CN111644831A - Double-robot cooperation device for assembling self-reset button - Google Patents
Double-robot cooperation device for assembling self-reset button Download PDFInfo
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- CN111644831A CN111644831A CN202010556213.8A CN202010556213A CN111644831A CN 111644831 A CN111644831 A CN 111644831A CN 202010556213 A CN202010556213 A CN 202010556213A CN 111644831 A CN111644831 A CN 111644831A
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07C—POSTAL SORTING; SORTING INDIVIDUAL ARTICLES, OR BULK MATERIAL FIT TO BE SORTED PIECE-MEAL, e.g. BY PICKING
- B07C5/00—Sorting according to a characteristic or feature of the articles or material being sorted, e.g. by control effected by devices which detect or measure such characteristic or feature; Sorting by manually actuated devices, e.g. switches
- B07C5/34—Sorting according to other particular properties
- B07C5/342—Sorting according to other particular properties according to optical properties, e.g. colour
- B07C5/3422—Sorting according to other particular properties according to optical properties, e.g. colour using video scanning devices, e.g. TV-cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
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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
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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
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- Mechanical Engineering (AREA)
- Robotics (AREA)
- Multimedia (AREA)
- Automatic Assembly (AREA)
Abstract
The invention relates to a double-robot cooperation device for assembling a self-resetting button, which comprises a cabinet body, a first part detection assembly, a second part detection assembly, a first assembling robot, a second assembling robot, a finished product placing assembly, a conveying line, a pneumatic system and a control system, wherein the first part detection assembly and the second part detection assembly are used for detecting parts, the first assembling robot and the second assembling robot cooperate with each other to complete the assembling of the self-resetting button, the finished product placing assembly is used for placing the assembled self-resetting button, the conveying line is used for conveying finished products, the pneumatic system provides pneumatic power for the whole device, and the control system is used for controlling the whole device. Greatly promoted from the assembly efficiency and the qualification rate of reset button.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a double-robot cooperation device for assembling self-reset buttons.
Background
More and more production fields of production and manufacturing enterprises begin to adopt automatic production, equipment is used for replacing manual work to complete a series of operations, production efficiency is greatly improved, industrial robots play an important role, a single robot has limitations in many aspects such as flexibility, efficiency and working space, and in order to complete more complex production tasks, double-robot and even multi-robot systems are concerned and researched more and more widely.
The self-reset button is used as an accessory widely used in equipment production, manufacturing and life, the production process is gradually developed into an intelligent production mode, the self-reset button needs to detect all parts before assembly, assembly and production can be completed only after the detection is qualified, in the traditional production process flow, part detection, manual assembly and finished product detection are performed manually, the problems of low production efficiency, low qualification rate and the like exist, the labor cost is gradually increased in recent years, the enterprise cost is high, and in order to solve the problem, the invention provides the double-robot cooperation device for assembling the self-reset button.
Disclosure of Invention
In order to realize the device, the invention aims to provide the double-robot cooperation device for assembling the self-reset button.
The technical scheme adopted by the invention is as follows: contain the cabinet body, first part determine module, second part determine module, first assembly robot, second assembly robot, finished product place subassembly, transfer chain, pneumatic system, control system.
First part determine module, second part determine module, first assembly robot, second assembly robot, finished product place subassembly, transfer chain and install at cabinet internal portion, pneumatic system connect first assembly robot, second assembly robot, control system connect first part determine module, second part determine module, first assembly robot, second assembly robot, finished product place subassembly, transfer chain.
The cabinet body comprises a left cabinet body, a right cabinet body, a display mounting bracket, a key mouse mounting bracket, trundles, a touch screen mounting hole, a button plate mounting hole, a wiring hole and a conveying line hole, wherein the left cabinet body is connected with the right cabinet body and is divided into an upper cabinet chamber and a lower cabinet chamber, the front and back directions of the upper cabinet chamber and the lower cabinet chamber are provided with an open door structure, the left side direction of the left cabinet body is a closed structure, the right side direction of the left cabinet body is an open structure, the left side direction of the right cabinet body is an open structure, the right side direction of the right cabinet body is a closed structure, the display mounting bracket is arranged at the upper left position outside the left cabinet body, the key mouse mounting bracket is arranged at the lower position of the display mounting bracket, the trundles are arranged at the four corners of the left cabinet body and the right cabinet body, the touch screen mounting hole is arranged at the upper left position in front of the upper cabinet chamber, the wiring hole is arranged at the lower right corner of the left side of the cabinet bin below the left cabinet body, and the conveying line hole is arranged at the lower right corner of the left side of the cabinet bin on the left cabinet body and the lower left corner of the right side of the cabinet bin on the right cabinet body.
