CN110498222A - A kind of assembly, detaching equipment - Google Patents
A kind of assembly, detaching equipment Download PDFInfo
- Publication number
- CN110498222A CN110498222A CN201910790360.9A CN201910790360A CN110498222A CN 110498222 A CN110498222 A CN 110498222A CN 201910790360 A CN201910790360 A CN 201910790360A CN 110498222 A CN110498222 A CN 110498222A
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- operation object
- control cabinet
- cylinder
- roller
- equipment
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- 230000007246 mechanism Effects 0.000 claims description 28
- 230000007306 turnover Effects 0.000 claims description 15
- 238000004519 manufacturing process Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 8
- 230000000903 blocking effect Effects 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 230000004807 localization Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000012512 characterization method Methods 0.000 description 3
- 239000003086 colorant Substances 0.000 description 2
- 238000000151 deposition Methods 0.000 description 2
- 230000000246 remedial effect Effects 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
Classifications
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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
- B23P19/001—Article feeders for assembling machines
- B23P19/002—Article feeders for assembling machines orientating the articles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/88—Separating or stopping elements, e.g. fingers
- B65G47/8807—Separating or stopping elements, e.g. fingers with one stop
- B65G47/8815—Reciprocating stop, moving up or down in the path of the article
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/042—Sensors
- B65G2203/044—Optical
Abstract
The embodiment of the invention provides a kind of assembly, equipment is broken, the support frame of the equipment is mounted on roller conveyor, and with roller-way opposite juxtaposition under roller-way；Stopper is placed on support frame, and control cabinet determines that operation object is in preset range, and controls stopper across roller-way to stop operation object to move ahead；After determining that operation object can not move ahead, operation object is limited by angle locator and is moved along the length direction of roller-way roller；Control cabinet obtain be mounted on lifting portal frame on camera shooting to operating parts；Cooperation robot is mounted on lifting portal frame, and operation executive item is installed, according to camera shooting operation object Image Adjusting manipulator with respect to operation object position, and determine operation executive item exact localization operation object on after operating parts in start-up operation executive item assembly or disassembly operation object to operating parts.Using equipment provided in an embodiment of the present invention assembly or disassembly efficiency can be improved on the basis of guaranteeing assembly or disassembly precision.
Description
Technical field
The present invention relates to machinery manufacturing technology fields, more particularly to a kind of assembly, detaching equipment.
Background technique
During the assembly or disassembly of product, it is frequently encountered a problem of apparatus casing is assembled by connector,
Or the problem of connector of fixed shell is dismantled from an apparatus casing, such as by bolt or screw stationary engine outside
The assembly problem of shell, or, the disassembly problem of bolt or screw is separated from the engine housing assembled, although by bolt
Or screw is little or little from the difficulty of disassembling shell screw or bolt by tightening the difficulty of assembly on the shell, but by
It is usually very big in the usage amount of bolt or screw, if without suitable assembly equipment, can only be carried out by manpower assembly or
Disassembly, takes time and effort assembly or disassembly process, leads to assembly or disassembly low efficiency, and the precision of assembly or disassembly
Difference.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of controlled experiments device, can guarantee assembly or disassembly precision
On the basis of, improve assembly or disassembly efficiency.
Specific technical solution is as follows:
A kind of assembly, detaching equipment, the equipment include: that production pipeline, stopper, angle locator, camera, operation are held
Row part, the cooperation robot with manipulator and lifting gantry frame mechanism；
Wherein, the production pipeline includes roller conveyor and support frame；It is defeated that support frame as described above is mounted on the roller-way
It send on machine, and with the roller-way opposite juxtaposition under the roller-way；
The stopper is placed on support frame as described above, and the stopper for being electrically connected with control cabinet, use by the control cabinet
It is in preset range in by determining operation object, and controls the stopper across the roller-way to stop the operation pair
As moving ahead；
The angle locator is placed on two side stands of the roller conveyor, for being electrically connected with the control cabinet, institute
Control cabinet is stated for after determining that the operation object can not move ahead, by the angle locator limit the operation object along
The length direction of the roller-way roller moves；
The camera is mounted on the lifting portal frame, and the camera is electrically connected with the cooperation robot, is also used to
Be electrically connected with the control cabinet, the control cabinet be used to obtain on the operation object outer surface of camera shooting wait grasp
Workpiece；
The cooperation robot is mounted on the lifting portal frame, and the robot end is equipped with the operation and holds
Row part, manipulator described in the Image Adjusting for the operation object that the cooperation robot is used to be shot according to the camera relatively described in
The position of operation object, and determine it is described operation executive item be accurately positioned in the operation object after operating parts starting described in
Operate described in executive item assembly or disassembly in operation object to operating parts.
