 18 is additionally provided with tool 14, is realized by the control button
Adjust the position and direction of vacuum cup 19.
It is engaged to more easily make to accumulate pipeline system 2 with artificial dosing 1, robot installation unit 3, in
In the present embodiment, as shown in figures 1 to 6, pipeline body 21 is arranged to L-shaped closed cycle gathering chain, the gathering chain
It is driven by 22 driving cycle of driving motor set on pipeline body 21.Further, for the ease of pallet 27 in the product
Put and transmission is circulated on chain, in this present embodiment, as shown in fig. 6, the corner of the gathering chain is disposed with the first rotating mould
Block 23, first jacks the traversing jacking of 24, second rotary module 29 and second traversing 28, and pallet 27 is complete in the fixed feeding station
Into after feeding, the flow direction along the gathering chain reaches jacking after the first rotary module 23, first jacking traversing 24 successively
Positioning 25, can be captured in the cabinet parts loaded at jacking positioning 25 on pallet by robot installation unit 3, robot installation
Unit 3 has been captured provides jacking 25 all-clears of positioning after front tray upper cabinet body parts, and empty pallet can be accumulated along described
The flow direction of chain jacks traversing 28, final circulation again by the second rotary module 29, second respectively and arrives the fixed feeding station,
Carry out next work cycle.
In order to avoid manually there is situation about misplacing when placing cabinet parts on pallet 27, in this present embodiment, often
The positioning pin positioned to cabinet parts, the position that the positioning pin is set are both provided with the diverse location of a pallet 27
It is corresponding from different cabinet parts, so as to have the feature in different process hole by each cabinet parts, make each support
Disk 27 can only place corresponding cabinet parts.As Fig. 7 shows that forward right side plate pallet corresponds to forward right side plate and carried out accordingly
Set, the positioning pin 31 and adjustable positioning pin 37 set in forward right side plate pallet corresponds respectively to the right side set in forward right side plate
Front side board mounting hole 30, is additionally provided with forward right side plate pallet and jacking 25 corresponding jacking positioning pins of positioning.Left front side plate
Pallet, left back and rear right plate pallet, front and rear head cover and bottom plate pallet, contact cartridge and big bent plate support holder structure and positioning are set
Put, it is similar with the above-mentioned setting of the forward right side plate, it is that there is provided corresponding cabinet parts are opposite on its pallet
The positioning pin answered, makes each pallet to place corresponding cabinet parts.
Further, the positioning pin that cabinet parts are positioned set at the diverse location of each pallet 27, also
It can realize the function of pre-installing scattered widget, such as contact cartridge, pass through the fabrication hole and support on each scattered widget
Set on disk 27 with the corresponding positioning pin of the fabrication hole, by manually connecting on pallet 27 to each scattered widget fastening
Connect, by each scattered widget it is high-precision it is pre- be fitted together, effectively prevent each scattered widget neglected loading, misloading and transfer
The design that fixture complicates.
Further, in order to ensure that pallet 27 is not in deformation during circulating, be provided with each pallet 27 compared with
More supporting point, in this present embodiment, by taking forward right side plate pallet as an example, as shown in fig. 7, being provided with forward right side plate pallet multiple
33 and supporting block 34 etc. are oriented to, other support holder structures are similar with the above-mentioned setting of forward right side plate pallet, are both provided with such as forward right side
The multiple guiding 33 and the supporting point of the grade of supporting block 34 set in sheet tray.
Detected for the ease of robot installation unit 3 by pallet order anti-misoperation device 26 when whether front tray is in program
Required pallet, each 27 bottom surface of pallet are both provided with order fool proof sensing chip, and the order fool proof sensing chip is in each pallet 27
The position that bottom surface is set is different, i.e., the position for the order fool proof sensing chip that each 27 bottom surface of pallet is set is unique, jacking
Positioning 25 be provided below can sense the order fool proof sensing chip close to inductive switch；In this present embodiment, with forward right side
Exemplified by sheet tray, as shown in fig. 7, being provided with order fool proof sensing chip 36 on forward right side plate pallet, jacking positioning 25 is provided below
Have can five of sensing order fool proof sensing chip 36 close to inductive switch, when pallet 27 is reached at jacking positioning 25, pallet 27
The order fool proof sensing chip 36 of bottom can be triggered installed in five jacked below positioning 25 close in inductive switch corresponding one
It is a, so that pallet order anti-misoperation device 26 judges whether the pallet is the pallet needed in program, if it is by machine
People's installation unit 3 captures the workpiece on the pallet, if not alarm signal is then sent, to remind staff.
For the number for less pallet 27 of trying one's best, for the similar cabinet parts of some structures, shape can cross-pair fold
Place, in this present embodiment, 20 pallets 27 are provided with pipeline body 21, be one group per adjacent 5 pallets 27, every group of support
Disk includes a material-saving pallet, be provided with the material-saving pallet can cross-pair stack and put left back side plate and right lateral side plate, big curved
The positioning pin of plate, pretectum and back header and bottom plate, so realize left back side plate and right lateral side plate, big bent plate, pretectum and after
The cross-pair of head cover and bottom plate, which stacks, puts, and effectively reduces the sum of pallet 27, reduces cost.