The first part detection assembly is arranged at the rear position of the upper cabinet mounting plate of the left cabinet body, the second part detection assembly is arranged at the rear position of the upper cabinet mounting plate of the right cabinet body, the first part detection assembly and the second part detection assembly have the same structure and consist of a detection mounting frame, a first camera mounting bracket, a first light source mounting bracket, a first industrial camera, a first industrial lens, a first visual light source and a part placing frame, the detection mounting frame is arranged on the mounting plate, the first camera mounting bracket is arranged on a cross bar above the detection mounting frame, the first light source mounting bracket is arranged on a cross bar below the detection mounting bracket and is positioned at the lower position of the first camera mounting bracket, the first industrial camera is arranged on the first camera mounting bracket, the first industrial lens is connected with the first industrial camera, the first visual light source is arranged on the first light source mounting bracket, the part placing frame is arranged in front of the detection mounting frame and is positioned right below the first industrial camera;
first assembly robot install on the cabinet storehouse mounting panel on the cabinet body of a left side, be located first part determine module the place ahead position, constitute by first arm, first fixed block, side clamping jaw about first, finished product determine module, first arm install on the cabinet storehouse mounting panel on the cabinet body of a left side, first fixed block connect and install at first arm front end, first about the side clamping jaw install the other end at first fixed block, finished product determine module install on first fixed block.
Second assembly robot install on the cabinet storehouse mounting panel on the right side cabinet body, be located second part determine module the place ahead position, by second arm, second fixed block, second about the side clamping jaw constitute, second arm install on the cabinet storehouse mounting panel on the right side cabinet body, the second fixed block connect and install at second arm front end, the second about the side clamping jaw install the other end at the second fixed block.
The finished product place the subassembly and install in the middle place ahead position of first assembly robot and second assembly robot, constitute by base, support column, tray frame, the base install on last cabinet storehouse mounting panel, the support column install on the base, tray frame install on the support column.
The transfer chain constitute by belt subassembly, motor element, sensor fixed block, optical fiber sensor, start button, stop button, tray, belt subassembly install in last cabinet body the place ahead position, motor element install in belt subassembly below, be located down the cabinet storehouse, the sensor fixed block install on the inboard right of belt subassembly, be located second assembly robot the place ahead position, optical fiber sensor install on the sensor fixed block, start button install in belt subassembly the place ahead left side position, stop button install in belt subassembly the place ahead right side position, the tray place on belt subassembly.
The pneumatic system comprises air pump, solenoid valve, manometer and gas circuit pipeline, the solenoid valve connect PLC programmable controller, gas circuit pipeline connect air pump, solenoid valve, manometer, side clamping jaw about first, side clamping jaw about the second.
The control system comprises a computer, a PLC (programmable logic controller), a touch screen, a button plate and a light source controller, wherein the computer is connected with the PLC, the PLC is in control connection with the computer, the touch screen, the button plate, the light source controller, a first industrial camera, a second industrial camera, a first assembling robot, a second assembling robot, a conveying line and an electromagnetic valve, and the light source controller is connected with a first visual light source and a second visual light source.
Further, the upper cabinet bin is sealed by an acrylic plate, and the lower cabinet bin is sealed by a paint spraying aluminum plate.
Further, the detection mounting frame is made of aluminum profiles.