Further, the equipment further include: turnover mechanism；
The turnover mechanism is mounted on the frame mechanism of described lifting gantry, is turned over for clamping the operation object with realizing
Turn, the turnover mechanism with the control cabinet for being electrically connected；
The control cabinet be used for determine the operation object on the front to operating parts after the assembly is completed, control
It makes the angle locator to restore to original position, and controls the turnover mechanism and clamp the operation object and overturn to new to operating parts
Affiliated face controls the angle locator and limits again to the operation object, and starts the camera.
Further, the equipment further include: photoelectric sensor, the stopper are the first cylinder；
The photoelectric sensor is mounted on any bracket of the roller conveyor two sides, on first cylinder, and
The photoelectric sensor and the first cylinder are used to be electrically connected with the control cabinet；
The control cabinet is according to the photo-sensor feedback for characterizing the operation object within a preset range
The executive component that information controls first cylinder passes through flexible blocking or the operation object movement of letting pass.
Further, the stopper further include: solenoid valve；
The solenoid valve is mounted on the input terminal of first cylinder, and the solenoid valve with the control cabinet for being electrically connected
It connects；
The control cabinet reaches the movement for controlling the first cylinder executive item by the first cylinder described in solenoid valve control.
Further, the stopper is electric cylinder, and the electric cylinder with the power control cabinet for being electrically connected；
The control cabinet is used to control the starting or closing of the electric cylinder.
Further, the angle locator includes: the second cylinder and third cylinder；
Second cylinder and the third cylinder are separately mounted on two side stands of roller conveyor；
Second cylinder and the third cylinder are used to be electrically connected with control cabinet；
The control cabinet is used for after determining that the operation object can not move ahead, and passes through second cylinder and the third
Cylinder limits the operation object and moves along the length direction of the roller-way roller.
Further, when the number of second cylinder or/and third cylinder is 1, then second cylinder or/and
The output end of third cylinder is mounted on the connecting rod positioning mechanism；
There is the output rod of the length direction of multiple parallel roller-way rollers on the connecting rod positioning mechanism.
Further, the equipment further includes alarm, and the alarm with the control cabinet for being electrically connected；
The controller is used to deposit after a failure in determination, starts the alarm equipment alarm.
Further, the equipment further include: alarm lamp；
The alarm lamp with the control cabinet for being electrically connected；
The controller is used to deposit after a failure in determination, starts the alarm lamp.
Further, when described when operating parts is bolt, the operation executive item is screw gun.
Further, the equipment further include: control cabinet；
The control cabinet is mounted on the lifting portal frame.
The support frame of equipment provided in an embodiment of the present invention is mounted on roller conveyor, and with roller-way opposite juxtaposition in roller
Under road；Stopper is placed on support frame, and control cabinet determines that operation object is in preset range, and controls stopper across roller-way
To stop operation object to move ahead；Angle locator is placed on two side stands of roller conveyor, and control cabinet is determining operation object not
After can moving ahead, operation object is limited by angle locator and is moved along the length direction of roller-way roller；Camera is mounted on lifting dragon
On door frame, control cabinet obtain camera shooting operation object outer surface on to operating parts；Cooperation robot is mounted on lifting dragon
On door frame, and robot end is equipped with operation executive item, the image tune for the operation object that cooperation robot is shot according to camera
Complete machine tool palmistry determines starting on operation executive item exact localization operation object after operating parts to the position of operation object
Operate executive item assembly manipulation object on to operating parts.In terms of existing technologies, scheme provided in an embodiment of the present invention
Without man-hour manually hand-held operation executive item installation or unload to the operating parts in operation object, but by producing pipeline, stopping
Device, angle locator, camera, operation executive item and cooperation robot with manipulator cooperate, and complete wait operate pair
The assembly or disassembly of elephant can improve assembly or disassembly efficiency on the basis of guaranteeing assembly or disassembly precision.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described.
Fig. 1 is the structural schematic diagram of a kind of assembly of the embodiment of the present invention, detaching equipment；
Fig. 2 be it is provided in an embodiment of the present invention it is a kind of assembly, detaching equipment side view structural schematic diagram；
Fig. 3 is the partial structure diagram provided in an embodiment of the present invention assembled, dismantled.