In order to make the multi-axis robot that there is the production activity flexibility of higher, in this present embodiment, as shown in figure 8,
The multi-axis machine human body is six-joint robot 38.Further, in order to ensure six-joint robot 38 captures cabinet parts
Accuracy, in this present embodiment, quick change head robot side 39 and vision are provided with six shaft flange faces of six-joint robot 38
System, positioning compensation of taking pictures is carried out by the vision system to the tray position of supplied materials, and shooting every time twice, confirms errorless
Afterwards, six-joint robot 38 captures the cabinet parts on the pallet.
Whole high-tension switch cabinet body is made of nine cabinet to differ greatly parts, during in order to ensure feeding and installation
The situation of interference is occurred without, in this present embodiment, as Figure 8-9, the transfer installs fixture includes big fixture 43 and small folder
Have 42, be both provided with quick change head tool side 46 on big fixture 43 and small jig 42, pass through quick change head robot side 39 and quick change head
The switching of tool side 46, which coordinates, realizes being switched fast for big fixture 43 and small jig 42, effectively saves big fixture 43 and small jig 42
Switching time, while ensure that the connection precision of the transfer installs fixture and six-joint robot 38.
The detailed construction of wherein big fixture 43 is as shown in figure 9, big fixture 43 includes the second quick change head protection cover 44, quick change head
Tool side 46, jig frame 47, terminal box 48, sucker position switching cylinder 49, sucker 50, switching slide 51 and vacuum generator
Group 52, wherein sucker 50 are 16, and sucker position switching cylinder 49 is two；Big fixture 43 is equipped with the second quick change head protection cover
44.The workpiece that fixture 43 can be compatible greatly has：Left front side plate, left back side plate, forward right side plate, right lateral side plate and contact cartridge
61, to realize the absorption to different workpieces, by controlling sucker position to switch the switching that cylinder 49 carries out 50 position of sucker, and root
Corresponding sucker 50 is controlled to open vacuum suction according to each specific cabinet parts, the sucker 50 taken less than will not then start；
The operation principle of small jig 42 and big fixture 43 are essentially identical, switch cylinder, small jig compared to sucker position is simply not provided with
42 can compatible workpiece have：Big bent plate, front and rear head cover and bottom plate, small jig pairs setting system have the first quick change head protection cover 41.Greatly
Fixture 43 and small jig 42 have special mounting table in switching and are placed, and mounting table and the transfer installs fixture pass through
Precision is reliable when pin hole positioning is to ensure that six-joint robot 38 and the transfer installs fixture are docked.
For the ease of controlling the rotation of turntable 60, in this present embodiment, turntable 60 and the multi-axis machine human body
It is integrated and connected, the multi-axis machine human body can control turntable 60 to be rotated in any plane angle phi；As shown in Figure 10,
The nine faces stationary positioned tooling platform includes bottom plate mounting surface 45, (the i.e. left front side plate mounting surface and left back of left surface mounting surface 53
Side plate mounting surface), pretectum mounting surface 54, back header mounting surface 55, contact cartridge mounting surface 56, big bent plate mounting surface 57,
Right flank mounting surface 59 (i.e. forward right side plate mounting surface and right lateral side plate mounting surface) and total spelling pipeline 58, nine face is fixed fixed
It is provided with and the corresponding positioning pin of fabrication hole in cabinet parts on the tooling platform of position.In this present embodiment, big fixture is passed through
43 install forward right side plate, left front side plate, left back side plate and right lateral side plate successively, then switch to small folder by six-joint robot 38
The big bent plates of the installation of tool 42, big bent plate switch to big fixture 43 by six-joint robot 38 after installation is complete, install contact cartridge,
Forward right side plate, left front side plate, left back side plate, right lateral side plate, big bent plate and contact cartridge is set to be bolted together, then six axis machines
Device people 38 switches to small jig 42 again, installs pretectum, back header and bottom plate successively, so far, nine cabinet parts it is pre-
Work is spelled to complete.
In order to ensure the accuracy of riveting robot body 65 and benefit riveting robot body riveting process, in the present embodiment
In, rivet and be both provided with rivet hole positioning vision system, the rivet on robot body 65 and the benefit riveting robot body
It is identical with the operation principle of the vision system in robot installation unit 3 that hole positions vision system.
Riveting gun 64 is that one of structure important in riveting unit 7 is mended by the main riveting unit 5 of robot and robot, in this implementation
In example, riveting gun 64 selects import Gesipa brands, has the characteristics of riveting speed is fast, long lifespan, compact structure, is especially suitable for
In robot.
To meet the needs of rivet different size in cabinet, in this present embodiment, nailing machine 67 is sent to be sent using 2 rivetings
Work is followed closely, as shown in figure 13, riveting send nailing machine 67 mainly to include round tremble disk 68, straight shake disk 70, rivet push-pull mechanism 69 and rivet
Feeding is connected to position detecting mechanism 71, round tremble disk 68 and straight shake disk 70, and rivet reaches in round tremble disk 68 after vibrations convey
Whether in place straight shake disk 70, rivet feeding to position detecting mechanism 71 detect rivet, and the straight disk 70 that shakes is connected with rivet push-pull mechanism 69,
Rivet in straight shake disk 70 is conveyed to riveting gun 64 by rivet push-pull mechanism 69.The benefit riveting send nailing machine structure to send nailing machine with riveting
67 structure is identical.
