CN111037555B - Equipment for automatically assembling impeller assembly of deep well pump - Google Patents
Equipment for automatically assembling impeller assembly of deep well pump Download PDFInfo
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- CN111037555B CN111037555B CN201911301971.9A CN201911301971A CN111037555B CN 111037555 B CN111037555 B CN 111037555B CN 201911301971 A CN201911301971 A CN 201911301971A CN 111037555 B CN111037555 B CN 111037555B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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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
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Abstract
The invention discloses equipment for automatically assembling an impeller assembly of a deep well pump, which comprises a multi-shaft synchronous controller, wherein the multi-shaft synchronous controller is sequentially connected with a plurality of assembling robots, a plurality of material moving robots and a plurality of visual positioning devices, the visual positioning devices are correspondingly arranged above an assembling area of the material moving robots, and one side of each assembling robot is correspondingly provided with a feeding device.
Description
Technical Field
The invention belongs to the technical field of automatic assembly equipment, and particularly relates to equipment for automatically assembling an impeller assembly of a deep well pump.
Background
The impeller subassembly is one of the important subassembly of deep-well pump, and the impeller subassembly generally comprises a plurality of part, in the production process, needs assemble each part cartridge on same root hexagonal axle, and traditional assembly methods have manual assembly, single robot assembly operation and multi-robot assembly operation, and the shortcoming of adopting above-mentioned assembly methods has: 1. the assembly line works at a plurality of stations, each station is provided with 1 worker for assembly, the labor cost is high, the efficiency is low, and the operation beat is unstable; 2. the method is characterized in that 1 robot is adopted to carry out assembly operation aiming at one station, only 1 robot is used for carrying out operation, a clamping jaw at the tail end of the robot needs to run back and forth every time a part is inserted, the assembly beat is slow, in addition, only 1 robot is used for carrying out operation, only 1 clamping jaw is generally arranged at the tail end of the robot, 4 parts are generally arranged on an impeller assembly, and the equipment compatibility is poor; 3. the assembly line is adopted for multi-robot multi-station operation, and a plurality of sets of impeller set part feeding devices and the like are required, so that the overall cost of the equipment is increased; 4. the assembly line multi-robot single-station operation is adopted, each robot needs to be configured with one controller, IO interface communication is adopted between the controllers, after a former assembly robot quits an assembly area to move in place, an in-place signal is transmitted to a latter assembly robot through the IO interface, the latter robot starts to enter the assembly area again to carry out cartridge operation, multiple assembly robots all rely on the IO interface to transmit in-place signals, unified track coordination planning cannot be achieved, and beat minimization operation cannot be achieved.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide equipment for automatically assembling an impeller component of a deep-well pump, which can coordinate operation of multiple robots.
The technical scheme of the invention is as follows:
the utility model provides an automatic equipment of assembly deep well pump impeller subassembly, includes multiaxis synchronous controller, multiaxis synchronous controller has connected gradually a plurality of assembly robots, a plurality of material robot and a plurality of vision positioner that move, vision positioner corresponds to set up in moving material robot assembly area top, each assembly robot one side correspondence is provided with feedway.
Preferably, the assembly robot comprises a horizontal moving shaft, a vertical moving shaft, a swinging joint, a rotating joint and a tail end clamping jaw, wherein the horizontal moving shaft, the vertical moving shaft, the swinging joint and the rotating joint are driven by corresponding servo motors, and each servo motor is driven by a corresponding servo driver.
Preferably, the number of the assembling robots is 4, and the assembling robots are respectively a first assembling robot, a second assembling robot, a third assembling robot and a fourth assembling robot.
Preferably, the feeding devices on one sides of the first assembling robot and the second assembling robot correspond to a first vibration feeding tray device and a second vibration feeding tray device, and the feeding devices on one sides of the third assembling robot and the fourth assembling robot correspond to a first small automatic bin and a second small automatic bin.
Preferably, the material moving robot comprises a transverse moving shaft and a longitudinal moving shaft, the transverse moving shaft and the longitudinal moving shaft are driven by corresponding servo motors, each servo motor is driven by a corresponding servo driver, a material moving three-jaw is arranged on the transverse moving shaft, a hexagonal shaft is clamped in the material moving three-jaw, and a material moving single jaw is arranged on the longitudinal moving shaft.
Preferably, the material moving robots are 2, namely a first material moving robot and a second material moving robot.