1- produces pipeline；2- stopper；The angle 3- locator；4- camera；5- operates executive item；6- cooperation robot；7-
Lift portal frame；8- control cabinet；9- operation object；10- photoelectric sensor；1-1- roller conveyor；1-2- support frame；6-1- machine
Tool hand.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of embodiments of the present application, instead of all the embodiments.It is based on
Embodiment in the application, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall in the protection scope of this application.
Referring to Fig. 1-2, Fig. 1-2 be it is provided in an embodiment of the present invention it is a kind of assembly, detaching equipment structural schematic diagram, this sets
Standby includes: production pipeline 1, stopper 2, angle locator 3, camera 4, operation executive item 5, the cooperation machine with manipulator 6-1
Device people 6 and lifting portal frame 7；
Wherein, the production pipeline 1 includes roller conveyor 1-1 and support frame 1-2；Support frame as described above 1-2 is mounted on
On the roller conveyor 1-1, and with the roller-way opposite juxtaposition under the roller-way；
The stopper 2 is placed on support frame as described above 1-2, and the stopper 2 with control cabinet 8 for being electrically connected, the control
Cabinet 8 processed controls the stopper 2 across the roller-way to stop for determining that the operation object 9 is in preset range
The operation object 9 moves ahead；
The angle locator 3 is placed on two side stands of the roller conveyor 1-1, for being electrically connected with the control cabinet 8
It connects, the control cabinet 8 is used for after determining that the operation object 9 can not move ahead, and limits the operation by the angle locator 3
Object 9 is moved along the length direction of the roller-way roller；
The camera 4 is mounted on the lifting portal frame, and the camera 4 is electrically connected with the cooperation robot 6, is also used
It is electrically connected in the control cabinet 8, the control cabinet 8 is used to obtain 9 outer surface of the operation object that the camera 4 is shot
To operating parts；
The cooperation robot 6 is mounted on the lifting portal frame, and the end the manipulator 6-1 is equipped with the behaviour
Make executive item 5, manipulator described in the Image Adjusting for the operation object 9 that the cooperation robot 6 is used to shoot according to the camera 4
The position of the relatively described operation object 9 of 6-1, and determine it is described operation executive item 5 be accurately positioned in the operation object 9 wait grasp
Start described in operation 5 assembly or disassembly of executive item after workpiece in operation object 9 to operating parts.
Wherein, above-mentioned production pipeline 1 is for conveying operation object 9, convenient for operation object 9 carry out movement or
Stop control.
The roller conveyor 1-1 of above-mentioned production pipeline 1 can be by manually being started to it or being closed, can also be with
For being electrically connected with control cabinet 8, control cabinet 8 is determining that operation object 9 is placed on the roller-way, just starts roller conveyor 1-1,
To pass through roller-way conveying operations object 9.
A kind of implementation that above-mentioned determining operation object 9 is placed on the roller-way can be, at the end roller conveyor 1-1
Sensor is installed in portion, which can be photoelectric sensor 10, or infrared sensor, and by the sensor and control
Cabinet 8 processed is electrically connected.
Aforesaid operations object 9 can be engine, motor or retarder etc..
Be between above-mentioned roller-way it is spaced, therefore, stopper 2 is placed under roller-way, control cabinet 8 determination have operation object
9 within a preset range, can control stopper 2 across roller-way, the operation object 9 on above-mentioned roller-way is prevented to move ahead.
Above-mentioned stopper 2 is used for after determining the operation object 9 within a preset range, by passing through the roller-way to hinder
The operation object 9 is kept off to move ahead.
Aforesaid operations object 9 can be bolt to operating parts, be also possible to screw, can also be nut, and operation executes
Part 5 can corresponding be the executive item of assembly or disassembly bolt, be also possible to the executive item of assembly or disassembly screw, can also be
The executive item of assembly or disassembly nut.
Illustratively, if aforesaid operations object 9 is engine, when needing to install bolt on the engine, then operation is held
Row part 5 is exactly screw gun, is rotated forward using manipulator 6-1 starting screw gun so that the firm installation of bolt on the engine, works as needs
The removal bolt on installed engine, then operating executive item 5 can also be screw gun, start spiral shell using manipulator 6-1
Silk rifle reversion is so that bolt is detached from from engine.