Present invention also offers a kind of automatic assembling high-voltage switch gear of the system using the automatic assembling high-tension switch cabinet
The method of cabinet, as represented in figures 1 through 14, includes the following steps：
(1) the cabinet parts stored in collection burdening frame are taken out in order and is put into the corresponding support of fixed feeding station
On disk 27.
First, required cabinet parts are put into corresponding 7 kinds of collection dispensing by dispensing worker in cabinet parts warehouse
On frame, i.e., forward right side plate and left front side plate rack, left back side plate and right lateral side plate frame, big bent plate rack, left and right pillar rack,
Bent plate and contact box installation rack, pretectum and back header rack and bottom plate rack on contact box, then will by AGV logistics trolleys
Collection burdening frame is drawn to artificial dosing 1, and dispensing worker is according to daily production instruction order, from the collection burdening frame set
On take out corresponding cabinet parts in sequence, the bigger cabinet parts of weight need to be matched somebody with somebody by column cantilever crane
Close 14 human assistance feeding of load moving fixture and be placed on fixed feeding station on corresponding pallet 27, and it is right on pallet 27
Scattered workpiece such as contact box, left and right pillar, contact box mounting plate, bent plate is manually pre-installed on contact box.
(2) the pipeline body 21 accumulated in pipeline unit 2 conveys pallet 27, is transported to jacking positioning 25
Afterwards, pallet order anti-misoperation device 26 judges when whether front tray be required pallet, if being judged as not being to start and alarm, by artificial
Reason is searched in intervention, if being judged as YES, robot installation unit 3 controls transfer installs fixture to capture nine cabinets zero successively
Part, and by rotating turntable 60, nine cabinet parts of crawl are installed on nine face stationary positioned tooling platforms successively, shape
Into preassembling cabinet；Capture after all cabinet parts of front tray, empty pallet continues on to fixed feeding station, waits
New circulation starts.
The pallet 27 for loading cabinet parts is rotated by first successively along the flow direction of L-shaped closed cycle gathering chain
Jacking positioning 25 is reached after the jacking of module 23, first traversing 24, the order fool proof sensing chip 36 of 27 bottom of pallet can trigger installation
Jacking positioning 25 below five close in inductive switch corresponding one so that pallet order anti-misoperation device 26 is judged
Whether the pallet is the pallet needed in program, and the workpiece on the pallet is if it is captured by robot installation unit 3, if
It is not to send alarm signal, to remind staff.After confirmation is required pallet, pass through 38 6 method of principal axes of six-joint robot
Vision system on orchid carries out positioning compensation of taking pictures to the tray position of supplied materials, shoots every time twice, after confirmation is errorless, six axis machines
Device people 38 captures the cabinet parts on the pallet, and is installed on nine face stationary positioned erecting beds.Robot installation unit 3 is grabbed
Take and jacking 25 all-clears of positioning are provided after front tray upper cabinet body parts, empty pallet can be along the flow direction of the gathering chain
Traversing 28, final circulation again is jacked by the second rotary module 29, second respectively and arrive the fixed feeding station, carry out next
A work cycle.
The specific installation procedure of nine cabinet parts is as follows：
1., installation forward right side plate 32, transfer installs fixture adsorbed after forward right side plate 32 by six axis by big fixture 43
The work compound of robot 38,60 and nine face stationary positioned tooling platform of turntable, six-joint robot 38 control big fixture 43 to move
To the top of pallet 27 equipped with forward right side plate 32, and forward right side plate 32 is drawn by sucker 50, then big fixture 43 is moved to nine
The right flank mounting surface 59 of face stationary positioned tooling platform, while before forward right side plate 32 is installed to the right side in right flank mounting surface 59
On side, when the negative pressure of sucker 50 reaches load requirement, the vacuum cup 50 in big fixture 43 unclamps, at this time 50 cylinder of sucker
Start back shrinkage, six-joint robot 38 starts soft floating system at the same time, helps 50 cylinder of sucker to cause forward right side plate 32 together
Reach the position specified, after inducing cylinder in place by the inductive switch on sucker 50, robot, which performs, returns to journey
Sequence, the installation of forward right side plate 32 is fixed to be completed；
2., left front side plate, left back side plate and right lateral side plate 62 are installed respectively according to as above process；
3., high-tension switch cabinet body both sides side plate be fixedly mounted after, six-joint robot 38 switch small jig 42, small jig 42
The big bent plate 63 of high-tension switch cabinet body is captured, moves and is fixedly mounted toward big bent plate mounting surface 57, big bent plate 63 is in whole cabinet
Nine cabinet parts in be easiest to deform, for avoid big bent plate 63 deform it is larger occur placing less than feelings
Condition, big bent plate mounting surface 57 pass through deflection caused by sucker suction using swing and with sucker calibration function so that big curved
Plate 63 can be corrected in the range of the distortion inaccuracy of permission.