Further, the finished product detection assembly is composed of a second camera mounting bracket, a second light source mounting bracket, a second industrial camera, a second industrial lens and a second visual light source, the second camera mounting bracket is fixedly mounted on the first fixing block, the second light source mounting bracket is fixedly mounted on the first fixing block and located on the right side of the second camera mounting bracket, the second industrial camera is mounted on the second camera mounting bracket, the second industrial lens is connected with the second industrial camera, and the second visual light source is mounted on the second light source mounting bracket.
Further, the first visual light source and the second visual light source are annular light sources.
The invention has the beneficial effects that:
the invention discloses a double-robot cooperation device for assembling a self-resetting button, which consists of a cabinet body, a first part detection assembly, a second part detection assembly, a first assembling robot, a second assembling robot, a finished product placing assembly, a conveying line, a pneumatic system and a control system.
The double-robot cooperation device for assembling the self-reset button is high in integration and simple in structure, can be directly connected into an automatic production line, and is convenient to use.
According to the double-robot cooperation device for assembling the self-resetting button, the left and right positions and the up and down positions of the camera mounting bracket and the light source mounting bracket of the first part detection assembly, the second part detection assembly and the finished product detection assembly on the cross rod can be adjusted, the accuracy of a visual detection structure is ensured, the detection efficiency is improved, and unqualified products are prevented from being produced.
The double-robot cooperation device for assembling the self-reset button adopts double-robot cooperation to complete the assembly of the self-reset button, enlarges the application field of the robot, replaces the traditional manual assembly by the double-robot cooperation assembly, and improves the assembly efficiency and the qualification rate.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of a two-robot cooperative apparatus for self-resetting button assembly according to the present invention;
FIG. 2 is a front view of a dual-robot cooperative apparatus for self-reset button assembly according to the present invention;
FIG. 3 is a left side view of a dual-robot cooperative apparatus for self-reset button assembly according to the present invention;
FIG. 4 is a right side view of a dual-robot cooperative apparatus cabinet for self-reset button assembly in accordance with the present invention;
FIG. 5 is a schematic three-dimensional structure diagram of a first part inspection assembly of the dual-robot cooperative apparatus for self-resetting button assembly according to the present invention;
fig. 6 is a schematic three-dimensional structure diagram of a first assembly robot, a second assembly robot and a finished product placement component of a double-robot cooperation device for self-resetting button assembly according to the present invention;
fig. 7 is a schematic three-dimensional structure diagram of a conveying line of a double-robot cooperation device for self-reset button assembly according to the present invention;
fig. 8 is a flowchart of a control system of a dual-robot cooperative apparatus for self-reset button assembly according to the present invention.
Description of the reference numerals
100-cabinet, 110-left cabinet, 120-right cabinet, 130-display mounting bracket, 140-keyboard and mouse mounting bracket, 150-caster, 160-touch screen mounting hole, 170-button board mounting hole, 180-wiring hole, 190-transmission line hole, 200-first part detection component, 210-detection mounting bracket, 220-first camera mounting bracket, 230-first light source mounting bracket, 240-first industrial camera, 250-first industrial lens, 260-first visual light source, 270-part placement frame, 300-second part detection component, 400-first assembly robot, 410-first mechanical arm, 420-first fixed block, 430-first left and right side clamping jaws, 440-finished product detection component, 441-second camera mounting bracket, 442-a second light source mounting bracket, 443-a second industrial camera, 444-a second industrial lens, 445-a second visual light source, 500-a second assembly robot, 510-a second mechanical arm, 520-a second fixed block, 530-a second left and right side clamping jaw, 600-a finished product placement component, 610-a base, 620-a supporting column, 630-a tray rack, 700-a conveying line, 710-a belt component, 720-a sensor fixed block, 730-an optical fiber sensor, 740-a start button, 750-a stop button, 760-a tray.
Detailed Description
The following description of the embodiments of the present invention refers to the accompanying drawings and examples:
it should be noted that the structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are illustrative only and are not intended to limit the scope of the invention, which is defined by the claims, and it should be understood that the invention is not limited thereto.
Meanwhile, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and changes or modifications of the relative relationship therebetween may be regarded as the scope of the present invention without substantial changes in the technical contents.