The working principle of the assembly object are as follows: after determining placement operation object 9 on roller-way, it is defeated that control cabinet 8 starts roller-way
Machine 1-1 is sent, then operation object 9 will move ahead under the conveying of roller conveyor 1-1, and control cabinet 8 is determining aforesaid operations object 9
In operation to preset range, starts above-mentioned stopper 2 across roller-way to stop the operation object 9 to move ahead, limited in stopper 2
Aforesaid operations object 9 move ahead after, then using above-mentioned angle locator 3 be clamped in the two sides of operation object 9 to prevent operation object 9 along
The length direction of roller-way roller moves.The preliminary fixed of operation object 9 is realized in the case where stopper 2 and angle locator 3 interact
Position.This moment, control cabinet starts above-mentioned camera 4, and the image in shooting operation object 9 to surface where operating parts, and is transmitted to
It cooperates in robot 6, the robot 6 that cooperates determines each to the opposite of operating parts relative mechanical hand 6-1 according to captured image
Position, and in a certain order, mobile manipulator 6-1, and the operation executive item 5 for installing manipulator 6-1 precisely align to
Operating parts, and in operation object 9 described in 5 assembly or disassembly of start-up operation executive item to operating parts, will scheme according to certain sequence
To need being installed or removed to operating parts for assembly or disassembly in operation object 9 as in.
It can be seen that the support frame 1-2 of equipment provided in an embodiment of the present invention is mounted on roller conveyor 1-1, and with
Roller-way opposite juxtaposition is under roller-way；Stopper 2 is placed on support frame 1-2, and control cabinet 8 determines that operation object 9 is in preset range
It is interior, and stopper 2 is controlled across roller-way to stop operation object 9 to move ahead；Angle locator 3 is placed in the two sides of roller conveyor 1-1
On bracket, control cabinet 8 limits operation object 9 along roller roller after determining that operation object 9 can not move ahead, through angle locator 3
The length direction of wheel moves；Camera 4 is mounted on lifting portal frame, and control cabinet 8 obtains 9 appearance of operation object that camera 4 is shot
On face to operating parts；Cooperation robot 6 is mounted on lifting portal frame, and the end manipulator 6-1 is equipped with operation executive item
The position of 5, the Image Adjusting manipulator 6-1 for the operation object 9 that cooperation robot 6 shoot according to camera 4 operation object 9 relatively,
And determine the 5 assembly manipulation object 9 of the start-up operation executive item after operating parts on operation 5 exact localization operation object 9 of executive item
On to operating parts.In terms of existing technologies, scheme provided in an embodiment of the present invention operates executive item 5 without man-hour manually hand-held
Installation or unload to the operating parts in operation object 9, but by production pipeline 1, stopper 2, angle locator 3, camera 4,
Operation executive item 5 and cooperation robot 6 with manipulator 6-1 cooperate, completion to operation object 9 assembly or tear open
It unloads, assembly or disassembly efficiency can be improved on the basis of guaranteeing assembly or disassembly precision；To also can further save people
Work cost.
When needing what is installed or removed to be distributed in when on multiple and different faces of operation object 9 when operating parts, complete to pacify
After the one side of dress or disassembling section object 9, operation object 9 can be transported out, operation object 9 is reapposed, so that not
The face of assembly or disassembly and camera 4 are opposite, and the face of assembly or disassembly can be taken convenient for camera 4, and as described above
Method carries out repetitive operation to operating parts to new, until needed operation object 9 is complete to operating parts whole assembly or disassembly
Finish.
In order to improve assembly or disassembly efficiency, in one embodiment of the invention, the equipment further include: tipper
Structure；
The turnover mechanism is mounted on the lifting portal frame 7, for clamping the operation object 9 to realize overturning,
The turnover mechanism with the control cabinet 8 for being electrically connected；
The control cabinet 8 be used for determine the operation object 9 on the front to operating parts after the assembly is completed,
The angle locator 3 is controlled to restore to original position, and control the turnover mechanism clamp the overturning of operation object 9 to it is new to
The affiliated face of operating parts controls the angle locator 3 and limits again to the operation object 9, and starts the camera 4.
Wherein, above-mentioned turnover mechanism can be the manipulator 6-1 being made of link mechanism, and it is organic to be also possible to an installation
The robot of tool hand 6-1.