Preferably, the visual positioning devices arranged on the assembly areas of the first material moving robot and the second material moving robot are both intelligent cameras.
Preferably, the multi-axis synchronous controller is connected with each servo driver through an EtherCAT communication mode, and the multi-axis synchronous controller is connected with the visual positioning device through a TCP/TP communication mode.
The invention has the beneficial effects that:
(1) by adopting the multi-axis synchronous controller, the cooperative operation control of a plurality of modular robots can be finished by a single controller, so that the time overhead caused by the fact that the axes cannot be synchronized due to logic signal interaction among a plurality of controllers is avoided, and the synchronism and the accuracy of actions in the cooperative operation process of the robots are accurately ensured;
(2) all servo motors (namely all robots) only adopt one control system, so that the cost of the controller is reduced;
(3) the multiple robots perform coordination and non-collision assembly operation at a single station, so that beat minimization operation is realized, and meanwhile, the operation efficiency is improved;
(4) the number of the feeding devices is not increased in the single-station operation of the plurality of robots, and the cost of the feeding system is reduced.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a schematic view of a first assembly robot;
FIG. 3 is a schematic structural diagram of a first material transfer robot;
FIG. 4 is a diagram of a system control according to the present invention;
FIG. 5 shows the component 1 in the inserted state;
FIG. 6 is a view showing the state where the component 2 is inserted;
FIG. 7 is a view showing a state where the component 3 is inserted;
fig. 8 shows the state of the component 4 in the inserted state.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 4, an apparatus for automatically assembling an impeller assembly of a deep well pump comprises a multi-axis synchronous controller, wherein the multi-axis synchronous controller is sequentially connected with a first assembling robot 1-1, a second assembling robot 1-2, a third assembling robot 1-3, a fourth assembling robot 1-4, a first material moving robot 2-1, a second material moving robot 2-2, a first visual positioning device 3 and a second visual positioning device 3.
As shown in fig. 2, the first assembling robot 1-1 includes a horizontal moving axis 1-1-1, a vertical moving axis 1-1-2, a swing joint 1-1-3, a rotary joint 1-1-4 and a terminal jaw 1-1-5, which involve 4 degrees of freedom, each degree of freedom being driven by 1 servo motor, each servo motor being driven by a corresponding servo driver; the specific motion process is as follows: the horizontal moving shaft 1-1-1 drives the vertical moving shaft 1-1-2, the swing joint 1-1-3, the rotating joint 1-1-4 and the tail end clamping jaw 1-1-5 to move in the horizontal direction (namely the x direction), the vertical moving shaft 1-1-2 drives the swing joint 1-1-3, the rotating joint 1-1-4 and the tail end clamping jaw 1-1-5 to move in the vertical direction (namely the z direction), the swing joint 1-1-3 drives the rotating joint 1-1-4 and the tail end clamping jaw 1-1-5 to swing, the rotating joint 1-1-4 drives the tail end clamping jaw 1-1-5 to rotate, and the tail end clamping jaw 1-1-5 can clamp or release an impeller assembly part 1.
The second assembling robot 1-2, the third assembling robot 1-3 and the fourth assembling robot 1-4 are different from the first assembling robot 1-1 only in the difference of the end jaws, that is, the second assembling robot 1-2, the third assembling robot 1-3 and the fourth assembling robot 1-4 are respectively provided with the second end jaw 1-2-5, the third end jaw 1-3-5 and the fourth end jaw 1-4-5, which are correspondingly capable of gripping or releasing the impeller assembly part 2, the impeller assembly part 3 and the impeller assembly part 4.
As shown in fig. 3, the first material moving robot 2-1 includes a transverse moving shaft 2-1-1 and a longitudinal moving shaft 2-1-3, and includes 2 degrees of freedom, each degree of freedom is driven by 1 servo motor, each servo motor is driven by a corresponding servo driver, a material moving three-jaw 2-1-2 is arranged on the transverse moving shaft 2-1-1, a hexagonal shaft is clamped in the material moving three-jaw 2-1-2, and a material moving single jaw 2-1-4 is arranged on the longitudinal moving shaft 2-1-3, and the specific movement process is as follows: the horizontal moving shaft 2-1-1 drives the material moving three-jaw 2-1-2 and the vertical moving shaft 2-1-3 to move in the horizontal direction (namely the x direction), the material moving three-jaw 2-1-2 can clamp the lowest part of a hexagonal shaft to fix the hexagonal shaft, the vertical moving shaft 2-1-3 drives the material moving single-jaw 2-1-4 to move in the vertical direction (namely the z direction), and the material moving single-jaw 2-1-4 can clamp a part at the lowest part of the impeller set; the second material moving robot 2-2 and the first material moving robot 2-1 have the same structure and alternately operate.