As shown in fig. 1-8, which illustrate an embodiment of the present invention; the invention discloses a double-robot cooperation device for assembling a self-resetting button, which comprises a cabinet body 100, a first part detection assembly 200, a second part detection assembly 300, a first assembling robot 400, a second assembling robot 500, a finished product placing assembly 600, a conveying line 700, a pneumatic system and a control system.
As shown in fig. 1, the first part detecting assembly 200, the second part detecting assembly 300, the first assembling robot 400, the second assembling robot 500, the finished product placing assembly 600, and the conveying line 700 are installed inside the cabinet 100, the pneumatic system is connected to the first assembling robot 400 and the second assembling robot 500, and the control system is connected to the first part detecting assembly 200, the second part detecting assembly 300, the first assembling robot 400, the second assembling robot 500, the finished product placing assembly 600, and the conveying line 700.
In the present invention, the first part inspecting means 200 and the second part inspecting means 300 are used for inspecting parts to be assembled, the first assembling robot 400 grasps a part on the first part inspecting means 200, the second assembling robot 500 grasps a part on the second part inspecting means 300, the two robots cooperate with each other to assemble the parts, after the assembly is completed, the finished product inspecting means 440 mounted on the first assembling robot 400 inspects finished products, and then places the finished products in trays on the finished product placing means 600, the empty trays on the conveying line 700 are moved to a designated position, the first assembling robot 400 places the finished product trays placed on the finished product placing means 600 on the conveying line 700, the second assembling robot 500 places the empty trays on the finished product placing means, the double-robot cooperating means performs the inspection of the parts and the finished products using the machine vision, the assembly of using two robots to accomplish from reset button has greatly promoted assembly efficiency and finished product qualification rate from reset button, and finished product transporting is accomplished to cooperation transfer chain 700, and the device can the direct access automation line, replaces original laggard from reset button assembly station, and it is little to the production line change, simple structure, and it is nimble convenient to use, has realized the intellectuality from reset button assembly.
As shown in fig. 2, 3 and 4, the cabinet 100 is composed of a left cabinet 110, a right cabinet 120, a display mounting bracket 130, a keyboard and mouse mounting bracket 140, casters 150, a touch screen mounting hole 160, a button plate mounting hole 170, a wire feeding hole 180 and a wire feeding hole 190, the left cabinet 110 and the right cabinet 120 are connected and divided into an upper cabinet 111 and a lower cabinet 112, an open door structure is arranged in the front-rear direction of the upper cabinet 111 and the lower cabinet 112, the left side of the left cabinet 110 is a closed structure, the right side of the left cabinet is an open structure, the left side of the right cabinet 120 is an open structure, the right side of the right cabinet is a closed structure, the display mounting bracket 130 is mounted at the upper left position outside the left cabinet 110, the keyboard and mouse mounting bracket 140 is mounted at the lower position of the display mounting bracket 130, the casters 150 are mounted at the four corners of the lower positions of the left cabinet 110 and the right cabinet 120, the touch screen mounting hole 160 is opened at the upper left position in front of the upper cabinet 111 of, button board mounting hole 170 set up in touch-sensitive screen mounting hole 160 right side position, wire hole 180 set up under left cabinet body 110 cabinet 112 left side lower right corner position, delivery wire hole 190 set up on left cabinet body 110 cabinet 111 left side lower right corner position and right cabinet body 120 cabinet 111 right side lower left corner position.
Preferably, the upper cabinet bin 111 is sealed by an acrylic plate, the production condition can be directly observed in the production process, and the lower cabinet bin 112 is sealed by a paint-spraying aluminum plate.
In the invention, the lower cabinet bin 112 of the left cabinet body 110 and the lower cabinet bin 112 of the right cabinet body 120 are separated by using an electrical mounting plate, the lower cabinet bin 112 of the left cabinet body 110 is used for mounting electrical elements and circuits, the lower cabinet bin 112 of the right cabinet body 120 is used for placing a computer host and pneumatic system gas circuit components, the cabinet bin structure is convenient for equipment installation and maintenance and is beneficial to heat dissipation of the equipment, and the display mounting bracket 130 adopts a rotary folding bracket, so that the production data viewing and the device maintenance are convenient.