4., after big bent plate 63 installs, six-joint robot 38 switches big fixture 43 and has adsorbed contact cartridge 61, touches
Head cartridge assembly 61 is the intermediate connecting mechanism for having connected or so four blocks of side plates and big bent plate 63, in the present embodiment to avoid closing
Occur a large amount of positioning scenarios excessively during dress, contact cartridge mounting surface 56, which is not made, requires very high-precision positioning table, but logical
Cross bent plate 63 broad in the middle and four, both ends support cylinder carry out contact box Z-direction and X to coarse positioning, the coarse positioning of both direction
Precision controlling is before attaching together in the range of allowable error, after contact cartridge 61 is in place, nine face stationary positioned tooling platforms
Two side plate fixed mechanisms start to attach together toward centre so that four blocks of side plates, big bent plate 63, the contact cartridge 61 installed before are logical
The stationary positioned device crossed on two side plate fixed mechanisms is finally bolted together, by the sensing on side plate fixed mechanism
Device is confirmed whether final assembled completion；
5., attached together in nine face stationary positioned tooling platforms while machine switches small jig 42, the second transfer installs fixture again
42 capture pretectum 9 respectively, back header 8 carries out the stationary positioned of two boards according to the flow of preamble installation side plate；
6., mounting base when, since bottom plate is in the distalmost end of whole nine faces stationary positioned tooling platform, it is necessary first to first will rotation
Turntable 60 is rotated to suitable installation site, then carries out bottom plate toward the installation exercise of nine face stationary positioned tooling platforms；
7. all nine cabinets parts, that is, forward right side plates 32, left front side plate, left back side plate, right lateral side plate 62, big at this time
Bent plate 63, contact cartridge 61, pretectum 9, back header 8 and bottom plate are fixedly installed on nine face stationary positioned tooling platforms, complete
Into the pre-splicing work of nine cabinet parts.
After the completion of (3) nine cabinet parts preassemblings, riveting robot body 65 is moved to riveting and send the upper of nailing machine 67
Side, draws rivet by riveting gun 64 and rivet hole important on preassembling cabinet is riveted in advance in order, preassembling cabinet
Body forms semi-finished product cabinet after completing pre- riveting；
Riveting robot body 65 is moved to riveting by track and send the top of nailing machine 67 and draw rivet, coordinates turntable 60
After rotating out of suitable angle, then correction processing of taking pictures carried out by the vision system on riveting robot body 65, then
Rivet robot body 65 carries out riveting operation according to the position of the practical work piece rivet hole provided after correction, and riveting every time terminates
After the completion of, riveting gun 64 can provide riveting and complete signal, so gradually stamp rivet according to certain riveting order respectively, pre-splicing
Fill after cabinet completes pre- riveting and form semi-finished product cabinet.In riveting process, consolidate since all plates are all mounted on nine faces
Determine on positioning fixture bench, so the situation that part rivet hole is blocked occurs.Therefore, riveting robot, which can avoid holding, is blocked
Partial rivet hole, selects some important rivet holes to be riveted, and after frock withdraws from each parts, ensures preassembling cabinet
It can still shape and remain unchanged shape.
(4) semi-finished product cabinet fall on it is total spell on cabinet pipeline 58, then semi-finished product cabinet is offline and transhipment unit 6 in liquid
Pressure lifting platform 80 rises to and always spelling cabinet pipeline 58 is same highly, starts total spelling cabinet pipeline 58 and motorized pulleys transport platform
72, semi-finished product cabinet is transported in motorized pulleys transport platform 72；Half is induced by the inductive switch on hydraulic elevator platform 80
Finished product cabinet in place after, hydraulic elevator platform 80 drops to the height of cabinet tipper 74, and semi-finished product cabinet is transported to cabinet turns over
On favourable turn 74, then cabinet tipper 74 overturns 90 °；Meanwhile shift shuttle and moved toward 78 position of plate chain pipeline, and and cabinet
Body tipper 74 connects, after confirming that tipper 74 is overturn in place and displacement shuttle is moved into place, plate chain pipeline 78
Start, start with the drum drive motor on shift shuttle, semi-finished product cabinet is delivered on displacement shuttle, it is so far high
The cabinet cabinet that compresses switch splices and rivet prepackage technique is completed, and all station full recoveries of preamble to original state, start second set
The assembled riveting work of cabinet.
(5) shift shuttle to be delivered to semi-finished product cabinet on the semi-finished product rotary locating stand of robot benefit riveting unit 7, half
Finished product rotary locating stand is accurately positioned and is fixed to preassembling cabinet, prevents positioning phenomenon occur during riveting is mended, so
Afterwards, semi-finished product rotary locating stand is rotated to suitable riveting location, is taken pictures by the vision system on benefit riveting robot body
Correction processing, to make up the deviation that each high-tension switch cabinet body is produced in each link, every time first by vision system before riveting
System carries out positioning of taking pictures, it is ensured that each hole is in error range；Bu Mao robots, which are moved to, mends the top that nailing machine is sent in riveting, passes through
Riveting gun draws rivet and benefit riveting is carried out to remaining rivet hole on semi-finished product cabinet, repeats above procedure until semi-finished product cabinet
On rivet hole all riveting finish.
Specific case is applied in the present invention to be set forth the principle of the present invention and embodiment, above example
Illustrate to be only intended to help the method and its core concept for understanding the present invention；Meanwhile for those of ordinary skill in the art, according to
According to the thought of the present invention, in specific embodiments and applications there will be changes.In conclusion this specification content
It should not be construed as limiting the invention.
