CN109366146A - Compressor operation station and its application method with domain controller - Google Patents
Compressor operation station and its application method with domain controller Download PDFInfo
- Publication number
- CN109366146A CN109366146A CN201811475328.3A CN201811475328A CN109366146A CN 109366146 A CN109366146 A CN 109366146A CN 201811475328 A CN201811475328 A CN 201811475328A CN 109366146 A CN109366146 A CN 109366146A
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- band
- transfer module
- press
- mechanical arm
- band transfer
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- 238000000034 method Methods 0.000 title claims abstract description 10
- 238000012546 transfer Methods 0.000 claims abstract description 67
- 239000002699 waste material Substances 0.000 claims abstract description 17
- 238000004519 manufacturing process Methods 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 11
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000012545 processing Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 2
- 238000007373 indentation Methods 0.000 claims description 2
- 238000012797 qualification Methods 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000001351 cycling effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
-
- 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
- B23P19/027—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 using hydraulic or pneumatic means
-
- 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
- B23P19/001—Article feeders for assembling machines
-
- 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
- B23P19/001—Article feeders for assembling machines
- B23P19/007—Picking-up and placing mechanisms
Abstract
A kind of compressor operation station with domain controller belonging to press technologies field and its application method, case, Electric Appliance Cabinet, servo press, bearing block, mechanical arm, bearing, cylinder, press fitting completion part, display screen are thrown aside including band to band transfer module, press mounting worktable, waste product, first band to band transfer module, press mounting worktable link together, waste product throws aside case, Electric Appliance Cabinet is both placed in the side of the first band to band transfer module, servo press is mounted on the top of press mounting worktable, second band to band transfer module and the first band to band transfer module are arranged in parallel, and mechanical arm is placed between the second band to band transfer module and the first band to band transfer module.The mechanical paw that the present invention passes through replacement mechanical arm tail end, realize the workpiece of crawl various shapes, there is good adaptability for different production lines, and pass through the collaborative work of control a mechanical arm and servo press, realize multiple domain control, the precision and harmony for improving control, by the way that speed is arranged, realize assembly work on an assembly line it is high-efficiency continuous into.
Description
Technical field
The present invention relates to a kind of compressor operation station in press technologies field, especially one kind can control simultaneously mechanical arm and
The compressor operation station with domain controller of servo press.
Background technique
With the arrival in the epoch of industry 4.0, by the material world of actual production in conjunction with the virtual world of information technology,
Promote an emphasis striving direction of production as the mankind.Servo press drives high-precision by servo techniques, by servo motor
Ball screw carries out precision pressure operation.The overall process closed-loop control of pressure and compression distance can be realized in pressure operation.
It is conventionally employed manually installed such as in bearing press mounting field, it not only takes time and effort, and the consistency of product is poor, using manual dress
With having been unable to meet modern enterprise batch production requirements.Only placing all realization automation controls of part link, press fitting link
In the case where system, production efficiency could be maximumlly improved, and guarantees the quality conformance of product.
By the retrieval discovery to existing literature, Chinese Patent Application No. 201721914672.9, title are as follows: Yi Zhongyong
In press fitting plug and the auxiliary mould of circlip.The device by a tooling, realize in same press-loading device to plug and
The press fitting of circlip.But this device needs artificial loading, and work continuity is poor, and the effect of processing is limited in certain degree
Rate, meanwhile, the structure of tooling is more complex, the processing for being only used for the product of the press system, and expansion is limited.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of compressor operation station with integrated manipulator and its user
Method.The present invention realizes the workpiece of crawl various shapes, for different production lines by the mechanical paw of replacement mechanical arm tail end
With good adaptability, and the collaborative work of mechanical arm and servo press can be controlled by a controller, realize more
Domain control, improves the precision and harmony of control, by the way that speed is arranged, realizes that the efficient of assembly work is held on an assembly line
It is continuous to carry out.