As shown in fig. 1 and 5, the first part detecting assembly 200 is installed at a rear position of an installing plate of an upper cabinet 111 of a left cabinet 110, the second part detecting assembly 300 is installed at a rear position of an installing plate of an upper cabinet 111 of a right cabinet 120, the first part detecting assembly 200 and the second part detecting assembly 300 have the same structure, and are composed of a detecting installing frame 210, a first camera installing support 220, a first light source installing support 230, a first industrial camera 240, a first industrial lens 250, a first visual light source 260 and a part placing frame 270, the detecting installing frame 210 is installed on the installing plate, the first camera installing support 220 is installed on a cross bar above the detecting installing frame 210, the first light source installing support 230 is installed on a cross bar below the detecting installing frame 210 and is located at a position below the first camera installing support 220, the first industrial camera 240 is installed on the first camera installing support 220, the first industrial lens 250 is connected with the first industrial camera 240, the first visual light source 260 is mounted on the first light source mounting bracket 230, and the part placing frame 270 is mounted in the front of the detection mounting bracket 210 and is located right below the first industrial camera 240.
In the present invention, the first camera mounting bracket 220 is adjustable to the left and right on the cross bar of the detection mounting bracket 210, the first camera mounting bracket 220 itself is adjustable to the up and down movement, the first industrial camera 240 is adjustable to the left and right and up and down on the first camera mounting bracket 220, the first light source mounting bracket 230 is adjustable to the left and right on the cross bar of the detection mounting bracket 210, the first light source mounting bracket 230 itself is adjustable to the up and down movement, the first visual light source 260 is adjustable to the left and right and up and down on the first light source mounting bracket 230, the structure design can obtain the best detection image, improve the detection precision of the accessories, and make things convenient for the staff installation to adjust and maintain, place the female part from reset button on the part rack 270 of first part detection subassembly 200, place the son part from reset button on the part rack 270 of second part detection subassembly 300.
As shown in fig. 1 and 6, the first assembly robot 400 is mounted on the mounting plate of the cabinet bin 111 on the left cabinet 110, is located in front of the first part detection assembly 200, and is composed of a first mechanical arm 410, a first fixing block 420, a first left-right side clamping jaw 430 and a finished product detection assembly 440, the first mechanical arm 410 is mounted on the mounting plate of the cabinet bin 111 on the left cabinet 110, the first fixing block 420 is connected to and mounted at the front end of the first mechanical arm 410, the first left-right side clamping jaw 430 is mounted at the other end of the first fixing block 420, and the finished product detection assembly 440 is mounted on the first fixing block 420.
The finished product place subassembly 600 install in the middle place ahead position of first assembly robot 400 and second assembly robot 500, constitute by base 610, support column 620, tray frame 630, base 610 install on last cabinet storehouse 111 mounting panel, support column 620 install on base 610, tray frame 630 install on support column 620.
In the present invention, the first left and right clamping jaws 430 installed at one end of the first robot arm 410 grasp the self-reset button female parts on the parts placing rack 270 of the first parts inspecting assembly 200 according to the flow of the control system, the second left and right clamping jaws 530 installed at one end of the second robot arm 510 grasp the self-reset button male parts on the parts placing rack 270 of the second parts inspecting assembly 300 according to the flow of the control system, the first robot arm 410 and the second robot arm 510 move to the designated positions, the self-reset button male parts grasped by the second robot arm 510 are assembled on the female parts, the self-reset button assembly is completed by cooperation with each other, the finished product inspecting assembly 440 inspects the assembled self-reset buttons, and the qualified products are placed in the empty trays on the tray rack 630 of the finished product placing assembly 600.
As shown in fig. 1 and 7, the conveyor line 700 includes a belt assembly 710, a motor assembly, a sensor fixing block 720, an optical fiber sensor 730, a start button 740, a stop button 750, and an empty tray 760, the belt assembly 710 is installed in front of the upper cabinet 111, the motor assembly is installed below the belt assembly 710 and located in the lower cabinet 112, the sensor fixing block 720 is installed on the right of the inner side of the belt assembly 710 and located in front of the second assembling robot 500, the optical fiber sensor 730 is installed on the sensor fixing block 720, the start button 740 is installed on the left of the front of the belt assembly 710, the stop button 750 is installed on the right of the front of the belt assembly 710, and the empty tray 760 is placed on the belt assembly 710.
