CN108526851B - Valve coordinated assemble method - Google Patents
Valve coordinated assemble method Download PDFInfo
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- CN108526851B CN108526851B CN201810319429.5A CN201810319429A CN108526851B CN 108526851 B CN108526851 B CN 108526851B CN 201810319429 A CN201810319429 A CN 201810319429A CN 108526851 B CN108526851 B CN 108526851B
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- conveyer belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/02—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for connecting objects by press fit or for detaching same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts
- B23P19/06—Screw or nut setting or loosening machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Automatic Assembly (AREA)
Abstract
The present invention relates to valve coordinated assemble methods, it includes rack, it is arranged on the rack and is used to transmit the line conveyor system of electromagnetic valve component, first package system of line conveyor system side is set, the line conveyor system other side and the second package system with the first package system procedure connection are set, at least two are separately positioned on line conveyor system side and respectively to the accessory auxiliary machinery hand of the first package system and the second package system transmission bolt and positioning pin, at least two are separately positioned on line conveyor system side and for the bolt that corresponding accessory auxiliary machinery hand transmits to be mounted on rotation work on the electromagnetic valve component of the first package system or the second package system into machine.The present invention has rational design, compact-sized and easy to use.
Description
Technical field
The present invention relates to valve coordinated assemble methods.
Background technique
As Chinese labour force cost accelerates the needs of rise and business economic structural adjustment, industrial upgrading and optimization, very
Mostly private, medium-sized and small enterprises have gradually been fully recognized that the advantage of intelligent industrial equipment, and have used intelligence machine list
Metasystem replaces traditional artificial realizing effective operation in carrying, welding, processing and other fields.But the general intelligent machine of current main-stream
The opposite application of the design of device unit and application is more single and simple, in face of the nonstandard parasexuality production process and multiplicity of the traditional forms of enterprises
The substitution demand of change is simultaneously unable to satisfy, caused by the intelligence machine unit excess capacity thus occurred and intelligent Application deficiency
Contrast is got worse.Intelligence machine unit cooperation how is efficiently used, realizes the complete real-time prison for being detached from staff
Pipe, constantly reducing multimachine coordination application cost and expanding it becomes technology urgently to be solved to the compatibility of nonstandardized technique production
Problem.
With intelligence machine unit in various production fields using more more and more universal, intelligence machine unit gradually at
For a standard block in industrial automation production system, this has become the development trend of modern production.It is current to be directed to list
The technologies such as the track operation of platform intelligence machine unit, Torque Control, teaching simulation are quite mature, therefore how by more machines
How unit coordination effectively solves current machine and substitutes the technical issues of faced, and how multi-brand machine unit is coordinated
Fit applications become technical problem urgently to be solved.
Intelligence machine unit group work compound is to improve machine unit system space operational capacity, load capacity, reliability
And the effective way in extended operation space.Many achievements are achieved in theoretical and technology by years of researches exploitation,
These theoretical and technologies are also applied in some occasions, but still remain some problems in research and application: 1) at present
Research and application grabbed, carried based on rigid body jointly with track planning of dual robots unit mostly, although there are many theoretical question can visit
Beg for, but these operations can not constitutionally embody machine unit coordinate superiority.In principle, as long as individual machine unit
Load capacity is sufficiently large, and operating space is wide enough, so that it may the crawl and handling work of competent super large, overweight rigid objects.More
Such as related multi peg-in-hole of more operations, Spatial distributions Edge track, elastomer operation are that individual machine unit at all can not be complete
At, undoubtedly track planning of dual robots unit can more show its strong point in these operations.2) the machine unit system used in research field
The experimental provision that system is much a simplified, greatly differs from each other with practical intelligence machine unit.It is proposed for such system
Planing method, control strategy are not suitable for ready-made intelligence machine cellular system mostly.
Summary of the invention
For above content, the technical problems to be solved by the invention be generally speaking to provide it is a kind of design rationally, cost
It is cheap, durable, safe and reliable, easy to operate, time saving and energy saving, save fund, compact-sized and valve easy to use association
With cooperation assemble method；The technical issues of solving in detail and acquirement beneficial effect in aftermentioned content and combine specific embodiment party
Content specifically describes in formula.