The present invention is achieved through technology, and the present invention is thrown aside including the first band to band transfer module, press mounting worktable, waste product
Case, Electric Appliance Cabinet, servo press, mechanical arm, the second band to band transfer module, cylinder, display screen, bearing block and bearing, the first band to band transfer module, press fitting
Workbench links together, and waste product throws aside case, Electric Appliance Cabinet is both placed in the side of the first band to band transfer module, and servo press is mounted on press fitting
The top of workbench, the second band to band transfer module and the first band to band transfer module are arranged in parallel, and mechanical arm is placed on the second band to band transfer module and the first transmission
Between platform, for cylinder arrangement in the upper surface of the first band to band transfer module, the axis of cylinder is vertical with the first band to band transfer module axis, display screen arrangement
On the top of Electric Appliance Cabinet, domain controller, motor driver and controller are installed in Electric Appliance Cabinet, and servo press, mechanical arm are equal
It is connected by harness with Electric Appliance Cabinet.Bearing block is equally spaced on the first band to band transfer module, and bearing is equally spaced to be passed second
On defeated platform, the product after the completion of bearing block, bearing press mounting is that part is completed in press fitting.
Multiple bearing blocks are transmitted at being placed on the first band to band transfer module at equal intervals from the first band to band transfer module to press mounting worktable, when
When bearing block reaches the underface of servo press, stop transmission, prepares press fitting；Second band to band transfer module is parallel with the first band to band transfer module one to be put
It sets, mechanical arm is placed between the first band to band transfer module and the second band to band transfer module；Multiple bearings at being placed on the second band to band transfer module at equal intervals,
Bearing is transmitted to the direction of mechanical arm from the second band to band transfer module, when bearing is transmitted to beside mechanical arm, the second band to band transfer module
Stop transmission, bearing is grabbed by mechanical arm, is placed on the top for waiting the hole of bearing block of press fitting on press mounting worktable table top, machine
Tool arm restores initial position, and then servo press starts to be pressed, will be in the hole of bearing indentation bearing block；After completing press fitting, pressure
Member continuation is installed to be communicated off by the first band to band transfer module.
Preferably, domain controller, motor driver and controller are contained inside the Electric Appliance Cabinet, it is total by Ethercat
Line communication protocol can be realized a controller control mechanical arm and servo press.
Preferably, display screen is fixed on the top of Electric Appliance Cabinet, when servo compressor operation, the size of power suffered by end
It can be fed back on display screen in real time with the relation curve for releasing distance, the size of the power is exactly that bearing and bearing block had been pressed
Suffered pressure assembling force in journey completes part for qualified press fitting, and the power is within the scope of one during press fitting, when the power
Be exactly more than the range it is unqualified, will feedback it is unqualified on the screen of display screen, prompting press fitting to complete part, and completed in press fitting
Part, which transports when waste product throws aside case position, starts cylinder, is recycled.
Preferably, the cylinder is fixed on the upper surface of the first band to band transfer module, and waste product throws aside case and is placed on the first band to band transfer module
Side stop watching immediately when the pressure assembling force of servo press feedback has been more than the range of the given normal power of system
The progress of work for taking press withdraws the push rod end of servo press, and judges that the press fitting completes part as unqualified part, does not conform at this
Lattice part is transferred to waste product when throwing aside near case, stretches out push rod end by cylinder, and part is completed in underproof press fitting and releases the from side
One band to band transfer module, finally drops into waste product and throws aside in case and be collected.
Preferably, in setting mechanical arm, when grabbing path and speed, workstation system carries a teaching software,
The software interface is displayed on the screen of display screen, has the displacement of mechanical arm, the setting of angle and speed on software interface, together
When mechanical arm working environment will occur threedimensional model, operator by set in advance on software mechanical arm motion path and
Speed is first emulated, confirm it is errorless after can carry out the practical operation of mechanical arm, it is soft in the actual motion of mechanical arm and display screen
The manipulator model of part will move synchronously.
Preferably, mechanical arm and servo press cooperate in process of production, by setting both operating rate and
Time interval can carry out control to the beat of processing, and then guarantee the continuity of processing, improve production efficiency.