The servo drivers of the first assembly robot 1-1 are drivers 1, 2, 3 and 4, the servo drivers of the second assembly robot 1-2 are drivers 5, 6, 7 and 8, the servo drivers of the third assembly robot 1-3 are drivers 9, 10, 11 and 12, and the servo drivers of the fourth assembly robot 1-4 are drivers 13, 14, 15 and 16; the servo drivers of the first material moving robot 2-1 are drivers No. 17 and 18, the servo drivers of the second material moving robot 2-2 are drivers No. 19 and 20, as shown in fig. 4, all the servo drivers communicate with a multi-axis synchronous controller in an EtherCAT communication mode, that is, the 4 assembling robots and the 2 material moving robots are controlled by one controller.
The first and second visual positioning devices 3 are intelligent cameras which are statically fixed above the assembly areas of the first material moving robot 2-1 and the second material moving robot 2-2, and the intelligent cameras can identify the offset of the position and the posture of the upper end of a hexagonal shaft and transmit corresponding coordinates to a multi-shaft synchronous controller in an electric control cabinet; the first and second visual positioning devices 3 communicate with the multi-axis synchronous controller by means of TCP/TP communication, as shown in fig. 4.
A first vibration feeding tray device 4-1 and a first vibration feeding tray device 4-2 are correspondingly arranged on one side of the first assembling robot 1-1 and one side of the second assembling robot 1-2, a first small automatic bin 4-3 and a second small automatic bin 4-4 are correspondingly arranged on one side of the third assembling robot 1-3 and one side of the fourth assembling robot 1-4, and the first vibration feeding tray device 4-1, the first vibration feeding tray device 4-2, the first small automatic bin 4-3 and the second small automatic bin 4-4 can respectively and continuously convey the parts 1, the parts 2, the parts 3 and the parts 4 to a part feeding level in an independent and individual separation mode.
The working process of the invention is as follows:
the first material moving robot 2-1 waits in a manual operation area, a hexagonal shaft is manually placed on the material moving three-jaw 2-1-2, the material moving three-jaw 2-1-2 clamps the hexagonal shaft, and the hexagonal shaft enters an assembly operation area for the assembly robot to perform assembly operation; the first vibration feeding tray device 4-2, the first small automatic bin 4-3 and the second small automatic bin 4-4 complete the feeding of the parts 1, 2, 3 and 4;
when the material moving three-jaw 2-1-2 is driven by the horizontal moving shaft 2-1-1 to the assembly area to be static, the material moving three-jaw 2-1-2 clamps the lowermost end of the hexagonal shaft to vertically fix the hexagonal shaft for inserting parts of the impeller set; the first assembling robot 1-1, the second assembling robot 1-2, the third assembling robot 1-3 and the fourth assembling robot 1-4 carry out inserting operation in the assembling area in turn, and the parts 1, 2, 3, 4 and 1 … … are inserted into the hexagonal shaft in turn, specifically:
the first assembling robot 1-1, the second assembling robot 1-2, the third assembling robot 1-3 and the fourth assembling robot 1-4 are arranged as shown in the figures 5-8, and the parts 1, 2, 3 and 4 are respectively transplanted to an assembling area for part insertion; the first assembling robot 1-1 completes the insertion of the part 1, when the tail end exits from the assembling area, the tail end of the second assembling robot 1-2 (moved to the upper material level clamping part 2) occupies the position of the assembling area, and in the last process, the tail ends of the first assembling robot 1-1 and the second assembling robot 1-2 always keep a short distance without collision; after the second assembling robot 1-2 is inserted, and the tail end exits from the assembling area, the tail end of the third assembling robot 1-3 occupies the position of the assembling area, and in the last process, the second assembling robot 1-2 and the tail end of the third assembling robot 1-3 always keep a short distance without collision; after the third assembling robot 1-3 is inserted, when the tail end exits from the assembling area, the tail end of the assembling robot 1-4 occupies the position of the assembling area, and in the last process, the tail ends of the third assembling robot 1-3 and the fourth assembling robot 1-4 always keep a short distance without collision; after the fourth assembling robot 1-4 is inserted, when the tail end exits from the assembling area, the tail end of the first assembling robot 1-1 occupies the position of the assembling area, and in the last process, the fourth assembling robot 1-4 and the tail end of the first assembling robot 1-1 always keep a short distance without collision;