Claims (10)
- A kind of 1. system of automatic assembling high-tension switch cabinet, it is characterised in that：Including artificial dosing, accumulate pipeline list Member, robot installation unit, metal plate stationary positioned unit, the main riveting unit of robot, semi-finished product cabinet are offline and transport unit Riveting unit is mended with robot；The manually dosing includes being used for the collection burdening frame of cabinet parts transhipment storage；The pipeline body for accumulating pipeline unit and including being circularly set, the pipeline body are used for cabinet parts Conveyed, fixed feeding station, jacking positioning and multiple pallets are provided with the pipeline body；The fixed feeding work Position is disposed adjacent with the artificial dosing, and the fixed feeding station is used for artificial loading, on the fixed feeding station It is provided with stopper；Pallet order anti-misoperation device is provided with the jacking positioning；The robot installation unit is disposed adjacent with the jacking positioning, and the robot installation unit includes robot base Seat, multi-axis machine human body, fixture mounting table and transfer installs fixture, the multi-axis machine human body are arranged at the robot On pedestal, the transfer installs fixture is arranged on the fixture mounting table, and the multi-axis machine human body pacifies with the transfer Clamps connect, and the robot body controls feeding and the movement of the transfer installs fixture；The metal plate stationary positioned unit includes turntable, the nine face stationary positioned tooling platforms that are arranged on the turntable and total Pipeline is spelled, the metal plate stationary positioned unit is disposed adjacent with the transfer installs fixture, and the transfer installs fixture is used for Cabinet parts are adsorbed and have been installed on the nine faces stationary positioned tooling platform and formed pre-splicing cabinet, total pipeline of spelling is set It is placed in below the nine faces stationary positioned tooling platform, total pipeline of spelling is used to convey the pre-splicing cabinet；The main riveting unit of robot includes riveting robot base, riveting robot body and riveting and send nailing machine, the riveting Welding robot body is arranged in the riveting robot base, and riveting gun is provided with the riveting robot body, described The riveting gun absorption riveting send the rivet in nailing machine and the pre-splicing cabinet is riveted, and the preassembling cabinet is completed pre- Semi-finished product cabinet is formed after riveting；The semi-finished product cabinet is offline and transhipment unit is disposed adjacent with total spelling pipeline, the semi-finished product cabinet it is offline and Transporting unit includes motorized pulleys transport platform, hydraulic elevator platform, cabinet tipper, conveying mechanism and displacement shuttle, the electricity Dynamic roller transport platform is arranged on the hydraulic elevator platform table top, and the cabinet tipper is arranged at the motorized pulleys transport platform Go out cabinet direction front end, the cabinet tipper connection behind one end of the conveying mechanism and upset, the displacement shuttle It can connect with the other end of the conveying mechanism, the conveying mechanism is used to the semi-finished product cabinet after upset being transported to institute State on displacement shuttle；The robot mends riveting unit and send nailing machine and semi-finished product to revolve including mending riveting robot base, benefit riveting robot body, mending riveting Turn positioning table, the displacement shuttle is used to the pre-splicing cabinet being transported to the semi-finished product rotary locating stand, the benefit riveting Robot body is arranged in the benefit riveting robot base, and riveting gun, the riveting are provided with the benefit riveting robot body The nail gun absorption benefit riveting send the rivet in nailing machine and carries out benefit riveting to the pre-splicing cabinet.
- 2. the system of automatic assembling high-tension switch cabinet according to claim 1, it is characterised in that：The collection burdening frame includes Forward right side plate and left front side plate rack, left back side plate and right lateral side plate frame, big bent plate rack, left and right pillar rack, contact box Upper bent plate and contact box installation rack, pretectum and back header rack and bottom plate rack.
- 3. the system of automatic assembling high-tension switch cabinet according to claim 1, it is characterised in that：The artificial dosing Column cantilever crane and load moving fixture are further included, the column cantilever crane includes column body, rotary joint, cantilevered track and balance Hang, the column body is connected by the rotary joint with the cantilevered track, the cantilevered track and the balance crane phase Connection, the balance crane are connected with the load moving fixture；The load moving fixture includes vacuum cup, workpiece species switching mechanism And gravity center adjusting mechanism, the workpiece species switching mechanism are connected with the vacuum cup, the workpiece species switching mechanism is used In the position and direction for adjusting the vacuum cup, the gravity center adjusting mechanism is used for the center of gravity for adjusting the load moving fixture.
- 4. the system of automatic assembling high-tension switch cabinet according to claim 1, it is characterised in that：The pipeline body bag Driving motor and L-shaped circulation gathering chain are included, the driving motor is used to drive the gathering chain circulation transmission, described to accumulate It is traversing that the corner of chain is disposed with the first rotary module, the first traversing, the second rotary module of jacking and the second jacking.
- 5. the system of automatic assembling high-tension switch cabinet according to claim 1, it is characterised in that：Each pallet is not With being both provided with the positioning pin that is positioned to cabinet parts at position, the position and different cabinets that the positioning pin is set Parts are corresponding；Each tray bottom surface is both provided with order fool proof sensing chip, and the order fool proof sensing chip is in each The position that the tray bottom surface is set is different, and connecing for the order fool proof sensing chip can be sensed by being provided with the jacking positioning Near-induction switchs.