The beneficial effects of the present invention are: first, the present invention, come grabbing workpiece, passes through replacement machinery by the movement of mechanical arm
Pawl has very big adaptability for the shape of workpiece, and the adaptability of production line is preferable；Second, the present invention using mechanical arm come
Feeding, eliminates manually-operated link, and mechanical arm, the speed of servo press, time interval is adjustable, improves processing
Continuity and production efficiency；Third, it is of the invention by controller, realize mechanical arm, servo press motion control and
The acquisition of I/O signal realizes an Electric Appliance Cabinet while controlling mechanical arm and servo press, realizes multiple domain control, reduce control
The quantity of device, saves cost and space, improves the precision and harmony of control.
Detailed description of the invention
Fig. 1 is overall schematic of the invention；
Fig. 2 is the partial enlarged view of servo compressor operation state in the present invention；
Fig. 3 is Electric Appliance Cabinet schematic diagram in the present invention；
Label in attached drawing is respectively as follows: the 1, first band to band transfer module, 2, press mounting worktable, 3, waste product throw aside case, 4, Electric Appliance Cabinet, 5,
Servo press, 6, bearing block, 7, mechanical arm, the 8, second band to band transfer module, 9, bearing, 10, cylinder, 11, press fitting completion part, 12, display
Screen.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
Embodiment
The embodiment of the present invention is as shown in Figure 1 to Figure 3, and the present invention includes the first band to band transfer module 1, press mounting worktable 2, waste product abandoning
Case 3, Electric Appliance Cabinet 4, servo press 5, mechanical arm 7, the second band to band transfer module 8, cylinder 10, display screen 12, bearing block 6, bearing 9 are set, the
One band to band transfer module 1, press mounting worktable 2 link together, and waste product throws aside case 3, Electric Appliance Cabinet 4 is both placed in the side of the first band to band transfer module 1,
Servo press 5 is mounted on the top of press mounting worktable 2, and the second band to band transfer module 8 and the first band to band transfer module 1 are arranged in parallel, and mechanical arm 7 is placed
Between the second band to band transfer module 8 and the first band to band transfer module 1, cylinder 10 is arranged in the upper surface of the first band to band transfer module 1, the axis of cylinder 10 with
First band to band transfer module, 1 axis is vertical, and display screen 12 is fixed on the top of Electric Appliance Cabinet 4, and domain controller, motor driver are installed in electricity
In device cabinet 4, servo press 5, mechanical arm 7 are connected by harness with Electric Appliance Cabinet 4.Bearing block 6 is equally spaced to be passed first
On defeated 1, bearing 9 is equally spaced on the second band to band transfer module 8, and the product after the completion of bearing block 6, bearing 9 are pressed is to be pressed
Member 11.
In the present embodiment, the course of work at the compressor operation station provided by the invention with domain controller is as follows:
It is configured first with working trajectory and speed of the teaching software to mechanical arm 7, machine is completed on software interface
After the motion simulation of tool arm, real machine operation can be carried out after the problems such as confirming no movement interference.
The transmission speed of the first band to band transfer module 1 and the second band to band transfer module 8 is configured with time interval first, when the first transmission
When bearing block 6 on platform 1 reaches the underface of servo press 5, the first band to band transfer module 1 stops transmission；When on the second band to band transfer module 8
Bearing 9 reach mechanical arm 7 near designated position when, the second band to band transfer module 8 stop transmission, at this time by mechanical arm 8 crawl second
Bearing 9 on band to band transfer module 8, and the top that the bearing 9 of crawl is placed on and waits the bearing block 6 of press fitting is turned round, then starting is watched
The work of press 5 is taken, bearing 9 is pressed into the hole of bearing block 6, during press fitting, if pressure assembling force is in the range of setting
It is interior, then it is pressed qualification, continues cycling through the next workpiece of press fitting；When the pressure assembling force that servo press 5 is fed back has been more than that system is given
When the range of normal power, stop the progress of work of servo press 5 immediately, the push rod end of servo press 5 is withdrawn, and sentences
The press fitting completion part 11 that breaks is unqualified part, when transmission reaches waste product and throws aside near case 3, starts cylinder 10, is pushed away
Enter waste product to throw aside in case 3.During servo press 5 is pressed, the stress of press end and displacement curve can be shown in real time
On the display 12, and show the press fitting complete part 11 whether He Ge conclusion, while in systems by data file.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (7)
1. a kind of compressor operation station with domain controller, which is characterized in that including the first band to band transfer module (1), press mounting worktable (2),
Waste product throws aside case (3), Electric Appliance Cabinet (4), servo press (5), mechanical arm (7), the second band to band transfer module (8), cylinder (10), display screen
(12), the first band to band transfer module (1), press mounting worktable (2) link together, and waste product throws aside case (3), Electric Appliance Cabinet (4) is both placed in
The side of one band to band transfer module (1), servo press (5) are mounted on the top of press mounting worktable (2), and the second band to band transfer module (8) is passed with first
Defeated (1) parallel arrangement, mechanical arm (7) are placed between the second band to band transfer module (8) and the first band to band transfer module (1), cylinder (10) arrangement
In the upper surface of the first band to band transfer module (1), the axis of cylinder (10) is vertical with the first band to band transfer module (1) axis, and display screen (12) is fixed
On the top of Electric Appliance Cabinet (4), domain controller, motor driver are installed in Electric Appliance Cabinet (4), servo press (5), mechanical arm
(7) it is connected by harness with Electric Appliance Cabinet (4).