To solve the above problems, the technical solution used in the present invention is:
A kind of valve coordinated assemble method assembles in valve coordinated assembly line, and valve collaboration is matched
Be combined assembling production lines include rack, be arranged on the rack and for transmit electromagnetic valve component line conveyor system, setting exist
First package system of line conveyor system side, setting the line conveyor system other side and with the first package system work
Second package system of sequence linking, at least two are separately positioned on line conveyor system side and respectively to the first package system
Line conveyor system is separately positioned on the accessory auxiliary machinery hand of the second package system transmission bolt and positioning pin, at least two
Unify side and for the bolt that corresponding accessory auxiliary machinery hand transmits to be mounted on the first package system or the second package system
Electromagnetic valve component on rotation work into machine, at least two be separately positioned on line conveyor system side and for will be corresponding
Under the positioning pin of accessory auxiliary machinery hand transmission is mounted on the electromagnetic valve component of the first package system or the second package system
Press work into machine.This approach includes the following steps,
Step 1, firstly, electromagnetic valve component is placed on linear feeding conveyer belt by manipulator or conveyer belt, straight line
Infeed conveyor drives electromagnetic valve component to move ahead；Then, when first electromagnetic valve component reaches conveyer belt the first crosswise pushing gas
When at cylinder, conveyer belt the first crosswise pushing cylinder stretches out；When second electromagnetic valve component reaches conveyer belt limit lateral cylinder
Place, conveyer belt limit lateral cylinder and stretch out；When third electromagnetic valve component reaches at conveyer belt gear lateral cylinder, conveyer belt is kept off
Position lateral cylinder stretches out, and third and the electromagnetic valve component after it are located on rear side of conveyer belt gear lateral cylinder；
Step 2, firstly, first electromagnetic valve component is pushed to the first swing bottom by conveyer belt the first crosswise pushing cylinder
On seat；Then, the position that first electromagnetic valve component is adjusted by cylinder, until first electromagnetic valve component is horizontal with first simultaneously
Side limit plate is contacted with the first right side to limit plate positioning forward；Secondly, the first vertical push-down head passes through the first vertical downlink pressure
Plate pushes first electromagnetic valve component, swings numerical-control motor by first and swings, the screw hole of first electromagnetic valve component and positioning
Pin hole is concentric；Again, accessory auxiliary machinery hand successively send positioning pin and at least two bolts to first electromagnetic valve component
In dowel hole and screw hole；In next step, it pushes work and positioning pin is pressed into dowel hole into machine, rotation work is into machine by least two
Bolt is screw into screw hole；Finally, first electromagnetic valve component is sent back on linear feeding conveyer belt by cylinder；
Step 3 laterally pushes away firstly, first electromagnetic valve component is sent to forward conveyer belt second by linear feeding conveyer belt
It supplies gas at cylinder；Meanwhile second electromagnetic valve component is sent in the first package system and repeats step 2；Then, conveyer belt second is horizontal
First electromagnetic valve component is pushed to the second package system to push cylinder second swings on pedestal；Secondly, the second assembling
System positions first electromagnetic valve component；Again, accessory auxiliary machinery hand successively send remaining bolt to first
In the remaining screw hole of electromagnetic valve component；In next step, bolt is screw into corresponding screw hole by rotation work into machine；Finally, passing through gas
Cylinder sends back to first electromagnetic valve component on linear feeding conveyer belt, first electricity that linear feeding conveyer belt finishes assembling
Electromagnetic valve component output.
Application study of the present invention will greatly promote the application level of intelligence machine unit, and be conducive to integrate industrial economy
The contradiction that the diversified demand and high-end technology of body disconnect has significant society's warp to industrial whole industrial automation level
Ji meaning.
The system that multimachine device cellular system is made of multiple machine units (manipulator, module, system, lathe etc.), it
Not multiple machine units are simply gathered, the organic assembling of multiple machine units.Machine unit in system is not only
It is an independent individual, even more in system a member.The architecture of multimachine device cellular system refers to each in system
Logically and physically there is informational linkages and control planning between machine unit, are realized by master control industrial computer comprehensive
Control is closed, is the top part of multimachine device cellular system, it determines multimachine device cellular system in Task-decomposing, distribution, rule
It draws, the operating mechanism during decision and execution etc., the role that each machine unit individual in system is taken on is that equality is autonomous
Mutual reciprocity and mutual benefit formula cooperation relation, more machine unit Cooperation controllings are realized by master control link and parallel data central link, therefore
The superiority and inferiority of its architecture determines the global behavior and whole capability of system.
The system includes the information such as all tasks, environment, controlled machine unit, can be calculated with planning algorithm, optimization
Method is decomposed task and is distributed, and order can be issued to each controlled machine unit, can combine multiple machine unit associations
Make completion task, other machine units in system only carry out information exchange with host machine unit.Centralized configuration requires master
Controlling machine unit has stronger planning processing capacity, has the characteristics that control is simple, is likely to be obtained global optimum's planning.Distribution
In formula structure, there is no host machine unit, the relationship between all machine units is all equality, each equal energy of machine unit
Information interchange is carried out by the means such as communication and other machine units, automatically carries out decision.In distributed frame, Mei Geji
Device unit all has higher level of intelligence, is able to carry out and makes decisions on one's own.Therefore, system adapts to external environment variation, completes again
The ability of miscellaneous task is stronger, and the fault-tolerance of system, reliability, concurrency, scalability etc. are superior to the more of centralized configuration
Machine unit system.Shown in the two is together in parallel by this system, there are a master control systems, it has systematic Complete Information,
And it is able to carry out Global motion planning and decision, other machine units in system can carry out information exchange with host machine unit,
Information exchange can be carried out with other machine units again, although not having the Complete Information of system, have and carry out sector planning
With the ability of decision.Under normal circumstances, the planning of machine unit system and decision are independently completed by each machine unit, only
Under specific condition, global planning and decision are just carried out by host machine unit.Therefore, the system knot of multimachine device cellular system
Structure has merged the advantages of centralized configuration and distributed frame, has stronger vigor, is adapted to dynamic, complex environment.
In more machine unit Partial global planning systems, the communication mode between machine unit can be divided into explicit communication and
Two classes of implicit communication.The communication mode that information interchange is directly carried out between machine unit is known as explicit communication, and machine unit passes through
The communication mode that environment carrys out the information of other machine units in acquisition system is known as implicit communication.Implicit communication mode can divide again
For actively implicit communication and passive implicit communication.Passively implicit communication refers in the multimachine device cellular system of no explicit communication,
Machine unit passively perceives the variation of environment using sensor, and according to the reasoning inside machine unit, it is to understand that model obtains
Take the information such as distance, the orientation of other machine units, and according to these information carry out corresponding decision with cooperate, be a kind of base
In the communication mode of sensor information.Actively implicit communication refers to that in multimachine device cellular system, each machine unit can lead to
It crosses certain mode and leaves certain specific information progress information transmitting in the environment, machine unit is obtained outer by sensory perceptual system
While boundary's environmental information, it is also possible to obtain other machine units and leave certain specific informations in the environment.
The imformosome of this system integrated application multiple channel constitutes mixed communication link, is supervised in real time using C# software development
End is controlled, to the communication issue of more machine unit cooperative systems, the communication protocol of requirement of real-time, communication mode, network topology knot
Structure etc. has carried out the optimization of theory and practice, and machine unit system of the present invention puts forth effort on the inference mechanism to affiliate's behavior,
Relevant information communication control strategy is obtained, machine unit is made to remain to complete given task in complex condition.