Above-mentioned control cabinet 8 determines the operation object 9 when the determination side for having assembled completion to operating parts on front
Method can for cooperation robot 6 according to certain sequence complete to shoot in image when on front after operating parts, and by table
The information that sign assembly or disassembly is completed feeds back to control cabinet 8, is also possible to camera 4 and shoots again, and the picture after shooting is anti-
Feed the robot 6 that cooperates, so cooperate robot 6 according to the picture that camera 4 is shot reaffirm when on front to operating parts
After the completion of assembly or disassembly, and control cabinet 8 is fed back to by the information that assembly or disassembly is completed is characterized.
In order to realize the overturning for treating operation object 9, need to remove the limitation that above-mentioned angle locator 3 treats operation object 9,
Therefore, control cabinet 8 is determining that after operation object 9, pilot angle locator 3 restores former there are also unassembled or disassembly after operating parts
Position.
Control cabinet 8 can be in advance according to certain overturning sequence be set to operation object 9, so as to according to belonging to operating parts
Certain sequence in face completes the assembly or disassembly to operation object 9.
Be also possible to shoot using camera 4 to operation object 9 when the image of front, and image is sent to cooperation machine
Device people 6, the image that shoot according to camera 4 of cooperation robot 6, determine when front whether there is it is uninstalled to operating parts, if depositing
Using manipulator 6-1 continuing that the operating parts is installed, if it does not exist, it is complete that characterization is being deserved into front assembly or disassembly
At information feed back to control cabinet 8, so as to control cabinet 8 according to cooperation robot 6 feed back information, it is determined whether to the operation pair
Overturn as 9, so complete operation object 9 all to the assembly or disassembly of operating parts.
As it can be seen that turnover mechanism provided in this embodiment is mounted on the lifting portal frame 7, it to be used for clipping operation object 9
To realize overturning, turnover mechanism with control cabinet 8 for being electrically connected；Control cabinet 8 determine operation object 9 on the front wait operate
After the assembly is completed, pilot angle locator 3 restores to original position part, and controls the overturning of turnover mechanism clipping operation object 9 extremely
It is new to control the angle locator 3 to the affiliated face of operating parts and operation object 9 is limited again, and start camera 4, due to
Without manually being participated in, therefore on the basis of guaranteeing assembly or disassembly precision, it is further able to improve assembly or disassembly effect
Rate.
In one embodiment of the invention, as shown in figure 3, above equipment further include: photoelectric sensor 10, above-mentioned blocking
Device 2 is the first cylinder；
The photoelectric sensor 10 is mounted on any bracket of the two sides the roller conveyor 1-1, first cylinder
On, and the photoelectric sensor 10 and the first cylinder are used to be electrically connected with the control cabinet 8；
The control cabinet 8 according to the photoelectric sensor 10 feed back for characterizing the operation object 9 in preset range
The executive component that interior information controls first cylinder is moved by flexible blocking or the operation object 9 of letting pass.
Above-mentioned photoelectric sensor 10 is the sensor using photoelectric device as conversion element.It can be used for detecting and directly cause
The non-electrical physical quantity of light quantity variation, it is, whether photoelectric sensor 10 can be sensed in a certain range on roller-way has
The information that characterization has object if having perceived object, and is sent to control cabinet 8 by operation object 9.
The determination of above-mentioned preset range is that itself sensing range determines according to photoelectric sensor 10.
There is object on the roller-way of the perception of photoelectric sensor 10 within a preset range, and there is the information of object to be sent to characterization
Control cabinet 8, control cabinet 8 start the first cylinder according to the information that photoelectric sensor 10 is sent, and the executive component of the first cylinder passes through
Roller-way stops operation object 9.After operation object 9 is completed assembly or disassembly, cooperation robot 6 is fed back to control cabinet 8 to be characterized
The information of assembly or disassembly is completed, the executive component that control cabinet 8 controls the first cylinder, which sets back and controls locator, restores former
The operation object 9 of position, assembly or disassembly of letting pass moves.
As it can be seen that the photoelectric sensor 10 of the present embodiment is mounted on the first cylinder, control cabinet 8 is anti-according to photoelectric sensor 10
The executive component that first cylinder is controlled for characterizing the information of the operation object 9 within a preset range of feedback passes through flexible
Stop or exit-entry operation object 9 moves, the intelligence of the equipment can be enhanced, further increase assembly, removal efficiency.