2. the compressor operation station according to claim 1 with domain controller, it is characterised in that further include bearing block (6), axis
It holds (9), bearing block (6) is equally spaced on the first band to band transfer module (1), and bearing (9) is equally spaced in the second band to band transfer module (8)
On, the product after the completion of bearing block (6), bearing (9) press fitting is that part (11) are completed in press fitting.
3. the compressor operation station according to claim 2 with domain controller, it is characterised in that the domain in the Electric Appliance Cabinet (4)
Controller is multi-axis controller, by Ethercat bus communication protocol, can control mechanical arm and servo press simultaneously, locate simultaneously
Manage I/O signal.
4. the compressor operation station according to claim 3 with domain controller, it is characterised in that compressor operation station system is included
One teaching software, the software interface are displayed on the screen of display screen (12), on software interface with mechanical arm displacement,
The setting of angle and speed, simultaneous with the threedimensional model of mechanical arm (7) working environment.
5. the compressor operation station according to claim 4 with domain controller, it is characterised in that mechanical arm (7) end
Mechanical gripper can be replaced.
6. the compressor operation station according to claim 5 with domain controller, it is characterised in that the mechanical arm (7) and servo
Press (5) cooperates in process of production, can be to the beat of processing by the operating rate and time interval of both settings
Carry out control.
7. a kind of application method at the compressor operation station with domain controller as described in claim 1, it is characterised in that including following
Step:
First, operator sets the motion path and speed of mechanical arm (7) in advance on the software of display screen (12), first carries out
Emulation, confirm it is errorless after carry out the practical operations of mechanical arm (7) again, it is soft in the actual motion of mechanical arm (7) and display screen (12)
The manipulator model of part will move synchronously；
Second, multiple bearing blocks (6) at being placed on the first band to band transfer module (1) at equal intervals, from the first band to band transfer module (1) to press fitting work
Platform (2) transmission stops transmission when bearing block (6) reach the underface of servo press (5), prepares press fitting；Multiple bearings (9)
At being placed on the second band to band transfer module (8) at equal intervals, bearing (9) is transmitted to the direction of mechanical arm (7) from the second band to band transfer module (8),
When bearing (9) is transmitted to beside mechanical arm (7), the second band to band transfer module (8) stops transmission, grabs bearing by mechanical arm (9),
It is placed on the top that the hole of bearing block (6) of press fitting is waited on press mounting worktable (2) table top, mechanical arm (7) restores initial position,
Then servo press (5) starts to be pressed, will be in the hole of bearing (9) indentation bearing block (6)；After completing press fitting, part is completed in press fitting
(11) continue to be communicated off by the first band to band transfer module (1)；
Third, when servo press (5) work, the size of power suffered by end and the relation curve for releasing distance can be real-time
It feeds back on display screen, the size of the power is exactly bearing (9) and bearing block (6) pressure assembling force suffered during press fitting, for
Part (11) are completed in qualified press fitting, and the power is within the scope of one during press fitting, are exactly not when the power is more than the range
Qualification, will be in feedback to the screen of display screen；