This project is by the existing ABB intelligence machine unit in Binding experiment room as the intelligence machine unit group work compound system
The development object of system is cooperateed with by the cooperation of Industrial Computer Control system with establishing intelligence machine unit group in assembling line
Control.Feedback data such as related photoelectric sensor, video sensor, rotary encoder and real-time are acquired by computer serial port
Display, storage, to the analysis of storing data mirror curve, curve printing, trend evaluation etc..Its communication speed is deposited up to 100M/s
It can set within the disk period 0.1-60 seconds, calibrate timing error automatically.Sensory perceptual system design concept is progressive from simple to complexity, first
Test separate unit ABB intelligence machine unit control characteristic, be further added by after test is met the requirements an ABB intelligence machine unit into
The control of row Coordinative assembling is tested, and simultaneity factor reserves the performance test interface of more intelligence machine units in software section, is
More intelligence machine unit groups are configured in the future to allow some leeway.
The main innovation point of this system is to be embedded using the huge sensor and communication data collected by software systems
Multiple autonomous systems realize parallel data acquisition and processing, realize efficient, quick point using the data administrator of special efficient
It is controlled with storage location, in real time to each stand-alone machine cell cube.
Beneficial effects of the present invention description without being limited thereto, in order to preferably be easy to understand, specific embodiment part into
More preferably detailed description is gone.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that the present invention overlooks.
Fig. 2 is the structural schematic diagram at three-dimensional first visual angle of the invention.
Fig. 3 is the structural schematic diagram at three-dimensional second visual angle of the invention.
Fig. 4 is the structural schematic diagram at three-dimensional third visual angle of the invention.
Fig. 5 is the structural schematic diagram of the first package system of the invention.
Fig. 6 is the structural schematic diagram at first the first visual angle of package system of the invention.
Fig. 7 is the structural schematic diagram at first the second visual angle of package system of the invention.
Fig. 8 is the structural schematic diagram of the second package system of the invention.
Fig. 9 is the structural schematic diagram of accessory auxiliary machinery hand of the present invention.
Figure 10 is the structural schematic diagram at second the second visual angle of package system of the invention.
Figure 11 is the structural schematic diagram at the second package system third visual angle of the invention.
Figure 12 is control framework schematic diagram of the invention.
Wherein: 1, electromagnetic valve component；2, the first package system；3, the second package system；4, line conveyor system；5, match
Part auxiliary machinery hand；6, work is rotated into machine；7, work is pushed into machine；8, conveyer belt servo motor；9, conveyer belt drive roll；10, it passes
Band cornerite is sent to adjust roller；11, linear feeding conveyer belt；12, conveyer belt feed end；13, conveyer belt side guard plate；14, conveyer belt bottom
Fagging；15, conveyer belt gear lateral cylinder；16, conveyer belt limits lateral cylinder；17, the first crosswise pushing of conveyer belt cylinder；
18, conveyer belt crosswise pushing L push plate；19, L push plate fillet surface；20, the second crosswise pushing of conveyer belt cylinder；21, the first fixed machine
Frame；22, first numerical-control motor is swung；23, first driven shaft is swung；24, the first electromagnetic clutch；25, first induction rod is swung；
26, the first swing angle Hall sensor；27, first pedestal is swung；28, first cylinder is returned to；29, the first lateral back side limit
Plate；30, the first left side is to cylinder；31, nylon head is pushed；32, the first left side is to limit plate；33, the first right side is to cylinder；34,
To limit plate on the right side of in the of first；35, limit plate inclined-plane；36, the first lateral front side limit plate；37, first it is vertically directed bar；38,
One vertical buffer spring；39, the first vertical downlink pressing plate；40, the first vertical limit crossbearer；41, the first laterally steering cylinder；42,
First vertical lower air cylinder；43, the first vertical push-down head；44, the first vertical screw hole probe；45, the first vertical pin hole probe；
46, the first lateral pin hole probe；47, the second vertical pin hole probe；48, auxiliary framework；49, lateral straight line cylinder is assisted；50, auxiliary
Help vertical rotation motor；51, secondary straight line cylinder is assisted；52, full wind-up is assisted；53, auxiliary clamping finger.
Specific embodiment
As shown in figs. 1-12, the valve coordinated assembly line of the present embodiment, including rack, be arranged on the rack and
The first package system for transmitting the line conveyor system 4 of electromagnetic valve component 1,4 side of line conveyor system being arranged in
2, be arranged in 4 other side of line conveyor system and with the second package system 3 of 2 procedure connection of the first package system, at least two
It is a be separately positioned on 4 side of line conveyor system and respectively to the first package system 2 and the second package system 3 transmission bolt and
The accessory auxiliary machinery hand 5, at least two of positioning pin is separately positioned on 4 side of line conveyor system and for matching corresponding
The bolt that part auxiliary machinery hand 5 transmits is mounted on the rotation on the electromagnetic valve component of the first package system 2 or the second package system 3
Work is separately positioned on 4 side of line conveyor system into machine 6, at least two and is used to pass in corresponding accessory auxiliary machinery hand 5
The positioning pin sent is mounted on the pushing work on the electromagnetic valve component of the first package system 2 or the second package system 3 into machine 7.