In one embodiment of the invention, above-mentioned stopper 2 further include: solenoid valve；
The solenoid valve is mounted on the input terminal of first cylinder, and the solenoid valve is used for and 8 electricity of control cabinet
Connection；
The control cabinet 8 reaches the fortune for controlling the first cylinder executive item by the first cylinder described in solenoid valve control
It is dynamic.
Solenoid valve is electromagnetically controlled industrial equipment, is the automatic foundamental element for controlling fluid, belongs to execution
Device, however it is not limited to hydraulic, pneumatic.Direction, flow, speed and the other parameters of medium are adjusted in industrial control system.
Solenoid valve can cooperate different circuits to realize expected control, and the precision and flexibility that control can guarantee.Electromagnetism
There are many kinds of valves, and different solenoid valves plays a role in the different location of control system, the most commonly used is check valve, safety valve,
Directional control valve, speed-regulating valve etc..
The solenoid valve of the present embodiment can control the speed of the gas in the first cylinder, so that control cabinet 8 is more easier
Control the first cylinder.
As it can be seen that the solenoid valve of the present embodiment is mounted on the input terminal of the first cylinder, and the solenoid valve is used for and the control
Cabinet 8 processed is electrically connected；The reliability that control cabinet 8 controls the first cylinder operation can be enhanced.
In one embodiment of the invention, stopper 2 is electric cylinder, and the electric cylinder with the power control cabinet for being electrically connected
It connects；
The control cabinet 8 is used to control the starting or closing of the electric cylinder.
Electric cylinder is that the rotary motion of servo motor is turned to the modular product of servo motor and lead screw integrated design
It changes linear motion into, while servo motor optimum benefits-precise rotation being controlled, accurate revolution control, accurate torque control turns
Become-precise speed control, Accurate Position Control, accurate thrust control；Realize the product of high-precision linear motion series.
As it can be seen that the electric cylinder of the present embodiment with power control cabinet for being electrically connected；The starting or closing of the control electric cylinder of control cabinet 8
Stop operation object 9 to move ahead to realize, is further able to realize the reliability for stopping operation object 9 forward.
In one embodiment of the invention, angle locator 3 includes: the second cylinder and third cylinder；
Second cylinder and the third cylinder are separately mounted on two side stands of roller conveyor 1-1；
Second cylinder and the third cylinder are used to be electrically connected with control cabinet 8；
The control cabinet 8 is used for after determining that the operation object 9 can not move ahead, and passes through second cylinder and described the
Three cylinders limit the operation object 9 and move along the length direction of the roller-way roller.
Second cylinder and third cylinder are separately mounted on two side stands of roller conveyor 1-1；It realizes and stops operation pair
It is moved along the length direction of roller-way roller as 9.
A kind of embodiment that control cabinet 8 determines that operation object 9 can not move ahead is: can pacify on 2 outer surface of stopper
Sensor is filled, when operation object 9 touches the sensor, which feeds back to the information that operation object 9 has stopped is characterized
Control cabinet 8.
Another embodiment is: for control cabinet 8 using the speed of roller-way operation, operation object 9 and stopper 2 are closest
Face, the time that calculating operation object 9 is contacted with stopper 2 are determining that the operation object 9 is placed on roller-way, and are reaching calculating
Time after, the second cylinder and third cylinder is respectively started.
The number of second cylinder and third cylinder is at least 1.
As it can be seen that the angle locator 3 of the present embodiment includes the second cylinder and third cylinder；Second cylinder and third cylinder difference
It is mounted on two side stands of roller conveyor 1-1；Second cylinder and third cylinder are used to be electrically connected with control cabinet 8, can
Limitation operation object 9 is moved along the length direction of roller-way roller, can enhance manipulator 6-1 assembly or disassembly operation object 9
Stability.
When the number of the second cylinder is 1, and when operation object 9 length is long and high, then only 1 the second cylinder and 1
Third cylinder cannot reliably consolidate operation object 9, this is based on, in one embodiment of the invention, when second gas
When the number of cylinder or/and third cylinder is 1, then the output end of second cylinder or/and third cylinder is mounted on described
Connecting rod positioning mechanism；
There is the output rod of the length direction of multiple parallel roller-way rollers on the connecting rod positioning mechanism.
The output end of 1 the second cylinder or/and 1 third cylinder is connected with link mechanism, when control cabinet 8 starts the second gas
When cylinder or/and third cylinder, then the executive component of the second cylinder or/and third cylinder drives multiple output rods of link mechanism to support
The firmly side of operation object 9, to consolidate operation object 9.