4th, when the pressure assembling force of servo press (5) feedback has been more than the range of the given normal power of system, stop immediately
The only progress of work of servo press (5) withdraws the push rod end of servo press (5), and judges that the press fitting completes part (11) as not
Pieces O.K. stretches out push rod end by cylinder (10) when the unqualified part is transferred to waste product and throws aside case (3) nearby, will be underproof
Press fitting completes part (11) and releases the first band to band transfer module (1) from side, finally drops into waste product and throws aside in case (3) and is collected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811475328.3A CN109366146A (en) | 2018-12-04 | 2018-12-04 | Compressor operation station and its application method with domain controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811475328.3A CN109366146A (en) | 2018-12-04 | 2018-12-04 | Compressor operation station and its application method with domain controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109366146A true CN109366146A (en) | 2019-02-22 |
Family
ID=65375552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811475328.3A Pending CN109366146A (en) | 2018-12-04 | 2018-12-04 | Compressor operation station and its application method with domain controller |
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| Country | Link |
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| CN (1) | CN109366146A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125648A (en) * | 2019-04-30 | 2019-08-16 | 重庆大学 | Automotive gear shifter pin Intelligent assembly machine and method |
| CN112427950A (en) * | 2020-11-26 | 2021-03-02 | 威克斯特（宜昌）机械有限公司 | Intelligent robot assembly line and process flow of concrete vibrating spear |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1268625A1 (en) * | 1984-10-17 | 1986-11-07 | Предприятие П/Я Р-6543 | Arrangement for induction heating and feeding sheet blanks to subsequent treatment |
| DE202007010097U1 (en) * | 2006-10-03 | 2007-11-15 | Fanuc Robotics Europe S.A. | Industrial robots, in particular for part transfer between two presses |
| CN105252250A (en) * | 2015-10-30 | 2016-01-20 | 四川石油射孔器材有限责任公司 | Full-automatic pressing device for perforating bullets |
| CN205166350U (en) * | 2015-12-14 | 2016-04-20 | 新乡职业技术学院 | Novel mechanical automation sleeve pipe device |
| CN207171410U (en) * | 2017-08-02 | 2018-04-03 | 深圳市纳瑞自动化设备有限公司 | The device that a kind of fully automatic feeding is laterally pressed |
| CN209223538U (en) * | 2018-12-04 | 2019-08-09 | 佳奕筱安(上海)机器人科技有限公司 | Compressor operation station with domain controller |
-
2018
- 2018-12-04 CN CN201811475328.3A patent/CN109366146A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU1268625A1 (en) * | 1984-10-17 | 1986-11-07 | Предприятие П/Я Р-6543 | Arrangement for induction heating and feeding sheet blanks to subsequent treatment |
| DE202007010097U1 (en) * | 2006-10-03 | 2007-11-15 | Fanuc Robotics Europe S.A. | Industrial robots, in particular for part transfer between two presses |
| CN105252250A (en) * | 2015-10-30 | 2016-01-20 | 四川石油射孔器材有限责任公司 | Full-automatic pressing device for perforating bullets |
| CN205166350U (en) * | 2015-12-14 | 2016-04-20 | 新乡职业技术学院 | Novel mechanical automation sleeve pipe device |
| CN207171410U (en) * | 2017-08-02 | 2018-04-03 | 深圳市纳瑞自动化设备有限公司 | The device that a kind of fully automatic feeding is laterally pressed |
| CN209223538U (en) * | 2018-12-04 | 2019-08-09 | 佳奕筱安(上海)机器人科技有限公司 | Compressor operation station with domain controller |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110125648A (en) * | 2019-04-30 | 2019-08-16 | 重庆大学 | Automotive gear shifter pin Intelligent assembly machine and method |
| CN112427950A (en) * | 2020-11-26 | 2021-03-02 | 威克斯特（宜昌）机械有限公司 | Intelligent robot assembly line and process flow of concrete vibrating spear |
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