the material moving single claw 2-1-4 clamps the parts at the lowest part of the impeller assembly, initially stands at the uppermost end, descends along with the increase of the inserting number of the parts of the impeller assembly, when the impeller assembly is assembled, the material moving single claw 2-1-4 moves to the lowermost end, the material moving three claw 2-1-2 is driven to a manual material loading and unloading area by a horizontal moving shaft 2-1-1, the assembled impeller assembly is unloaded manually, then the hexagonal shaft of the second material moving robot 2-2 is loaded, and the first material moving robot 2-1 and the second material moving robot 2-2 alternately operate and reciprocate circularly.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides an automatic equipment of assembly deep well pump impeller subassembly which characterized in that: the automatic assembling robot comprises a multi-axis synchronous controller, wherein the multi-axis synchronous controller is sequentially connected with a plurality of assembling robots, a plurality of material moving robots and a plurality of visual positioning devices, the visual positioning devices are correspondingly arranged above an assembling area of the material moving robots, one side of each assembling robot is correspondingly provided with a feeding device, each assembling robot comprises a horizontal moving shaft, a vertical moving shaft, a swinging joint, a rotating joint and a tail end clamping jaw, the horizontal moving shaft, the vertical moving shaft, the swinging joint and the rotating joint are driven by corresponding servo motors, and each servo motor is driven by a corresponding servo driver; move the material robot and include lateral shifting axle and longitudinal movement axle, lateral shifting axle and longitudinal movement axle are through corresponding servo motor drive, and each servo motor is through corresponding servo driver drive, and the epaxial material three paws that move that are provided with of lateral shifting move, move and hold the hexagonal axle in the material three paws, the epaxial material single claw that moves that is provided with of longitudinal movement.
2. The apparatus for automatically assembling an impeller assembly of a deep well pump according to claim 1, wherein: the number of the assembling robots is 4, and the assembling robots are respectively a first assembling robot, a second assembling robot, a third assembling robot and a fourth assembling robot.
3. The apparatus for automatically assembling an impeller assembly of a deep well pump according to claim 2, wherein: the feeding device of one side of the first assembling robot and the feeding device of one side of the second assembling robot correspond to the first vibration feeding disc device and the second vibration feeding disc device, and the feeding device of one side of the third assembling robot and the fourth assembling robot correspond to the first small automatic bin and the second small automatic bin.
4. The apparatus for automatically assembling an impeller assembly of a deep well pump according to claim 1, wherein: the material moving robots are 2 and are respectively a first material moving robot and a second material moving robot.
5. The apparatus for automatically assembling an impeller assembly of a deep well pump according to claim 4, wherein: and the visual positioning devices arranged on the assembly areas of the first material moving robot and the second material moving robot are both intelligent cameras.
6. The apparatus for automatically assembling an impeller assembly of a deep well pump according to claim 1, wherein: the multi-axis synchronous controller is connected with each servo driver in an EtherCAT communication mode, and is connected with the visual positioning device in a TCP/TP communication mode.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911301971.9A CN111037555B (en) | 2019-12-17 | 2019-12-17 | Equipment for automatically assembling impeller assembly of deep well pump |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911301971.9A CN111037555B (en) | 2019-12-17 | 2019-12-17 | Equipment for automatically assembling impeller assembly of deep well pump |
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| CN111037555A CN111037555A (en) | 2020-04-21 |
| CN111037555B true CN111037555B (en) | 2020-12-15 |
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| CN107225391B (en) * | 2016-03-25 | 2019-11-08 | 泰科电子(上海)有限公司 | For the robot assembly system of more shell products and assemble method and robot |
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| CN107932054A (en) * | 2017-10-09 | 2018-04-20 | 浙江理工大学 | The automatic assembly line of impeller equipped with three guide rails |
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| CN110515358B (en) * | 2019-08-26 | 2021-07-20 | 杭州芯控智能科技有限公司 | Control method of automatic production line parallel control system based on integrated controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6292998B1 (en) * | 1998-08-07 | 2001-09-25 | w.i.t.—Wiemers innovative Technik GmbH. | Method and apparatus for processing workpieces and assembling and disassembling of structural units |
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Non-Patent Citations (1)
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