As it can be seen that second cylinder of the present embodiment or/and the output end of third cylinder are mounted on the connecting rod positioning mechanism；
There is the output rod of the length direction of multiple parallel roller-way rollers on connecting rod positioning mechanism, can more consolidate operation object 9,
Further increase the reliability of equipment work.
In one embodiment of the invention, the equipment further includes alarm, and the alarm is used for and the control
Cabinet 8 is electrically connected；
The controller is used to deposit after a failure in determination, starts the alarm equipment alarm.
It breaks down when generating pipeline, stopper 2, angle locator 3, any components of cooperation robot 6 or camera 4 etc.
When, then control cabinet 8 will start alarm device after determination.
As it can be seen that the equipment of the present embodiment further includes alarm, alarm with control cabinet 8 for being electrically connected；Control cabinet 8 is true
Surely it depositing after a failure, starts alarm equipment alarm, the operator that can make to fail to pay close attention to equipment in real time arouses attention in time, in case
Operator adopts remedial measures, and is further reduced since failure bring is lost.
In one embodiment of the invention, the equipment further include: alarm lamp；
The alarm lamp with the control cabinet 8 for being electrically connected；
The controller is used to deposit after a failure in determination, starts the alarm lamp.
Wherein, above-mentioned alarm lamp can be tri coloured lantern, and different colors represents different warnings, such as red to represent: alarm,
Equipment fault；Green represents: operating normally, is operating；Yellow represents: equipment is idle.
Operator can determine what situation current device is according to different colors.
For enhancing your vigilance property, then when equipment breaks down, alarm lamp and alarm can start simultaneously.
As it can be seen that the equipment of the present embodiment further include: alarm lamp；Alarm lamp with control cabinet 8 for being electrically connected；Controller is used for
It is deposited after a failure in determination, starts the alarm lamp, can cause operator's note that in case operator is timely in time
It adopts remedial measures, is further reduced since failure bring is lost.
In one embodiment of the invention, the equipment further include: control cabinet 8；
The control cabinet 8 is mounted on the lifting portal frame.
Wherein, control cabinet 8 can be integrated control cabinet 8, the integrated control cabinet 8 include breaker, DC power supply, PLC, in
Between relay and connecting terminal；PLC, which is worked out, according to the functional requirement of control cabinet 8 runs program.Equipment is integrated in the present embodiment
Control, corresponding logical action are realized by PLC operation program.
As it can be seen that the present embodiment includes control cabinet 8, the intelligence of the equipment can be further increased, improves assembly or disassembly
Efficiency.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the equipment for including a series of elements not only includes those elements, but also including not bright
The other element really listed, or further include the element intrinsic for this equipment.In the absence of more restrictions, by
The element that sentence "including a ..." limits, it is not excluded that identical wanted in the equipment for including the element there is also other
Element.
Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality
For applying example, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to embodiment of the method
Part explanation.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all
Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention
It is interior.
Claims (11)
1. a kind of assembly, detaching equipment, which is characterized in that the equipment includes: that production pipeline (1), stopper (2), angle are fixed
Position device (3), camera (4), operation executive item (5), the cooperation robot (6) with manipulator (6-1) and lifting portal frame (7)；
Wherein, the production pipeline (1) includes roller conveyor (1-1) and support frame (1-2)；Support frame as described above (1-2) peace
On the roller conveyor (1-1), and with the roller-way opposite juxtaposition under the roller-way；
The stopper (2) is placed on support frame as described above (1-2), and the stopper (2) with control cabinet for being electrically connected, the control
Cabinet (8) processed is used for by determining that operation object (9) are in preset range, and controls the stopper (2) across the roller-way
To stop the operation object (9) to move ahead；
The angle locator (3) is placed on two side stands of the roller conveyor (1-1), for electric with the control cabinet (8)
Connection, the control cabinet (8) are used for after determining that the operation object (9) can not move ahead, and are limited by the angle locator (3)
The operation object (9) moves along the length direction of the roller-way roller；
The camera (4) is mounted on the lifting portal frame (7), and the camera (4) is electrically connected with the cooperation robot (6),
It is also used to be electrically connected with the control cabinet (8), the control cabinet (8) is used to obtain the operation pair of the camera (4) shooting
As on (9) outer surface to operating parts；
The cooperation robot (6) is mounted on the lifting portal frame (7), and the installation of the manipulator end (6-1) is
State operation executive item (5), the image tune for the operation object (9) that cooperation robot (6) is used to shoot according to the camera (4)
The position of the relatively described operation object (9) of the whole manipulator (6-1), and determine that the operation executive item (5) is accurately positioned institute
State starting in operation object (9) described in operation executive item (5) assembly or disassembly after operating parts on operation object (9)
To operating parts.