In the present invention, the motor assembly controls the movement of the belt assembly 710, the empty tray 760 placed on the belt assembly 710 moves to a designated position, the optical fiber sensor 730 transmits a signal, the second assembling robot 500 grasps the empty tray 760 to be placed on the tray stand 630 of the finished product placing assembly 600, the start button 740 manually controls the opening of the belt assembly 710, and the stop button 750 manually controls the stopping of the belt assembly 710.
The pneumatic system comprises air pump, solenoid valve, manometer and gas circuit pipeline, the solenoid valve connect PLC programmable controller, gas circuit pipeline connect air pump, solenoid valve, manometer, side clamping jaw 430 about first, side clamping jaw 530 about the second.
In the present invention, the air pump is connected to the air filter and the pressure gauge through the air passage pipe, and then connected to the three-position solenoid valve seat, the three-position solenoid valve seat is provided with the cylinder solenoid valve, the first solenoid valve, and the second solenoid valve, wherein the cylinder solenoid valve is connected to the cylinder to form an air passage loop, and the throttle valves are respectively provided at the front and rear of the loop cylinder, the first solenoid valve is connected to the first left and right clamping jaws 430 of the first assembling robot 400, and the second solenoid valve is connected to the second left and right clamping jaws 530 of the second assembling robot 500.
As shown in fig. 8, the control system includes a computer, a PLC controller, a touch screen, a button panel, and a light source controller, the computer is connected to the PLC controller, the PLC controller is connected to the computer, the touch screen, the button panel, the light source controller, the first industrial camera 240, the second industrial camera (443), the first assembling robot 400, the second assembling robot 500, the conveyor line 700, and the electromagnetic valve, and the light source controller is connected to the first visual light source 260 and the second visual light source 445.
In the invention, the computer is connected with a PLC (programmable logic controller), the PLC is connected with a touch screen, a button plate, a light source controller, a first industrial camera 240, a second industrial camera (443), a first mechanical arm 410 of a first assembling robot 400, a second mechanical arm 510 of a second assembling robot 500, an optical fiber sensor 730 of a conveying line 700 and an electromagnetic valve in a control way, and the light source controller is connected with a first visual light source 260 and a second visual light source 445 in a control way.
Preferably, the detection mounting frame 210 is made of an aluminum profile.
Preferably, the finished product inspection assembly 440 includes a second camera mounting bracket 441, a second light source mounting bracket 442, a second industrial camera 443, a second industrial lens 444, and a second visual light source 445, wherein the second camera mounting bracket 441 is fixedly mounted on the first fixing block 420, the second light source mounting bracket 442 is fixedly mounted on the first fixing block 420 and located at the right side of the second camera mounting bracket 441, the second industrial camera 443 is mounted on the second camera mounting bracket 441, the second industrial lens 444 is connected to the second industrial camera 443, and the second visual light source 445 is mounted on the second light source mounting bracket 442.
Preferably, the first and second visual light sources 260 and 445 are ring light sources.
Although the preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.
Many other changes and modifications can be made without departing from the spirit and scope of the invention. It is to be understood that the invention is not to be limited to the specific embodiments, but only by the scope of the appended claims.