Line conveyor system 4 includes that the conveyer belt servo motor 8 being arranged on the rack and conveyer belt servo motor 8 pass
The conveyer belt drive roll 9 of dynamic connection, conveyer belt cornerite the adjustment roller 10, descender for being arranged in parallel in 9 two sides of conveyer belt drive roll
Lease making crosses the linear feeding conveyer belt 11 of conveyer belt cornerite adjustment roller 10 and conveyer belt drive roll 9, setting is transmitted in linear feeding
Conveyer belt feed end 12, two with 11 longitudinal one end are symmetricly set on the conveyer belt side of 11 both lateral sides of linear feeding conveyer belt
The conveyer belt bottom bracing plate between two conveyer belt side guard plates 13 and being located at below linear feeding conveyer belt 11 is arranged in backplate 13
14, the conveyer belt gear lateral cylinder 15 at conveyer belt feed end 12 is set, is arranged before conveyer belt gear lateral cylinder 15
Side and the conveyer belt for being located at 11 side of linear feeding conveyer belt limit lateral cylinder 16, setting and limit lateral cylinder 16 in conveyer belt
Front and be located at 11 side of linear feeding conveyer belt and conveyer belt corresponding with the first package system 2 first crosswise pushing cylinder
17, the conveyer belt crosswise pushing L push plate 18 of 17 piston rod end of the first crosswise pushing of conveyer belt cylinder is set, setting is transmitting
L push plate fillet surface 19 with 18 end of crosswise pushing L push plate and setting in the front of the first crosswise pushing of conveyer belt cylinder 17 and
Positioned at 11 side of linear feeding conveyer belt and second crosswise pushing of conveyer belt corresponding with the second package system 3 cylinder 20.
First package system 2 includes being arranged on the rack and being located at 11 other side of linear feeding conveyer belt and and linear transmission
Corresponding first fixed frame 21 of the first crosswise pushing of conveyer belt cylinder 17 with system 4 is arranged on the first fixed frame 21
First swing numerical-control motor 22, numerical-control motor 22 is sequentially connected first is swung with first swing driven shaft 23, setting the
One swing driven shaft 23 on the first electromagnetic clutch 24, be arranged in first swing 23 one end of driven shaft the first rocking sensation answer
Bar 25 is arranged on the first fixed frame 21 and for incuding the first the first swing angle Hall sensor for swinging induction rod 25
26, with first swing driven shaft 23 be keyed first swing pedestal 27, be horizontally installed on the first fixed frame 21 and for will
What electromagnetic valve component 1 was back on linear feeding conveyer belt 11 from the first swing pedestal 27 first returns to cylinder 28, setting the
One swings on pedestal 27 and is used for the first lateral back side limit plate 29 to the lateral back side limit of electromagnetic valve component 1, is symmetrical arranged
First swing on pedestal 27 and for the first of 1 longitudinal spacing of electromagnetic valve component the left side on the right side of limit plate 32 and first to
Limit plate 34 is arranged on front side of the first transverse direction on the first swing pedestal 27 and for limiting to the lateral front of electromagnetic valve component 1
Limit plate 36, longitudinal direction and be symmetricly set on 27 two sides of the first swing pedestal and be respectively provided with push nylon head 31 first left side to
Cylinder 30 and the first right side to cylinder 33, limit plate inclined-plane 35, at least four on front side of the first transverse direction on limit plate 36 is set
First be vertically arranged on the first swing pedestal 27 is vertically directed bar 37, up and down setting is vertically directed on bar 37 first
The first vertical downlink pressing plate 39, be sleeved on first and be vertically directed on bar 37 and be located at the first vertical downlink pressing plate 39 and put with first
It moves the first vertical buffer spring 38 between pedestal 27, the first the first vertical limit crossbearer for being vertically directed 37 upper end of bar is set
40, the first laterally steering cylinder 41 of 21 top of the first fixed frame is set, is arranged in 41 piston of the first laterally steering cylinder
The vertical lower air cylinder 42 of the first of rod end head and the first vertical push-down head that the first vertical 42 lower end of lower air cylinder is set
43；
Second package system 3 is identical as 2 structure of the first package system.
First package system 2 further includes being arranged on the first vertical downlink pressing plate and for detecting the positioning of electromagnetic valve component 1
The vertical pin hole probe 45 of the first of pin hole concentricity is arranged on the first vertical downlink pressing plate and for detecting electromagnetic valve component 1
The vertical screw hole probe 44 of the first of bolt hole concentricity and setting are on the first vertical downlink pressing plate and for detecting solenoid valve
Component 1 assembles the first lateral pin hole probe 46 in final position；
The second vertical pin for detecting 1 dowel hole concentricity of electromagnetic valve component is provided on the second package system 3
Hole probe 47.
Accessory auxiliary machinery hand 5 includes the auxiliary framework 48 being arranged on the rack, is horizontally set on auxiliary framework 48
It assists lateral straight line cylinder 49, be vertically arranged in the vertical rotation motor 50 of auxiliary, the root for assisting 49 cantilever end of lateral straight line cylinder
Portion, which is arranged in, to be assisted the auxiliary pair straight line cylinder 51 of vertical 50 upper end of rotation motor, is horizontally set on 51 end of the secondary straight line cylinder of auxiliary
The auxiliary full wind-up 52 in portion and the auxiliary clamping finger 53 that auxiliary 52 end of full wind-up is set.
Rotation work includes that the manipulator being arranged on the rack, setting rotation motor on a robotic arm, setting exist into machine 6
Rotation motor output shaft end and with magnetic interior six square socket；It includes being arranged on the rack down to calm the anger that work, which is pushed, into machine 7
Cylinder and setting are in lower air cylinder piston head lower end and with magnetic briquetting.