2. equipment as described in claim 1, which is characterized in that the equipment further include: turnover mechanism；
The turnover mechanism is mounted on the lifting portal frame (7), for clamping the operation object (9) to realize overturning,
The turnover mechanism with the control cabinet (8) for being electrically connected；
The control cabinet (8) be used for determine the operation object (9) when on front to operating parts after the assembly is completed,
It controls the angle locator (3) to restore to original position, and controls the turnover mechanism clamping operation object (9) and overturn to new
It to the affiliated face of operating parts, controls the angle locator (3) and the operation object (9) is limited again, and start the phase
Machine (4).
3. equipment as claimed in claim 2, which is characterized in that the equipment further include: photoelectric sensor (10), the blocking
Device (2) is the first cylinder；
The photoelectric sensor (10) is mounted on any bracket of the two sides the roller conveyor (1-1), and the photoelectric transfer
Sensor (10) and first cylinder are used to be electrically connected with the control cabinet (8)；
The control cabinet (8) is used to characterize the operation object (9) in default model according to what the photoelectric sensor (10) was fed back
The executive component that information in enclosing controls first cylinder passes through flexible blocking or the operation object (9) movement of letting pass.
4. equipment as claimed in claim 3, which is characterized in that the stopper (2) further include: solenoid valve；
The solenoid valve is mounted on the input terminal of first cylinder, and the solenoid valve with the control cabinet (8) for being electrically connected
It connects；
The control cabinet (8) reaches the movement for controlling the first cylinder executive item by the first cylinder described in solenoid valve control.
5. equipment as described in claim 1, which is characterized in that the stopper (2) be electric cylinder, the electric cylinder be used for
The power control cabinet electrical connection；
The control cabinet (8) is used to control the starting or closing of the electric cylinder.
6. such as equipment according to any one of claims 1 to 5, which is characterized in that the angle locator (3) includes: the second gas
Cylinder and third cylinder；
Second cylinder and the third cylinder are separately mounted on two side stands of roller conveyor (1-1)；
Second cylinder and the third cylinder are used to be electrically connected with control cabinet (8)；
The control cabinet (8) is used for after determining that the operation object (9) can not move ahead, and passes through second cylinder and described the
Three cylinders limit the operation object (9) and move along the length direction of the roller-way roller.
7. equipment as claimed in claim 6, which is characterized in that when the number of second cylinder or/and third cylinder is 1
When, then the output end of second cylinder or/and third cylinder is mounted on the connecting rod positioning mechanism；
There is the output rod of the length direction of multiple parallel roller-way rollers on the connecting rod positioning mechanism.
8. equipment as described in claim 1, which is characterized in that the equipment further includes alarm, the alarm be used for
Control cabinet (8) electrical connection；
The controller is used to deposit after a failure in determination, starts the alarm equipment alarm.
9. equipment as described in claim 1, which is characterized in that the equipment further include: alarm lamp；
The alarm lamp with the control cabinet (8) for being electrically connected；
The controller is used to deposit after a failure in determination, starts the alarm lamp.
10. the equipment as described in any one of claim 1~7,7~9, which is characterized in that when it is described to operating parts be bolt
When, the operation executive item (5) is screw gun.
11. equipment as described in claim 1, which is characterized in that the equipment further include: control cabinet (8)；
The control cabinet (8) is mounted on the lifting portal frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910790360.9A CN110498222A (en) | 2019-08-26 | 2019-08-26 | A kind of assembly, detaching equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910790360.9A CN110498222A (en) | 2019-08-26 | 2019-08-26 | A kind of assembly, detaching equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110498222A true CN110498222A (en) | 2019-11-26 |
Family
ID=68589470
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910790360.9A Pending CN110498222A (en) | 2019-08-26 | 2019-08-26 | A kind of assembly, detaching equipment |
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| Country | Link |
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| CN (1) | CN110498222A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114211236A (en) * | 2022-01-18 | 2022-03-22 | 山东光明园迪儿童家具科技有限公司 | Control system of automatic screw locking equipment |
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