Claims (5)
1. The invention discloses a double-robot cooperation device for assembling a self-resetting button, which comprises a cabinet body (100), a first part detection assembly (200), a second part detection assembly (300), a first assembling robot (400), a second assembling robot (500), a finished product placing assembly (600), a conveying line (700), a pneumatic system and a control system, wherein the cabinet body is provided with a first part detection assembly and a second part detection assembly;
the first part detection assembly (200), the second part detection assembly (300), the first assembly robot (400), the second assembly robot (500), the finished product placement assembly (600) and the conveyor line (700) are installed inside the cabinet body (100), the pneumatic system is connected with the first assembly robot (400) and the second assembly robot (500), and the control system is connected with the first part detection assembly (200), the second part detection assembly (300), the first assembly robot (400), the second assembly robot (500), the finished product placement assembly (600) and the conveyor line (700);
the cabinet body (100) comprises a left cabinet body (110), a right cabinet body (120), a display mounting bracket (130), a keyboard and mouse mounting bracket (140), casters (150), a touch screen mounting hole (160), a button plate mounting hole (170), a wire passing hole (180) and a conveying wire hole (190), wherein the left cabinet body (110) is connected with the right cabinet body (120) and is divided into an upper cabinet bin (111) and a lower cabinet bin (112), the front and back directions of the upper cabinet bin (111) and the lower cabinet bin (112) are provided with open door structures, the left side direction of the left cabinet body (110) is a closed structure, the right side direction of the left cabinet body is an open structure, the left side direction of the right cabinet body (120) is an open structure, the right side direction of the right cabinet body is a closed structure, the display mounting bracket (130) is mounted at the upper position of the left side outside the left cabinet body (110), the keyboard and mouse mounting bracket (140) is mounted at, the trolley type multifunctional cabinet is characterized in that the casters (150) are installed at four corners below the left cabinet body (110) and the right cabinet body (120), the touch screen mounting hole (160) is formed in the left upper position in front of the upper cabinet bin (111) of the left cabinet body (110), the button plate mounting hole (170) is formed in the right side position of the touch screen mounting hole (160), the wire feeding hole (180) is formed in the left lower right corner position of the lower cabinet bin (112) of the left cabinet body (110), and the conveying wire hole (190) is formed in the left lower right corner position of the left upper cabinet bin (111) of the left cabinet body (110) and the right lower left corner position of the upper cabinet bin (111) of the right cabinet body (120);
the first part detection assembly (200) is arranged at the rear position of an upper cabinet bin (111) mounting plate of a left cabinet body (110), the second part detection assembly (300) is arranged at the rear position of the upper cabinet bin (111) mounting plate of a right cabinet body (120), the first part detection assembly (200) and the second part detection assembly (300) have the same structure and are composed of a detection mounting frame (210), a first camera mounting bracket (220), a first light source mounting bracket (230), a first industrial camera (240), a first industrial lens (250), a first visual light source (260) and a part placing frame (270), the detection mounting frame (210) is arranged on the mounting plate, the first camera mounting bracket (220) is arranged on a cross rod above the detection mounting frame (210), the first light source mounting bracket (230) is arranged on a cross rod below the detection mounting frame (210), the first industrial camera (240) is arranged on the first camera mounting bracket (220), the first industrial lens (250) is connected with the first industrial camera (240), the first visual light source (260) is arranged on the first light source mounting bracket (230), and the part placing frame (270) is arranged in the front position of the detection mounting frame (210) and is positioned right below the first industrial camera (240);
the first assembly robot (400) is arranged on an upper cabinet bin (111) mounting plate of a left cabinet body (110), is positioned in front of a first part detection assembly (200), and is composed of a first mechanical arm (410), a first fixing block (420), first left and right side clamping jaws (430) and a finished product detection assembly (440), wherein the first mechanical arm (410) is arranged on the upper cabinet bin (111) mounting plate of the left cabinet body (110), the first fixing block (420) is connected and arranged at the front end of the first mechanical arm (410), the first left and right side clamping jaws (430) are arranged at the other end of the first fixing block (420), and the finished product detection assembly (440) is arranged on the first fixing block (420);