It further include coordinated system；Coordinated system includes
Main control computer passes through Internet of Things and upstream and downstream work as the middle control center of valve coordinated assembly line
The linking of sequence；Also by master control link respectively with the transport processor of line conveyor system 4, the first package system 2 first
Assemble the second assembling processor, the four-degree-of-freedom processor of accessory auxiliary machinery hand 5, accessory of processor, the second package system 3
Auxiliary rotation work is connected into the digital controlled rotary workpiece processor of machine 6 and the numerical control press processor communication of pushing work into machine 7；
Transport processor, output end are electrically connected with the transfer control of control conveyer belt servo motor 8, input terminal electricity
It is connected with the loading and unloading optoelectronic switch for being separately positioned on the discharge end of conveyer belt feed end 12 and linear feeding conveyer belt 11；Its is defeated
Outlet is also electrically connected the gear controller of control conveyer belt gear lateral cylinder 15 and control conveyer belt limits laterally
The limit controller of cylinder 16；Whether its input terminal has also been electrically connected has at conveyer belt gear lateral cylinder 15 for detecting
The gear optoelectronic switch of electromagnetic valve component 1 and for detect conveyer belt limit lateral cylinder 16 at whether have electromagnetic valve component 1
Limiting photoelectric switch；
First assembling processor, is communicated to connect by data transfer and transport processor, the first assembling processor its
Output end is electrically connected with the first push controller for controlling the first crosswise pushing of conveyer belt cylinder 17, first returns for controlling
The first of air return cylinder 28 returns to controller and the first swing angle for controlling the first swing 22 swing angle of numerical-control motor
Controller；
First assembling its input terminal of processor be electrically connected with for detect at the first crosswise pushing of conveyer belt cylinder 17 whether
There is the first push optoelectronic switch of electromagnetic valve component 1, return to whether have the of electromagnetic valve component 1 at cylinder 28 for detect first
One return optoelectronic switch swings Hall sensor, for detecting for feeding back the first of the first swing 23 swing angle of driven shaft
Electromagnetic valve component 1 assemble fastening position first longitudinal direction assembling screw hole probe, for detect electromagnetic valve component 1 assemble it is vertically oriented
The first longitudinal direction of position assembles positioning pin probe；
First assembling processor its be electrically connected with for controlling the first left side to the right side of cylinder 30, first to cylinder 33, the
One or three coordinated controller of one laterally steering cylinder 41 and the first vertical lower air cylinder 42；One or three coordinated controller is electrically connected
It is connected to the one or the three coordinate optoelectronic switch for swinging position on pedestal 27 first for detecting electromagnetic valve component 1；
Second assembling processor is identical as the first assembling processor model, logical by data transfer and transport processor
Letter connection；
Second assembling its output end of processor is electrically connected with second for controlling the second crosswise pushing of conveyer belt cylinder 20
Push controller, second for control the second package system 3 return to the second push controller of cylinder and for control the
Two swing the second swing angle controller of numerical-control motor swing angle；
Second assembling its input terminal of processor be electrically connected with for detect at the second crosswise pushing of conveyer belt cylinder 20 whether
There is the second push optoelectronic switch of electromagnetic valve component 1, whether have the second of electromagnetic valve component 1 at the second return cylinder for detecting
Return optoelectronic switch, second for feeding back the second package system 3 swing the second of driven shaft swing angle and swing hall sensing
Device and the second longitudinal direction that vertically oriented position is assembled for detecting electromagnetic valve component 1 assemble positioning pin probe；
Second assembling processor its be electrically connected with for controlling the second left side to cylinder, the second right side to cylinder, second horizontal
To the two or three coordinated controller of guide cylinder and the second vertical lower air cylinder；Two or three coordinated controller, which is electrically connected with, to be used for
Detect the two or the three coordinate optoelectronic switch that electromagnetic valve component 1 swings position on pedestal second；
Four-degree-of-freedom processor is electrically connected with four-degree-of-freedom optoelectronic switch；Four-degree-of-freedom processor is electrically connected with accessory auxiliary
Mechanical hand 5.
The coordinated assemble method of the present embodiment, this approach includes the following steps,
Step 1, firstly, electromagnetic valve component 1 is placed on linear feeding conveyer belt 11 by manipulator or conveyer belt,
Linear feeding conveyer belt 11 drives electromagnetic valve component 1 to move ahead；Then, when first electromagnetic valve component 1 reaches the first cross of conveyer belt
When to push cylinder 17, the first crosswise pushing of conveyer belt cylinder 17 stretches out；When second electromagnetic valve component 1 reaches conveyer belt
It limits at lateral cylinder 16, conveyer belt limits lateral cylinder 16 and stretches out；When third electromagnetic valve component 1 reaches conveyer belt gear cross
To at cylinder 15, conveyer belt gear lateral cylinder 15 stretches out, and third and the electromagnetic valve component 1 after it are located at conveyer belt gear
15 rear side of position lateral cylinder；
Step 2, firstly, first electromagnetic valve component 1 is pushed to the first swing by the first crosswise pushing of conveyer belt cylinder 17
On pedestal 27；Then, by cylinder adjust first electromagnetic valve component 1 position, until first electromagnetic valve component 1 simultaneously with
First lateral front side limit plate 36 is contacted with the first right side to the positioning of limit plate 34；Secondly, the first vertical push-down head 43 passes through the
One vertical downlink pressing plate 39 pushes first electromagnetic valve component 1, swings numerical-control motor 22 by first and swings, first solenoid valve
The screw hole of component 1 and dowel hole are concentric；Again, accessory auxiliary machinery hand 5 by positioning pin and at least two bolts successively send to
In the dowel hole and screw hole of first electromagnetic valve component 1；In next step, it pushes work and positioning pin is pressed into dowel hole into machine 7,
At least two bolts are screw into screw hole by rotation work into machine 6；Finally, first electromagnetic valve component 1 is sent back to by cylinder
On linear feeding conveyer belt 11；
Step 3, firstly, first electromagnetic valve component 1 is sent to forward conveyer belt second laterally by linear feeding conveyer belt 11
At push cylinder 20；Meanwhile second electromagnetic valve component 1 is sent in the first package system 2 and repeats step 2；Then, conveyer belt
First electromagnetic valve component 1 is pushed on the second swing pedestal of the second package system 3 by the second crosswise pushing cylinder 20；Its
Secondary, the second package system 3 positions first electromagnetic valve component 1；Again, accessory auxiliary machinery hand 5 is by remaining bolt
It successively send into the remaining screw hole of first electromagnetic valve component 1；In next step, bolt is screw into corresponding spiral shell into machine 6 by rotation work
In hole；Finally, first electromagnetic valve component 1 is sent back on linear feeding conveyer belt 11 by cylinder, linear feeding conveyer belt
11 export first electromagnetic valve component 1 that assembling finishes.