- 6. the system of automatic assembling high-tension switch cabinet according to claim 5, it is characterised in that：On the pipeline body 20 pallets are provided with, are one group per adjacent 5 pallets, pallet described in every group includes a material-saving pallet, described Be provided with material-saving pallet can cross-pair stack and put left back side plate and right lateral side plate, big bent plate, pretectum and back header and bottom plate Positioning pin.
- 7. the system of automatic assembling high-tension switch cabinet according to claim 1, it is characterised in that：The multi-axis robot sheet Body is six-joint robot, and quick change head robot side is provided with and to cabinet parts on six shaft flange faces of the six-joint robot Position take pictures the vision system of positioning compensation, and the transfer installs fixture includes big fixture and small jig, the big fixture With quick change head tool side is both provided with the small jig, pass through the quick change head robot side and the quick change head tool side Switching, which coordinates, realizes being switched fast for the big fixture and the small jig.
- 8. the system of automatic assembling high-tension switch cabinet according to claim 1, it is characterised in that：The turntable with it is described Multi-axis robot Ontology integration connects, and the multi-axis machine human body can control the turntable to be carried out in any plane angle phi Rotation；The nine faces stationary positioned tooling platform includes bottom plate mounting surface, left front side plate mounting surface, left back side plate mounting surface, sinciput Lid mounting surface, back header mounting surface, contact cartridge mounting surface, big bent plate mounting surface, forward right side plate mounting surface, right lateral side plate peace Pipeline is spelled in dress face with total, is provided with and the corresponding positioning pin of cabinet parts on the nine faces stationary positioned tooling platform.
- 9. the system of automatic assembling high-tension switch cabinet according to claim 1, it is characterised in that：Riveting robot sheet Rivet hole positioning vision system is both provided with body and the benefit riveting robot body；The riveting send nailing machine to be sent with the benefit riveting Nailing machine structure is identical, including round tremble disk, directly shakes disk, rivet push-pull mechanism and rivet feeding to position detecting mechanism, the round tremble Disk is connected with the straight shake disk, and rivet reaches the straight shake disk, the straight shake disk in the round tremble disk after vibrations convey It is connected with the rivet push-pull mechanism, the rivet in the straight shake disk is conveyed to the riveting gun by the rivet push-pull mechanism.
- A kind of 10. automatic assembling high pressure of the system of any automatic assembling high-tension switch cabinet in 1-9 according to claim The method of switchgear, it is characterised in that include the following steps：(1) the cabinet parts stored in collection burdening frame are taken out in order and is put into the corresponding pallet of fixed feeding station On；(2) the pipeline body accumulated in pipeline unit conveys pallet, and after being transported to jacking positioning, pallet order is anti- Slow-witted device judges that startup alarm, reason is searched by manpower intervention if being judged as not being when whether front tray is required pallet, if It is judged as YES, then robot installation unit control transfer installs fixture captures nine cabinet parts successively, and is revolved by rotating Nine cabinet parts of crawl, are installed on nine face stationary positioned tooling platforms by turntable successively, form preassembling cabinet；Crawl It is complete after all cabinet parts of front tray, empty pallet continues on to fixed feeding station, waits new circulation to start；After the completion of (3) nine cabinet parts preassemblings, riveting robot is moved to the top that nailing machine is sent in riveting, passes through riveting gun Draw rivet and rivet hole important on preassembling cabinet is riveted in advance in order, preassembling cabinet completes shape after pre- riveting Into semi-finished product cabinet；(4) semi-finished product cabinet fall on it is total spell on cabinet pipeline, then semi-finished product cabinet is offline and transhipment unit in hydraulic lifting Platform rises to and always spells the same height of cabinet pipeline, starts total spelling cabinet pipeline and motorized pulleys transport platform, makes semi-finished product cabinet It is transported in motorized pulleys transport platform；After semi-finished product cabinet being induced by the inductive switch of hydraulic elevator platform in place, hydraulic pressure liter Drop platform drops to cabinet tipper height, and semi-finished product cabinet is transported on cabinet tipper, and then cabinet tipper is overturn 90°；Meanwhile it is mobile and with cabinet tipper contact connectio, conveying mechanism