the second assembly robot (500) is arranged on an upper cabinet bin (111) mounting plate of the right cabinet body (120), is positioned in front of the second part detection assembly (300), and is composed of a second mechanical arm (510), a second fixing block (520) and second left and right clamping jaws (530), the second mechanical arm (510) is arranged on the upper cabinet bin (111) mounting plate of the right cabinet body (120), the second fixing block (520) is connected and mounted at the front end of the second mechanical arm (510), and the second left and right clamping jaws (530) are mounted at the other end of the second fixing block (520);
the finished product placing assembly (600) is arranged in the front of the middle of the first assembling robot (400) and the second assembling robot (500) and consists of a base (610), a supporting column (620) and a tray frame (630), the base (610) is arranged on an installing plate of an upper cabinet bin (111), the supporting column (620) is arranged on the base (610), and the tray frame (630) is arranged on the supporting column (620);
the conveying line (700) consists of a belt assembly (710), a motor assembly, a sensor fixing block (720), an optical fiber sensor (730), a starting button (740), a stopping button (750) and a tray (760), the belt component (710) is arranged in the front of the upper cabinet body (111), the motor component is arranged below the belt component (710) and positioned in the lower cabinet bin (112), the sensor fixing block (720) is arranged on the right side of the inner side of the belt component (710) and is positioned in front of the second assembling robot (500), the optical fiber sensor (730) is arranged on the sensor fixing block (720), the starting button (740) is arranged at the left position in front of the belt assembly (710), the stop button (750) is arranged at the right front position of the belt assembly (710), and the tray (760) is placed on the belt assembly (710);
the pneumatic system consists of an air pump, an electromagnetic valve, a pressure gauge and an air path pipeline, wherein the electromagnetic valve is connected with a PLC (programmable logic controller), and the air path pipeline is connected with the air pump, the electromagnetic valve, the pressure gauge, a first left clamping jaw, a first right clamping jaw (430) and a second left clamping jaw, a second left clamping jaw and a second right clamping jaw (530);
the control system comprises a computer, a PLC (programmable logic controller), a touch screen, a button plate and a light source controller, wherein the computer is connected with the PLC, the PLC is in control connection with the computer, the touch screen, the button plate, the light source controller, a first industrial camera (240), a second industrial camera (443), a first assembling robot (400), a second assembling robot (500), a conveying line (700) and an electromagnetic valve, and the light source controller is connected with a first visual light source (260) and a second visual light source (445).
2. The double-robot cooperation device for self-reset button assembly according to claim 1, wherein the upper cabinet (111) is closed by acrylic plates, and the lower cabinet (112) is closed by painted aluminum plates.
3. The double-robot cooperation device for self-reset button assembly of claim 1, wherein the detection mounting bracket (210) is made of aluminum profile.
4. The dual-robot cooperative apparatus for self-resetting button assembly of claim 1, characterized in that the finished product detection assembly (440) consists of a second camera mounting bracket (441), a second light source mounting bracket (442), a second industrial camera (443), a second industrial lens (444) and a second visual light source (445), the second camera mounting bracket (441) is fixedly mounted on the first fixing block (420), the second light source mounting bracket (442) is fixedly arranged on the first fixing block (420) and positioned at the right side of the second camera mounting bracket (441), the second industrial camera (443) is mounted on the second camera mounting bracket (441), the second industrial lens (444) is connected with a second industrial camera (443), and the second visual light source (445) is mounted on the second light source mounting bracket (442).
5. The dual-robot cooperative apparatus for a self-resetting button assembly of claim 1, wherein the first visual light source (260) and the second visual light source (445) are ring light sources.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010556213.8A CN111644831A (en) | 2020-06-17 | 2020-06-17 | Double-robot cooperation device for assembling self-reset button |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010556213.8A CN111644831A (en) | 2020-06-17 | 2020-06-17 | Double-robot cooperation device for assembling self-reset button |
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|---|---|
| CN111644831A true CN111644831A (en) | 2020-09-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010556213.8A Pending CN111644831A (en) | 2020-06-17 | 2020-06-17 | Double-robot cooperation device for assembling self-reset button |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681562A (en) * | 2021-08-31 | 2021-11-23 | 上海交大智邦科技有限公司 | Assembly system and method based on double-manipulator cooperation |
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2020
- 2020-06-17 CN CN202010556213.8A patent/CN111644831A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113681562A (en) * | 2021-08-31 | 2021-11-23 | 上海交大智邦科技有限公司 | Assembly system and method based on double-manipulator cooperation |
| CN113681562B (en) * | 2021-08-31 | 2022-08-09 | 上海交大智邦科技有限公司 | Assembly system and method based on double-manipulator cooperation |
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