In details of the present invention, the combination of roller 10 is adjusted by conveyer belt drive roll 9, conveyer belt cornerite and improves conveyer belt drive roll
9 reduce friction, save space, reduce occupied area with conveyer belt contact surface, increase cornerite.Conveyer belt side guard plate 13 is realized fixed
Position；Conveyer belt bottom bracing plate 14 plays Auxiliary support；Push and limit are played the role of in conveyer belt crosswise pushing L push plate 18, limit
Plate inclined-plane 35, L push plate fillet surface 19 facilitate insertion, and the first swing numerical-control motor 22 is easy to adjust；First electromagnetic clutch 24 is adjusted
Section is convenient, and first swings induction rod 25, the detection of 26 angle of the first swing angle Hall sensor, and first swings pedestal 27 as branch
Support, first returns to the left side of cylinder 28, first to the 30, first right side of cylinder to the lateral back side limit plate 29, first of cylinder 33, first
To the 32, first right side of limit plate to limit plate 34, first, laterally front side limit plate 36 facilitates positioning detent in left side；Push nylon head
31 avoid defective work piece, and first is vertically directed bar 37, the first vertical 38 buffer-oriented of buffer spring.
Probe induction detection realizes that positioning finger setting fastens in advance with two bolts by the first system, passes through the second system
System centering alignment pin position, realizes the installation to remaining bolt, the fastening to all bolts.Improvement effect.
The present invention preferably passes through positioning and fastening separating treatment, improves packaging efficiency.The present invention has rational design, at low cost
It is honest and clean, durable, safe and reliable, easy to operate, time saving and energy saving, save fund, compact-sized and easy to use.
It is to disclose in order to more clear, and just do not illustrating one by one for the prior art that the present invention, which fully describes,.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify to technical solution documented by previous embodiment or equivalent replacement of some of the technical features；Make
It is obvious for being combined for those skilled in the art to multiple technical solutions of the invention.And these are modified or replace
It changes, the spirit and scope for technical solution of the embodiment of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (5)
1. a kind of valve coordinated assemble method, it is characterised in that: carry out group by means of valve coordinated assembly line
Dress, which includes rack, is arranged on the rack and the straight line for transmitting electromagnetic valve component (1)
Conveyer belt system (4), setting line conveyor system (4) side the first package system (2), be arranged in line conveyor system
System and is separately positioned on directly (4) other side with second package system (3) of the first package system (2) procedure connection, at least two
Line conveyer belt system (4) side and respectively to the first package system (2) and the second package system (3) transmission bolt and positioning pin
Accessory auxiliary machinery hand (5), at least two are separately positioned on line conveyor system (4) side and for corresponding accessory is auxiliary
The bolt for helping mechanical hand (5) to transmit is mounted on the rotation on the electromagnetic valve component of the first package system (2) or the second package system (3)
It changes a job and is separately positioned on line conveyor system (4) side into machine (6), at least two and is used for corresponding accessory auxiliary machinery
The positioning pin of hand (5) transmission is mounted on the pushing work on the electromagnetic valve component of the first package system (2) or the second package system (3)
Into machine (7), the line conveyor system (4) includes the conveyer belt servo motor (8) being arranged on the rack, watches with conveyer belt
It takes the conveyer belt drive roll (9) of motor (8) transmission connection, be arranged in parallel in the conveyer belt cornerite of conveyer belt drive roll (9) two sides
Adjust roller (10), descender adjusts the linear feeding conveyer belt of roller (10) and conveyer belt drive roll (9) by conveyer belt cornerite
(11), be arranged the longitudinal one end of linear feeding conveyer belt (11) conveyer belt feed end (12), two be symmetricly set on straight line and give
Expect the conveyer belt side guard plate (13) of conveyer belt (11) both lateral sides, be arranged between two conveyer belt side guard plates (13) and be located at
The conveyer belt gear of conveyer belt bottom bracing plate (14), setting at conveyer belt feed end (12) below linear feeding conveyer belt (11)
The biography of lateral cylinder (15), setting in front of conveyer belt gear lateral cylinder (15) and positioned at linear feeding conveyer belt (11) side
Band limit lateral cylinder (16), setting are sent in front of conveyer belt limit lateral cylinder (16) and is located at linear feeding conveyer belt (11)
Side and the first crosswise pushing of conveyer belt cylinder (17) corresponding with the first package system (2), setting conveyer belt first laterally
The conveyer belt crosswise pushing L push plate (18) of push cylinder (17) piston rod end is arranged in conveyer belt crosswise pushing L push plate (18)
The L push plate fillet surface (19) of end and setting in front of conveyer belt the first crosswise pushing cylinder (17) and are located at linear feeding
Conveyer belt (11) side and the second crosswise pushing of conveyer belt cylinder (20) corresponding with the second package system (3), described first group
Dress system (2) include be arranged on the rack and be located at linear feeding conveyer belt (11) other side and with line conveyor system (4)
Corresponding first fixed frame (21) of conveyer belt the first crosswise pushing cylinder (17), be arranged on the first fixed frame (21)
First swings numerical-control motor (22), swings first swing driven shaft (23), setting of numerical-control motor (22) transmission connection with first
The first electromagnetic clutch (24) on driven shaft (23), setting, which are swung, first swings the of driven shaft (23) one end first
One swings induction rod (25), is arranged on the first fixed frame (21) and for incuding the first the first pendulum for swinging induction rod (25)
Dynamic angle Hall sensor (26), are horizontally installed on the first swing pedestal (27) that driven shaft (23) key connection is swung with first
First fixed frame (21) and for by electromagnetic valve component (1) from first swing pedestal (27) back into linear feeding conveyer belt