that the semi-finished product cabinet after upset is defeated to shift shuttle It is sent on displacement shuttle；(5) shift shuttle to be delivered to semi-finished product cabinet on the semi-finished product rotary locating stand of robot benefit riveting unit, semi-finished product Rotary locating stand is accurately positioned and is fixed to preassembling cabinet；Then, Bu Mao robots are moved to benefit riveting and send the upper of nailing machine Side, draws rivet by riveting gun and carries out benefit riveting to remaining rivet hole on semi-finished product cabinet, until on semi-finished product cabinet All riveting finishes rivet hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810043553.3A CN107994494A (en) | 2018-01-17 | 2018-01-17 | A kind of system and method for automatic assembling high-tension switch cabinet |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810043553.3A CN107994494A (en) | 2018-01-17 | 2018-01-17 | A kind of system and method for automatic assembling high-tension switch cabinet |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107994494A true CN107994494A (en) | 2018-05-04 |
Family
ID=62040100
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810043553.3A Pending CN107994494A (en) | 2018-01-17 | 2018-01-17 | A kind of system and method for automatic assembling high-tension switch cabinet |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107994494A (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941423A (en) * | 2018-06-12 | 2018-12-07 | 苏州科技大学 | A kind of riveting equipment |
| CN109014741A (en) * | 2018-09-21 | 2018-12-18 | 重庆驰骋轻型汽车部件股份有限公司 | A kind of annular circulation spot welding production line |
| CN109014847A (en) * | 2018-10-17 | 2018-12-18 | 镇江上电电气有限公司 | A kind of switchgear fixtures for rapid assembly |
| CN110000496A (en) * | 2019-02-27 | 2019-07-12 | 李耀熙 | It is a kind of automatically switch positioning welding fixture and its working method |
| CN110076956A (en) * | 2019-05-21 | 2019-08-02 | 深圳市时纬自动化有限公司 | A kind of vehicle body parts injection molding loading and unloading robot and its operating method |
| CN111185750A (en) * | 2020-01-10 | 2020-05-22 | 江苏森蓝智能系统有限公司 | Robot-assisted cabinet splicing mode |
| CN111817190A (en) * | 2020-07-23 | 2020-10-23 | 山东春鹏电气有限公司 | High-low voltage distribution cabinet production and manufacturing assembly, system and method |
| CN112421453A (en) * | 2019-08-20 | 2021-02-26 | 上海永乾机电有限公司 | Special frame assembling machine for centrally installed switchgear body |
| CN113134916A (en) * | 2021-04-23 | 2021-07-20 | 四川建园新型建筑材料有限公司 | Accurate correction process for size of base material of sintered combined wallboard |
| CN113182841A (en) * | 2020-01-14 | 2021-07-30 | 麒盛科技股份有限公司 | Automatic bed plate assembling machine |
| CN113675771A (en) * | 2021-08-20 | 2021-11-19 | 河南省中原智能电气科技有限公司 | Power distribution cabinet assembling and transferring system |
| EP3978206A1 (en) * | 2019-09-24 | 2022-04-06 | Rittal GmbH & Co. KG | Arrangement for the processing of a switchgear cabinet or a flat switchgear part |
| CN114986157A (en) * | 2022-07-21 | 2022-09-02 | 安恒智能科技有限公司 | High-efficient production line of medium voltage switchgear |
| CN118449009A (en) * | 2024-04-29 | 2024-08-06 | 科迅电气有限公司 | High tension switchgear and assembly equipment thereof |
| CN118539333A (en) * | 2024-07-01 | 2024-08-23 | 兴化市佳辉电力器具有限公司 | Automatic assembling device for high-voltage power distribution cabinet |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001150252A (en) * | 1999-11-25 | 2001-06-05 | Daihatsu Motor Co Ltd | Line for machining and assembling work |
| JP2003151025A (en) * | 2001-11-19 | 2003-05-23 | Fuji Electric Co Ltd | Assembly device of serpentine type commodity housing rack |
| CN204195765U (en) * | 2014-10-28 | 2015-03-11 | 上海思尔特机器人科技有限公司 | Door-plate polishing machine workstation |
| CN204315983U (en) * | 2014-12-23 | 2015-05-06 | 四川通控电器有限责任公司 | For the assisting overturn device that cabinet is assembled |
| CN105466336A (en) * | 2015-12-25 | 2016-04-06 | 格兰达技术（深圳）有限公司 | Metal plate visual detection machine applicable to industrial production and detection method for same |
| CN107159835A (en) * | 2017-05-18 | 2017-09-15 | 杭州新松机器人自动化有限公司 | A kind of automatic nut riveting device |
| CN207853292U (en) * | 2018-01-17 | 2018-09-11 | 宁夏力成电气集团有限公司 | A kind of system of automatic assembling high-tension switch cabinet |
-
2018
- 2018-01-17 CN CN201810043553.3A patent/CN107994494A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001150252A (en) * | 1999-11-25 | 2001-06-05 | Daihatsu Motor Co Ltd | Line for machining and assembling work |
| JP2003151025A (en) * | 2001-11-19 | 2003-05-23 | Fuji Electric Co Ltd | Assembly device of serpentine type commodity housing rack |
| CN204195765U (en) * | 2014-10-28 | 2015-03-11 | 上海思尔特机器人科技有限公司 | Door-plate polishing machine workstation |
| CN204315983U (en) * | 2014-12-23 | 2015-05-06 | 四川通控电器有限责任公司 | For the assisting overturn device that cabinet is assembled |
| CN105466336A (en) * | 2015-12-25 | 2016-04-06 | 格兰达技术（深圳）有限公司 | Metal plate visual detection machine applicable to industrial production and detection method for same |