(11) first on returns to cylinder (28), setting is swung first on pedestal (27) and for laterally carrying on the back to electromagnetic valve component (1)
The lateral back side limit plate (29) of the first of lateral confinement position is symmetricly set on the first swing pedestal (27) and for electromagnetic valve component
(1) the first left side of longitudinal spacing swings pedestal first to limit plate (34), setting with the first right side to limit plate (32)
(27) on and for setting to the first lateral front side limit plate (36) of the lateral front limit of electromagnetic valve component (1), longitudinal direction and symmetrically
It sets in the first swing pedestal (27) two sides and is respectively provided on the left of in the of push nylon head (31) first right with first to cylinder (30)
Limit plate inclined-plane (35) on front side of the first transverse direction on limit plate (36) of lateral cylinder (33), setting, at least four are vertically arranged
First in the first swing pedestal (27) is vertically directed bar (37), up and down be arranged is vertically directed on bar (37) first
First vertical downlink pressing plate (39) is sleeved on first and is vertically directed on bar (37) and is located at the first vertical downlink pressing plate (39) and the
One, which swings the first vertical buffer spring (38) between pedestal (27), setting, is vertically directed the first vertical of bar (37) upper end first
It limits crossbearer (40), the first laterally steering cylinder (41) being arranged above the first fixed frame (21), be arranged first laterally
The vertical lower air cylinder (42) of the first of guide cylinder (41) piston rod end and setting are under the first vertical lower air cylinder (42)
The first vertical push-down head (43) at end；
Second package system (3) is identical as the first package system (2) structure, and this approach includes the following steps,
Step 1, firstly, electromagnetic valve component (1) is placed on linear feeding conveyer belt (11) by manipulator or conveyer belt,
Linear feeding conveyer belt (11) drives electromagnetic valve component (1) to move ahead；Then, when first electromagnetic valve component (1) reaches conveyer belt
When at first crosswise pushing cylinder (17), conveyer belt the first crosswise pushing cylinder (17) stretches out；When second electromagnetic valve component
(1) reach at conveyer belt limit lateral cylinder (16), conveyer belt limits lateral cylinder (16) and stretches out；When third electromagnetic valve component
(1) reach at conveyer belt gear lateral cylinder (15), conveyer belt gear lateral cylinder (15) stretches out, third and its after
Electromagnetic valve component (1) is located on rear side of conveyer belt gear lateral cylinder (15)；
Step 2, firstly, first electromagnetic valve component (1) is pushed to the first swing by conveyer belt the first crosswise pushing cylinder (17)
On pedestal (27)；Then, the position that first electromagnetic valve component (1) is adjusted by cylinder, until first electromagnetic valve component (1)
It is contacted simultaneously with the first lateral front side limit plate (36) with the first right side to limit plate (34) positioning；Secondly, the first vertical pushing
Head (43) pushes first electromagnetic valve component (1) by the first vertical downlink pressing plate (39), swings numerical-control motor by first
(22) it swings, the screw hole and dowel hole of first electromagnetic valve component (1) are concentric；Again, accessory auxiliary machinery hand (5) will position
Pin and at least two bolts are successively sent into the dowel hole and screw hole of first electromagnetic valve component (1)；In next step, push work into
Positioning pin is pressed into dowel hole by machine (7), and at least two bolts are screw into screw hole by rotation work into machine (6)；Finally, passing through
Cylinder sends back to first electromagnetic valve component (1) on linear feeding conveyer belt (11)；
Step 3, firstly, first electromagnetic valve component (1) is sent to forward conveyer belt second laterally by linear feeding conveyer belt (11)
At push cylinder (20)；Meanwhile second electromagnetic valve component (1) is sent in the first package system (2) and repeats step 2；Then,
First electromagnetic valve component (1) is pushed to the second pendulum of the second package system (3) by conveyer belt the second crosswise pushing cylinder (20)
On dynamic pedestal；Secondly, the second package system (3) positions first electromagnetic valve component (1)；Again, accessory auxiliary machinery
Hand (5) successively send remaining bolt into the remaining screw hole of first electromagnetic valve component (1)；In next step, work is rotated into machine
(6) bolt is screw into corresponding screw hole；It is passed finally, first electromagnetic valve component (1) is sent back to linear feeding by cylinder
It send on band (11), first electromagnetic valve component (1) that linear feeding conveyer belt (11) finishes assembling exports.
2. valve coordinated assemble method according to claim 1, it is characterised in that: first package system (2)
Further include be arranged on the first vertical downlink pressing plate and for detecting electromagnetic valve component (1) dowel hole concentricity it is first vertical
Pin hole probe (45) is arranged on the first vertical downlink pressing plate and for detecting electromagnetic valve component (1) bolt hole concentricity
One vertical screw hole probe (44) and setting are on the first vertical downlink pressing plate and for detecting electromagnetic valve component (1) assembling eventually
The lateral pin hole probe (46) of the first of point position；
The second vertical pin for detecting electromagnetic valve component (1) dowel hole concentricity is provided on the second package system (3)
Pop one's head in (47) in hole.
3. valve coordinated assemble method according to claim 2, it is characterised in that: the accessory auxiliary machinery hand
It (5) include the auxiliary framework (48) being arranged on the rack, the auxiliary transverse direction straight line cylinder being horizontally set on auxiliary framework (48)
(49), it is vertically arranged in the vertical rotation motor of auxiliary (50) for assisting lateral straight line cylinder (49) cantilever end, root is arranged auxiliary
It helps the auxiliary pair straight line cylinder (51) of vertical rotation motor (50) upper end, be horizontally set on secondary straight line cylinder (51) end of auxiliary
Full wind-up (52) and setting is assisted to clamp finger (53) in the auxiliary of auxiliary full wind-up (52) end.
4. valve coordinated assemble method according to claim 3, it is characterised in that: the rotation work is wrapped into machine (6)
It includes the manipulator being arranged on the rack, setting rotation motor on a robotic arm, be arranged in rotation motor output shaft end and band
Six square sockets in magnetic；Work is pushed to include the lower air cylinder being arranged on the rack into machine (7) and be arranged in lower air cylinder
Piston head lower end and with magnetic briquetting.
5. valve coordinated assemble method according to claim 4, it is characterised in that: further include coordinated system；
Coordinated system includes
Main control computer passes through Internet of Things and upstream and downstream process as the middle control center of valve coordinated assembly line
Linking；Also by master control link respectively with the transport processor of line conveyor system (4), the first package system (2) first
Assemble processor, the second package system (3) second assembling processor, accessory auxiliary machinery hand (5) four-degree-of-freedom processor,
Accessory auxiliary rotation work is logical into the digital controlled rotary workpiece processor of machine (6) and the numerical control press processor of pushing work into machine (7)
Letter linking；
Transport processor, output end are electrically connected with the transfer control of control conveyer belt servo motor (8), and input terminal is electrically connected
It is connected to the loading and unloading optoelectronic switch for being separately positioned on the discharge end of conveyer belt feed end (12) and linear feeding conveyer belt (11)；Its
Output end is also electrically connected gear controller and the control conveyer belt limit of control conveyer belt gear lateral cylinder (15)
The limit controller of lateral cylinder (16)；Its input terminal has also been electrically connected for detecting conveyer belt gear lateral cylinder (15)
Whether whether place have the gear optoelectronic switch of electromagnetic valve component (1) and have at conveyer belt limit lateral cylinder (16) for detecting
The limiting photoelectric switch of electromagnetic valve component (1)；
First assembling processor, is communicated to connect by data transfer and transport processor, and first assembles its output of processor
End be electrically connected with for controlling conveyer belt the first crosswise pushing cylinder (17) first push controller, for control first return
First return controller of cylinder (28) and the first angle of oscillation for being used to control first swing numerical-control motor (22) swing angle
Spend controller；
First assembling its input terminal of processor is electrically connected with whether have at conveyer belt the first crosswise pushing cylinder (17) for detecting
Whether the first push optoelectronic switch of electromagnetic valve component (1) has electromagnetic valve component (1) at the first return cylinder (28) for detecting
First return optoelectronic switch, for feed back first swing driven shaft (23) swing angle first swing Hall sensor, use
In the first longitudinal direction assembling screw hole probe of detection electromagnetic valve component (1) assembling fastening position, for detecting electromagnetic valve component (1) group
Fill the first longitudinal direction assembling positioning pin probe of vertically oriented position；
First assembling processor its be electrically connected with for controlling the first left side to cylinder (30), the first right side to cylinder (33), the
One or three coordinated controller of one laterally steering cylinder (41) and the first vertical lower air cylinder (42)；One or three coordinated controller
It is electrically connected with the one or the three coordinate optoelectronic switch for swinging position on pedestal (27) first for detecting electromagnetic valve component (1)；
Second assembling processor is identical as the first assembling processor model, passes through data transfer and transport processor communication link
It connects；
Second, which assembles its output end of processor is electrically connected with for controlling conveyer belt the second crosswise pushing cylinder (20) second, pushes away
Controller, second for control the second package system (3) is sent to return to the second push controller of cylinder and for control the
Two swing the second swing angle controller of numerical-control motor swing angle；
Second assembling its input terminal of processor is electrically connected with whether have at conveyer belt the second crosswise pushing cylinder (20) for detecting
Second push optoelectronic switch of electromagnetic valve component (1) returns to whether have the of electromagnetic valve component (1) at cylinder for detect second
Two return optoelectronic switches, second for feeding back the second package system (3) swing the second of driven shaft swing angle and swing Hall
Sensor and the second longitudinal direction that vertically oriented position is assembled for detecting electromagnetic valve component (1) assemble positioning pin probe；
Second assembling processor its be electrically connected with for control second left side to cylinder, second right side to cylinder, second laterally lead
To the two or three coordinated controller of cylinder and the second vertical lower air cylinder；Two or three coordinated controller is electrically connected with for detecting
The two or the three coordinate optoelectronic switch that electromagnetic valve component (1) swings position on pedestal second；
Four-degree-of-freedom processor is electrically connected with four-degree-of-freedom optoelectronic switch；Four-degree-of-freedom processor is electrically connected with accessory auxiliary machinery
Hand (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319429.5A CN108526851B (en) | 2018-04-11 | 2018-04-11 | Valve coordinated assemble method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810319429.5A CN108526851B (en) | 2018-04-11 | 2018-04-11 | Valve coordinated assemble method |
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| CN108526851B true CN108526851B (en) | 2019-11-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111573198A (en) * | 2020-05-19 | 2020-08-25 | 苏州天准科技股份有限公司 | Feeding and discharging control system, feeding and discharging equipment and feeding and discharging method |
| CN113997039B (en) * | 2021-11-15 | 2024-04-05 | 柳州莫森泰克汽车科技有限公司 | Automatic screw device of beating of PCB board |
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| CN108526851A (en) | 2018-09-14 |
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Application publication date: 20180914 Assignee: Zhejiang Everbright Valve Manufacturing Co.,Ltd. Assignor: ZHEJIANG INDUSTRY & TRADE VACATIONAL College Contract record no.: X2023330000089 Denomination of invention: Valve collaborative assembly method Granted publication date: 20191122 License type: Common License Record date: 20230310 |
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