| CN107159835A (en) * | 2017-05-18 | 2017-09-15 | 杭州新松机器人自动化有限公司 | A kind of automatic nut riveting device |
| CN207853292U (en) * | 2018-01-17 | 2018-09-11 | 宁夏力成电气集团有限公司 | A kind of system of automatic assembling high-tension switch cabinet |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108941423A (en) * | 2018-06-12 | 2018-12-07 | 苏州科技大学 | A kind of riveting equipment |
| CN108941423B (en) * | 2018-06-12 | 2023-09-29 | 苏州科技大学 | Riveting equipment |
| CN109014741A (en) * | 2018-09-21 | 2018-12-18 | 重庆驰骋轻型汽车部件股份有限公司 | A kind of annular circulation spot welding production line |
| CN109014847A (en) * | 2018-10-17 | 2018-12-18 | 镇江上电电气有限公司 | A kind of switchgear fixtures for rapid assembly |
| CN109014847B (en) * | 2018-10-17 | 2020-04-07 | 镇江上电电气有限公司 | Cubical switchboard rapid Assembly frock |
| CN110000496A (en) * | 2019-02-27 | 2019-07-12 | 李耀熙 | It is a kind of automatically switch positioning welding fixture and its working method |
| CN110076956A (en) * | 2019-05-21 | 2019-08-02 | 深圳市时纬自动化有限公司 | A kind of vehicle body parts injection molding loading and unloading robot and its operating method |
| CN112421453A (en) * | 2019-08-20 | 2021-02-26 | 上海永乾机电有限公司 | Special frame assembling machine for centrally installed switchgear body |
| EP3978206A1 (en) * | 2019-09-24 | 2022-04-06 | Rittal GmbH & Co. KG | Arrangement for the processing of a switchgear cabinet or a flat switchgear part |
| CN111185750A (en) * | 2020-01-10 | 2020-05-22 | 江苏森蓝智能系统有限公司 | Robot-assisted cabinet splicing mode |
| CN113182841A (en) * | 2020-01-14 | 2021-07-30 | 麒盛科技股份有限公司 | Automatic bed plate assembling machine |
| CN111817190A (en) * | 2020-07-23 | 2020-10-23 | 山东春鹏电气有限公司 | High-low voltage distribution cabinet production and manufacturing assembly, system and method |
| CN113134916A (en) * | 2021-04-23 | 2021-07-20 | 四川建园新型建筑材料有限公司 | Accurate correction process for size of base material of sintered combined wallboard |
| CN113675771A (en) * | 2021-08-20 | 2021-11-19 | 河南省中原智能电气科技有限公司 | Power distribution cabinet assembling and transferring system |
| CN113675771B (en) * | 2021-08-20 | 2024-04-09 | 河南省中原智能电气科技有限公司 | Power distribution cabinet assembling and transferring system |
| CN114986157A (en) * | 2022-07-21 | 2022-09-02 | 安恒智能科技有限公司 | High-efficient production line of medium voltage switchgear |
| CN118449009A (en) * | 2024-04-29 | 2024-08-06 | 科迅电气有限公司 | High tension switchgear and assembly equipment thereof |
| CN118539333A (en) * | 2024-07-01 | 2024-08-23 | 兴化市佳辉电力器具有限公司 | Automatic assembling device for high-voltage power distribution cabinet |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107994494A (en) | A kind of system and method for automatic assembling high-tension switch cabinet | |
| KR102013447B1 (en) | Apparatus for ejecting and transferring workpiece | |
| CN101858387B (en) | Assembly line for automobile first-generation hub bearing | |
| CN108063277B (en) | Assembly line for assembling power battery module assembly PACK | |
| CN209038610U (en) | A kind of automotive hub robot palletized unit | |
| CN207853292U (en) | A kind of system of automatic assembling high-tension switch cabinet | |
| CN208103189U (en) | Voice coil motor automatic detection device | |
| US20230143983A1 (en) | Loading equipment and conveying system for tank track moving support | |
| CN108974825B (en) | Automatic feeding and discharging system suitable for function testing equipment | |
| CN107046147A (en) | The complete automatic double surface gluer and coating technique of new-energy automobile assembled battery | |
| US20130017052A1 (en) | Apparatus and Method for the Stacking of Stackable Parts | |
| CN112041112A (en) | Assembly welding or splicing production line for automobile body-in-white components | |
| CN117862067B (en) | Visual detection unit and automatic feeding and discharging clean detection production line for word line | |
| CN114346453B (en) | Full-automatic laser marking device for Z bearing cylindrical surface | |
| CN114670406A (en) | Fan impeller intelligent detection equipment | |
| CN206742416U (en) | The complete automatic double surface gluer of new-energy automobile assembled battery | |
| CN209009568U (en) | Pallet conveying and switching system on a kind of automatic assembly line | |
| CN201705819U (en) | Automobile first-generation hub bearing assembly line | |
| CN114918585B (en) | Welding system for pallet fork fixture of carrier | |
| CN217229431U (en) | Test string machine and test system | |
| CN216335291U (en) | Feeding and discharging mechanism for material tray | |
| CN110342255B (en) | Board splitting and testing butt joint transplanting equipment for PCBA (printed circuit board assembly) | |
| CN110360969B (en) | Online intelligent detection machine | |
| CN112243400B (en) | Pallet system for storing and transporting pallets for machine tools | |
| CN112027552A (en) | Robot training system for wireless charger processing |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| AD01 | Patent right deemed abandoned |
Effective date of abandoning: 20240517 |
|
| AD01 | Patent right deemed abandoned |